V2x Hub

V2X Hub is a message handler that acts as a translator and data aggregator/disseminator for infrastructure components of a connected vehicle deployment.
Alternatives To V2x Hub
Project NameStarsDownloadsRepos Using ThisPackages Using ThisMost Recent CommitTotal ReleasesLatest ReleaseOpen IssuesLicenseLanguage
V2x Hub100
7 days ago34C
V2X Hub is a message handler that acts as a translator and data aggregator/disseminator for infrastructure components of a connected vehicle deployment.
2 years agobsd-3-clauseC++
Cornell Autonomous Underwater Vehicle Project Team Open Source Software
4 years ago2C#
Delivery job hub for fivem. Rent a vehicle and complete various deliveries across town.
2 years ago8otherJava
Tracking and control server for unmanned vehicles
Dgsw Autonomous Vehicle Hw1
5 years agoPython
대구소프트웨어 고등학교 2018년 나르샤 실무프로젝트 자치차량-HW 코드
Alternatives To V2x Hub
Select To Compare

Alternative Project Comparisons
CicleCI Build Status Sonar Code Quality
CircleCI Quality Gate Status


In order to bring infrastructure components into the Connected Vehicle architecture, you need software that will facilitate the exchange of data in a format that can be understood by both vehicles and infrastructure devices The V2X Hub, takes in data from vehicles via Basic Safety Messages (BSM) in a Society of Automotive Engineers (SAE) standard format and translates the data to a National Transportation Communications for ITS Protocol (NTCIP) that infrastructure components can understand. And vice versa. It translates Signal Phase and Timing (SPaT) data from NTCIP to SAE and sends it to the Roadside Unit (RSU) for broadcast to mobile devices, including vehicles.

V2X Hub is a message handler that acts as a translator and data aggregator/disseminator for infrastructure components of a connected vehicle deployment.

V2X Hub was developed to support jurisdictions in deploying Vehicle-to-Infrastructure (V2I) technology by reducing integration efforts and issues.

  • V2X Hub is a software platform that enables connected vehicles to talk to existing traffic management hardware and systems, such as traffic signal controllers, Transportation Management Centers, pedestrian and vehicle detection systems, road weather sensors, and dynamic message signs.
  • V2X Hub simplifies integration by translating communication between different standards and protocols.
  • Using a modular design, software plugins enable efficient connections to new hardware, custom connections to Transportation Management Centers, and Connected Vehicle (CV) Safety Apps to run on roadside equipment.

The V2X Hub system reduces time needed to create and deploy a roadside based V2X system. The V2X Hub system contains a suite of plugins that are built to handle specific functionality. The output of these plugins will vary, but any plugin that communicates externally will produce a message from the J2735-2016 messages set. Plugins can request to receive data that is being produced by other plugins in the system. For example, a location plugin can create a location message that is then received by the MAP plugin for use it in its processing. Below are a list of plugins and the messages they produce that are included in the V2X Hub system.

  • CSW Plugin – The Curve Speed Warning Plugin will monitor J2735 BSM messages at a curve, and send a message to a dynamic message sign when it detects that a vehicle is approaching a curve too fast. The CSW plugin also produces a J2735 TIM message containing the approach zones for the curve to be used by a CSW in-vehicle CV application.
  • DMS Plugin – The Dynamic Message Sign (DMS) Plugin will receive messages from other plugins and translate the information to NTCIP 1203 for display on a DMS
  • MAP Plugin – Produces intersection geometry in J2735 MAP format.
  • SPAT Plugin – Communicates with a traffic signal controller (TSC) using NTCIP 1202, and creates a J2735 SPaT Message.
  • Immediate Forward Plugin – Sends all J2735 traffic to the 4.1 RSU for transmission out the V2X radio.
  • Message Receiver Plugin – Receives all J2735 traffic incoming from the 4.1 RSU for consumption by other V2X Hub plugins.
  • Location Plugin – Communicates with GPS devices producing location information and optionally the NMEA GP* sentences for the V2X Hub system.
  • RTCM Plugin – Communicates with a NTRIP network to create J2735 RTCM position correction messages.
  • ODE Forward Plugin – Pushes data to an operational data environment server using a known IP address and port.
  • Pedestrian Plugin – Creates a PSM using information obtained from nomadic devices (ex. cell phones) through a local webserver.
  • Preemption Plugin – Calls a preemption table on a controller using NTCIP 1202 V3 commands to provide passage to an emergency vehicle upon request through BSMs
  • TIM Plugin – Creates and broadcasts a TIM message from an .xml file based on user input through GUI or local webserver
  • Message Logger Plugin – Decodes and logs BSMs and SPaT messages to .json and .bin files

