Xu, Wei (Gustave Eiffel University), Ieng, Sio-Song (Université Gustave Eiffel), Lusetti, Benoït (LIVIC INRETS-LCPC), Hedhli, Abdelmename (Université Gustave Eiffel), Gruyer, Dominique (Université Gustave Eiffel)

Enhancing Cooperative Driving through Physical-Digital-Infrastructure (PDI)-Augmented Perception: Field Tests on Two Safety-Critical Use Cases

Scheduled for presentation during the Regular Session "S40b-Cooperative and Connected Autonomous Systems" (FR-EA-T40), Friday, November 21, 2025, 14:30−14:50, Cooleangata 4

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

Cooperative driving systems enhanced by Physical-Digital Infrastructure (PDI) offer a promising solution to ensure safety in high-speed driving environments, particularly in scenarios involving occluded vehicles or vulnerable roadside workers. However, their real-world effectiveness requires practical validation. This paper presents two real-world field tests designed to evaluate the impact of PDI-augmented cooperative perception in safety-critical highway scenarios. The deployed system integrates road sensors, an Infrastructure-to-Vehicle (I2V) communication system, and an ego vehicle equipped with onboard perception and cooperative decision-making capabilities. Experiments were conducted at the Satory test track in France, focusing on two representative use cases: (1) lateral vehicle insertion from occluded ramp areas, and (2) road worker presence near the driving lane. Experimental results demonstrate that PDI support successfully improves detection range, provides trajectory guidance, and therefore enables the ego vehicle to perform earlier and safer maneuver planning compared to ego-only configurations. These findings provide practical validation for the safety benefits and deployability of PDI-augmented cooperative driving in complex highway environments.