The PACV2X project validated a technology based on the fusion of data from the infrastructure.

Faced with increased demand for mobility, growing traffic and technological developments, infrastructure must evolve, in particular to facilitate the transition between our current vehicles and those of tomorrow, whether they are cooperative or autonomous. To respond to this new mobility challenge, the road and motorway infrastructure must be equipped with services that guarantee safe journeys.

Indeed, in some situations, cooperative and potentially automated vehicles do not have a sufficient level of understanding to detect and avoid a collision on their own.

The project, named PAC V2X for “Augmented Perception by V2X Cooperation”, aimed to increase the perception of these vehicles by simply using their own means to avoid collision. The most common cases: intersections, hill tops, curved roads, masking related to traffic or infrastructure. The results of the project were presented on December 8, 2020.

The project was supported by a consortium composed of eight partners: SIGNATURE VERTICAL & MOBILITY SOLUTIONS, SANEF, VEDECOM, INRIA, LOGIROAD, DIGIMOBEE, MARBEN and VICI.


Messages sent from roadside to automated vehicles

To increase vehicles’ awareness, the PAC V2X project aims to equip roadside units (RSU) with radars and cameras positioned at strategic locations. These RSUs transmit their perception to connected vehicles through standardized V2X messages, or those in the process of being standardized, in order to anticipate complex situations and facilitate decision-making.

Our institute is proud to bring new tools to the community, resulting from our work both on the fusion of data given by roadside units and on the communication of information to the vehicle” said Oyunchimeg Shagdar and Pierre Merdrignac, researchers at VEDECOM.


Important innovations to improve safety and traffic

The use cases targeted by PACV2X apply to highways, tolls and intersections:
• warning in the event of risk of collision for violation of the light signal and reverse driving;
• assistance with lane changes for entering the motorway, passing worksite areas and passing with limited visibility (for example, a bus covering the road);
• traffic control in specific areas such as assistance with traffic scheduling at intersections for priority vehicles or assistance at tolls;
• contextual speed limit broadcast.


A viable and standardized technology

The project demonstrated the technical feasibility of the proposed approach, starting with the specification of the use cases and the technical specification of the system. Prototypes of roadside units have been developed and tested in various conditions, then validated on track. Eventually, an experiment on open road was carried out on several sites, both in urban areas and in motorways.

The evaluation demonstrated the technical capabilities of the system to expand the perception of vehicles and address the use cases targeted by the project. In addition, the evaluation highlighted the expected benefits in terms of road safety and traffic management.

The PAC V2X project relied on existing standards and brought its own contribution to European standardization organizations.


VEDECOM expert in fusion of sensor data and V2X messages


VEDECOM’s “REVECOM” team has developed augmented perception modules based on the fusion of data from sensors (cameras, Lidar) and V2X communication messages. It has also developed application modules of assistance to connected vehicles in areas where their perception is limited (intersection, toll area, work area, bus stop).


VEDECOM team also coordinated and participated in the experimentation of the system on the Versailles Satory tracks, in Versailles streets, and on the Sanef motorway network. Finally, it participated in both technical and non-technical impact analyzes of the system.


For more information on PACV2X