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As we move towards autonomous vehicles, a reliable Vehicle-to-Everything(V2X) communication framework becomes of paramount importance. In this paper wepresent the development and the performance evaluation of a real-worldvehicular networking testbed. Our testbed, deployed in the heart of the City ofBristol, UK, is able to exchange sensor data in a V2X manner. We will describethe testbed architecture and its operational modes. Then, we will provide someinsight pertaining the firmware operating on the network devices. The systemperformance has been evaluated under a series of large-scale field trials,which have proven how our solution represents a low-cost high-quality frameworkfor V2X communications. Our system managed to achieve high packet deliveryratios under different scenarios (urban, rural, highway) and for differentlocations around the city. We have also identified the instability of thepacket transmission rate while using single-core devices, and we present somefuture directions that will address that.

A City-Scale ITS-G5 Network for Next-Generation Intelligent Transportation Systems: Design Insights and Challenges