Taking Standardized C-ITS Communication to the next LEVEL - Lightweight and Extensible Vehicle-to-Everything Library

Cooperative Intelligent Transportation Systems (C-ITSs) facilitate safe, efficient, and sustainable driving through vehicle-to-everything (V2X) communication. Standardized services and messages regulate the exchange of basic information required for an unrestricted view of the traffic situation. However, many applications need information that goes beyond. Furthermore, compliance with these standards is cumbersome when testing on a small-scale or in simulation. The result: standards are often bypassed. Therefore, this paper presents a standard-compliant, lightweight, easy-to-integrate library that is application-independent and open source. We integrate the library in a small-scale test bed and use Decentralized Environmental Notification Messages (DENMs) to trigger the speed reduction of a vehicle in a bad weather situation. Through Cooperative Awareness Messages (CAMs), the vehicle shares its status information, including its current velocity. The experiment demonstrates a working location-dependent exchange of information between a Road Side Unit (RSU) and the vehicle, utilizing LEVEL as a communication stack.