Microservice-based Approach to Integrate V2X with Autonomous Mobility

This paper proposes an architecture for enhancing autonomous vehicle perception and decision through a microservice-based framework based on Data Distribution Service (DDS). This framework leverages vehicular and cellular communications to enhance collective perception and cooperative planning through Vehicle to Everything (V2X) messages exchanged between vehicles and infrastructure. Central to our system is the Vehicle Programming Interface (VPI), which seamlessly integrates data from the vehicle control (Autoware) with information from services. This integration allows for dynamic vehicle control and enhanced awareness by leveraging both on-board and infrastructure sensors data and V2X messages. Our system not only demonstrates the ability to handle critical scenarios effectively, such as coordinating responses to emergency situations and planning based on on-board and infrastructure data, but it also provides essential information that contributes to a shared understanding of the environment. The results showcase the potential of our architecture to improve decision-making processes and operational efficiency in autonomous driving systems.