V2X Hub is a communication, computation, and processing platform for V2I applications, and providing the functions listed below.

  • Message handling across multiple interfaces using SAE J2735 messages:
    • Integrating data from multiple sources and compiling messages for delivery to vehicles and nomadic devices via multiple communication methods.
    • Obtaining and aggregating data from multiple vehicles and nomadic devices, and sending to the Transportation Management Entity.
      • Distribution of Traveler Information Messages (TIM) to local vehicles and devices.
  • Examples of local infrastructure-based computation and processing:
    • Local computation of recommended speeds and stopping distances using real time weather and road condition data for crash imminent V2I safety scenarios such as Reduced Speed (Work Zone) Warning and Spot Weather Information Warning.
    • Aggregation of vehicle weather data for efficient communication to Transportation Management Entity for weather-responsive traffic management.
    • Multi-Modal Intelligent Traffic Signal Systems (MMITSS) “intersection level” functions including J2735 Intersection Geometry (MAP) and J2735 Signal Phase and Timing (SPaT) broadcast manager, equipped vehicle tracker, priority request server, and interface to traffic signal controller.

Simulation Setup

To support execution in a simulated environment, V2X-Hub is in the process of integrating with CDASim, a Co-Simulation tool built as an extension of Eclipse Mosiac. This extension will incorporate integration with several other platforms including CARMA-Platform and CARLA. The setup for this simply requires setting environment variables inside the V2X-Hub docker container.

  • SIMULATION_MODE – Environment variable for enabling simulation components for V2X-Hub. If set to "true" or "TRUE" simulation components will be enable. Otherwise, simulation components will not be enabled.
  • KAFKA_BROKER_ADDRESS – Environment variable for storing Kafka broker connection string (including port).
  • TIME_SYNC_TOPIC – Environment variable for storing Kafka time sync topic.
  • SIMULATION_IP – Environment variable for storing IP address of CDASim application.
  • SIMULATION_REGISTRATION_PORT – Environment variable for storing port on CDASim that handles registration attempts.
  • TIME_SYNC_PORT – Environment varaible for storing port for receiving time sync messages from CDASim.
  • V2X_PORT – Environment variable for storing port for receiving v2x messages from CDASim
  • SIM_V2X_PORT – Environment variable for storing port for sending v2x messages to CDASim
  • LOCAL_IP – Environment variable for storing local IP of V2X Hub.
  • INFRASTRUCTURE_ID – Environment variable for storing infrastructure id of V2X Hub..

Release Notes

The current version and release history of the V2X Hub software platform can be found here: Release Notes

License information

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

System Requirements

The V2X Hub software can run on most Linux-based computers with Pentium core processers, with at least a 64-bit processor, 2GB of RAM, and at least 64GB of drive space. Performance of the software will be based on the computing power and available RAM in the system.

Docker Setup

The installation and setup instructions for the docker image on an AMD and ARM system can be found in the Docker Instructions Guide for AMD and ARM


Welcome to the V2X-Hub contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. V2X-Hub Contributing Guide Also see Using VS Code For Development for instructions on compiling using VS Code.

Code of Conduct

Please read our V2X-Hub Code of Conduct which outlines our expectations for participants within the V2X-Hub community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.


The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. V2X-Hub Attribution

Popular Vehicle Projects
Popular Hub Projects
Popular Hardware Categories
Related Searches

Get A Weekly Email With Trending Projects For These Categories
No Spam. Unsubscribe easily at any time.