Graphical Data Visualization for Vehicular Communication Systems in Real and Virtual Test Environments

Cooperative and automated driving relies among others on the Vehicle-to-Everything (V2X) communication, where the cooperative perception and the maneuver coordination between vehicles is facilitated by message exchange in form of radio signals. In order to make these messages not only available for processing in computational systems, but also un-derstandable for human developers, a novel concept for their graphical visualization is needed. The following contribution deals with a detailed specification of a generic approach for graphical data visualization targeted at the vehicular commu-nication systems, which was implemented in Robot Operating System (ROS) by using RViz tool during our activities on the IMAGinE research project. For evaluation purposes of the proposed solution, a combination of real and virtual (sim-ulated) test environments was prepared and deployed, leading to the so-called Mixed Reality and thus extending the X-in-the-Loop (XiL) testing procedure for cooperative and automated driving vehicles.