F1/10 Platooning with ETSI ITS-G5 communication using ROS 2

This dataset is recorded from a platooning scenario using F1/10 vehicles on a scaled-down version of the Aldenhoven testing center. It uses a scaled-down version of the ETSI ITS-G5 standard for the communication via CAM messages. Furthermore, it uses a CACC controller for the control of the vehicles using the information from a motion-capture system and the communicated data of each vehicle. The dataset includes two configurations of the same scenario, with a target velocity of 0.8m/s and 3.0m/s, respectively. The experiments are based on the software of the AuNa framework by Teper et al., while the experiments were conducted during the case studies described by Krieger et al. and Priyanta et al.. The dataset can be analyzed using the STARS framework.本数据集采集自阿尔登霍文测试中心（Aldenhoven Testing Center）缩比例复刻场地内，基于F1/10车辆的车队编队场景。数据集采用ETSI ITS-G5标准的缩比例版本，通过CAM消息（协同感知消息，Cooperative Awareness Message）实现车辆间通信。此外，数据集依托动作捕捉系统采集的信息与各车辆的交互通信数据，通过CACC控制器（协同自适应巡航控制器，Cooperative Adaptive Cruise Control）实现车辆控制。本数据集包含同一编队场景的两种配置，目标车速分别为0.8m/s与3.0m/s。 本实验基于Teper等人提出的AuNA框架软件开展，实验过程对应Krieger等人与Priyanta等人所描述的案例研究。该数据集可通过STARS框架进行分析。