TRACEN-X: Telemetry Replay and Analysis of CAN Bus and External Navigation Data

Connectivity is a key enabler for next-generation autonomous vehicles. Developing and validating Connected and Autonomous Vehicle (CAV) services often requires extensive field testing, especially after initial pre-deployment tests. However, multiple field tests introduce high costs and logistical challenges, with no guarantee of consistent environmental conditions. This paper presents TRACEN-X (Telemetry Replay and Analysis of CAN bus and External Navigation data), the first open framework for collecting and reproducing navigation, sensor, and Controller Area Network (CAN) bus data from real-world scenarios in a controlled lab environment. By recreating real-world conditions, TRACEN-X streamlines development and validation, reducing costs and complexity. We validated our framework using data from a connected vehicle with ADAS sensors and a V2X-equipped stroller, demonstrating its potential in combination with a vehicular network simulator and an open ETSI C-ITS stack implementation.