ms-van3t: An integrated multi-stack framework for virtual validation of V2X communication and services

The automotive field is evolving towards high levels of automation, requiring seamless data exchange between vehicles through Vehicle-to-Everything (V2X) communications. Direct V2X technology is already being deployed on commercial vehicles, and it has the potential to deliver a range of safety and efficiency benefits on the road. However, the deployment of V2X-based applications is a complex process that demands extensive testing before these systems can be widely used by the public; indeed, high costs and safety concerns are among the main hurdles to overcome before applications leveraging V2X communication can become a reality. It is thus critical to reliably validate through simulation and emulation both the V2X technologies and the applications in realistic scenarios, before performing large-scale road tests. To address this pressing need, we present an open source framework for the virtual validation of V2X-based applications, amenable to the development and testing not only of different access technologies within the same environment (IEEE 802.11p, LTE-V2X, 5G NR-V2X, and LTE), but also of any kind of V2X-based application using ETSI-compliant messages. Our framework, called ms-van3t, is based on the ns-3 and SUMO (Simulation of Urban MObility) simulators, it implements a full ETSI C-ITS stack for CAM, DENM and IVIM messages, and it provides several novel features not found elsewhere. Further, ms-van3t enables the testing of V2X-based applications in HIL (Hardware-In-the-Loop) scenarios, thanks to a dedicated emulation mode, and it allows users to easily select different physical and MAC layer models, seamlessly collecting performance statistics. To showcase the capabilities of the framework, we present three sample applications as well as the performance results we obtained in terms of both application-related and network-related key performance indicators.