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A Digital Twin Framework for Physical-Virtual Integration in V2X-Enabled Connected Vehicle Corridors

Keshu Wu, Pei Li, Yang Cheng, Steven T. Parker, Bin Ran, David A. Noyce, Xinyue Ye

TL;DR

This work addresses the challenge of validating an integrated, real-time Digital Twin for a V2X-enabled connected vehicle corridor by building a high-fidelity CARLA-based DT anchored to a real-world Park Street corridor. It introduces an enhanced data pipeline with temporal and spatial synchronization of V2X messages (SPaT, MAP, BSM), a CARLA-based DT with physical and virtual spaces, and a bidirectional feedback loop to the physical system. Key contributions include the data-pipeline architecture, DT design and V2X integration in CARLA, and demonstration of real-time data fusion, synchronization fidelity, and actionable feedback (signal timing, advisories, incident alerts). The work supports real-time monitoring, prediction, and optimization in T-CPS and lays groundwork for scalable, multi-OBU corridor deployments.

Abstract

Transportation Cyber-Physical Systems (T-CPS) enhance safety and mobility by integrating cyber and physical transportation systems. A key component of T-CPS is the Digital Twin (DT), a virtual representation that enables simulation, analysis, and optimization through real-time data exchange and communication. Although existing studies have explored DTs for vehicles, communications, pedestrians, and traffic, real-world validations and implementations of DTs that encompass infrastructure, vehicles, signals, communications, and more remain limited due to several challenges. These include accessing real-world connected infrastructure, integrating heterogeneous, multi-sourced data, ensuring real-time data processing, and synchronizing the digital and physical systems. To address these challenges, this study develops a traffic DT based on a real-world connected vehicle corridor. Leveraging the Cellular Vehicle-to-Everything (C-V2X) infrastructure in the corridor, along with communication, computing, and simulation technologies, the proposed DT accurately replicates physical vehicle behaviors, signal timing, communications, and traffic patterns within the virtual environment. Building upon the previous data pipeline, the digital system ensures robust synchronization with the physical environment. Moreover, the DT's scalable and redundant architecture enhances data integrity, making it capable of supporting future large-scale C-V2X deployments. Furthermore, its ability to provide feedback to the physical system is demonstrated through applications such as signal timing adjustments, vehicle advisory messages, and incident notifications. The proposed DT is a vital tool in T-CPS, enabling real-time traffic monitoring, prediction, and optimization to enhance the reliability and safety of transportation systems.

A Digital Twin Framework for Physical-Virtual Integration in V2X-Enabled Connected Vehicle Corridors

TL;DR

This work addresses the challenge of validating an integrated, real-time Digital Twin for a V2X-enabled connected vehicle corridor by building a high-fidelity CARLA-based DT anchored to a real-world Park Street corridor. It introduces an enhanced data pipeline with temporal and spatial synchronization of V2X messages (SPaT, MAP, BSM), a CARLA-based DT with physical and virtual spaces, and a bidirectional feedback loop to the physical system. Key contributions include the data-pipeline architecture, DT design and V2X integration in CARLA, and demonstration of real-time data fusion, synchronization fidelity, and actionable feedback (signal timing, advisories, incident alerts). The work supports real-time monitoring, prediction, and optimization in T-CPS and lays groundwork for scalable, multi-OBU corridor deployments.

Abstract

Transportation Cyber-Physical Systems (T-CPS) enhance safety and mobility by integrating cyber and physical transportation systems. A key component of T-CPS is the Digital Twin (DT), a virtual representation that enables simulation, analysis, and optimization through real-time data exchange and communication. Although existing studies have explored DTs for vehicles, communications, pedestrians, and traffic, real-world validations and implementations of DTs that encompass infrastructure, vehicles, signals, communications, and more remain limited due to several challenges. These include accessing real-world connected infrastructure, integrating heterogeneous, multi-sourced data, ensuring real-time data processing, and synchronizing the digital and physical systems. To address these challenges, this study develops a traffic DT based on a real-world connected vehicle corridor. Leveraging the Cellular Vehicle-to-Everything (C-V2X) infrastructure in the corridor, along with communication, computing, and simulation technologies, the proposed DT accurately replicates physical vehicle behaviors, signal timing, communications, and traffic patterns within the virtual environment. Building upon the previous data pipeline, the digital system ensures robust synchronization with the physical environment. Moreover, the DT's scalable and redundant architecture enhances data integrity, making it capable of supporting future large-scale C-V2X deployments. Furthermore, its ability to provide feedback to the physical system is demonstrated through applications such as signal timing adjustments, vehicle advisory messages, and incident notifications. The proposed DT is a vital tool in T-CPS, enabling real-time traffic monitoring, prediction, and optimization to enhance the reliability and safety of transportation systems.
Paper Structure (36 sections, 7 equations, 10 figures, 3 tables)

This paper contains 36 sections, 7 equations, 10 figures, 3 tables.

Table of Contents

  1. Introduction
  2. Related Work
  3. Enhanced Data Pipeline for Digital Twin
  4. V2X Message Types
  5. Data Pipeline Architecture
  6. Data Extractor Enhancement
  7. Temporal Synchronization
  8. Spatial Matching
  9. Digital Twin System
  10. Digital Twin System Design
  11. V2X System Design in CARLA
  12. Feedback Generation and Integration
  13. Experiment Visualization and Simulation
  14. Data Integration and Visualization
  15. Digital Twin Simulation Experiments
  16. ...and 21 more sections

Figures (10)

  • Figure 1: CV Corridor Deployment in Madison, WI, USA. (a) The layout of the CV corridor, (b) The data transmission among the RSU, signal controller, and OBU.
  • Figure 2: Connected Vehicle Corridor Data Pipeline and Digital Twin.
  • Figure 3: Data Pipeline Architecture
  • Figure 4: Data Extractor Module: Temporal Synchronization and Spatial Matching
  • Figure 5: CARLA Simulation and Digital Twin
  • ...and 5 more figures