OpenV2X: A Modular Cyber-Physical Framework for Vision-Driven Environmental Perception and Interactive Feedback in Software-Defined Vehicles

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Aniello Castiglione, Lucia Cimmino, Michele Nappi, Luigi Emanuele Sica

Published: 01 Jan 2025, Last Modified: 26 Feb 2026IEEE Transactions on Industrial InformaticsEveryoneRevisionsCC BY-SA 4.0
Abstract: The evolution of software-defined vehicles and intelligent transportation systems requires cyber-physical frameworks capable of integrating real-time perception, communication, and human interaction. In industrial automotive environments, enhancing situational awareness while maintaining system modularity, energy efficiency, and interpretability remains a critical challenge. This work presents OpenV2X, a modular cyber-physical framework designed for real-time perception and human-in-the-loop feedback in software-defined vehicles. The primary goal is to provide a modular system for environment reconstruction, overcoming the limitations of closed industrial systems and research efforts focused on individual modules. OpenV2X combines onboard vision-based sensors with Message Queuing Telemetry Transport (MQTT)-enabled vehicle-to-everything (V2X) communication, extending environmental awareness beyond sensor line-of-sight and adhering to the principles of industrial informatics and resilient automation. Its architecture decouples object and lane detection modules, enabling dynamic model updates without system overhaul, and supports interactive feedback through a graphical interface, fostering end-user trust. Furthermore, the framework allows operation beyond simulated tests: the collected data can be sent to the original equipment manufacturer (OEM) to continuously improve software, achieving the main objective of the work. Experimental validation in real highway scenarios demonstrates 84.3% accuracy in orientation-aware object detection, 73% intersection-over-union for lane detection under adverse weather conditions, and submillisecond V2X latency with minimal energy overhead. Designed for embedded edge deployment, OpenV2X provides a reproducible open-source platform that integrates perception, communication, and user feedback in next-generation industrial vehicular systems.