# RVE-CV2X: A Scalable Emulation Framework for Real-Time Evaluation of CV2X-Based Connected Vehicle Applications

arXiv: https://arxiv.org/abs/2101.06548 · HTML: https://mlsanity.com/paper/2101.06548/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jan 2021.

## Built on by (most cited first, 2 of 2)

- [Robustness and Adaptability of Reinforcement Learning based Cooperative Autonomous Driving in Mixed-autonomy Traffic](https://mlsanity.com/paper/2202.00881/) (2022)
- [Prediction-aware and Reinforcement Learning based Altruistic Cooperative Driving](https://mlsanity.com/paper/2211.10585/) (2022)

## Abstract (arXiv)

Vehicle-to-Everything (V2X) communication has become an integral component of Intelligent Transportation Systems (ITS) due to its ability to connect vehicles, pedestrians, infrastructure, and create situational awareness among vehicles. Cellular-Vehicle-to-Everything (C-V2X), based on 3rd Generation Partnership Project (3GPP) Release 14, is one such communication technology that has recently gained significant attention to cater the needs of V2X communication. However, for a successful deployment of C-V2X, it is of paramount significance to thoroughly test the performance of this technology. It is unfeasible to physically conduct a V2X communication experiment to test the performance of C-V2X by arranging hundreds of real vehicles and their transceiving on-board units. Although multiple simulators based on frameworks such as NS-3, OMNET++ and OPNET have proven to be reliable and economic alternatives to using real vehicles, all these simulators are time-consuming and require several orders of magnitudes longer than the actual simulation time. As opposed to physical field- and simulation-based testing, network emulators can provide more realistic and repeatable results for testing vehicular communication. This paper proposes a real-time, high-fidelity, hardware-in-the-loop network emulator (RVE-CV2X) based on C-V2X mode 4 that can provide scalable, reliable and repeatable testing scenarios for V2X communication. The accuracy of this emulator is verified by comparing it to an already validated C-V2X simulator based on the NS-3 framework.