VOICES Cooperative Driving Automation (CDA) Proof-of-Concept Systems Integration Test 1
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Summary
This report documents the results of the Virtual Open Innovation Collaborative Environment for Safety (VOICES) Systems Integration Test 1 (SIT-1), a proof-of-concept study conducted by the U.S. Department of Transportation in August and September 2022. The research addresses the need for interoperability testing of connected and automated vehicles (CAVs) across distributed entities. The primary objective was to demonstrate that geographically dispersed simulation nodes could communicate and coordinate in real-time using a common platform, thereby enabling collaborative research among public, private, and academic sectors. The experimental design involved four Live, Virtual, and Constructive (LVC) simulation nodes hosted across three sites: the Turner-Fairbank Highway Research Center (TFHRC) in Virginia, MITRE Corporation in Virginia, and Scientific Research Corporation (SRC) in Georgia. These sites were connected via secure Internet Protocol Security (IPsec) tunnels. The test utilized the Test and Training Enabling Architecture (TENA) as the interoperability middleware and the Federal Highway Administration’s CARMA suite for Cooperative Driving Automation (CDA). Two specific CDA applications were tested: vehicle platooning, which relies on vehicle-to-vehicle communications, and work zone speed reduction, which utilizes vehicle-to-infrastructure communications via CARMA Cloud. The setup included live physical vehicles, virtual simulations with human operators, and constructive simulations with automated logic, all integrated through custom VOICES adapters. The study found that the VOICES platform successfully facilitated distributed testing of cooperative transportation applications. All primary objectives were met, including secure network connectivity, proper adapter function, and the creation of digital twins for live, virtual, and constructive elements across all nodes. The system successfully executed both platooning and work zone maneuvers. Detailed performance analysis measured network throughput, latency, jitter, and packet loss under load. The results indicated that while the distributed network introduced latency compared to local tests, the system maintained sufficient performance for the tested CDA applications. Specific metrics included end-to-end latency for mobility messages and space headway consistency within the platoon. The report also highlights that the temporary IPsec network configuration was logistically complex, suggesting a need for more streamlined networking solutions in future iterations. The significance of this work lies in validating the feasibility of distributed, multi-stakeholder testing for CDA prototypes. By demonstrating that heterogeneous simulation environments can interact seamlessly over a secure network, SIT-1 establishes a foundational framework for future interoperability testing. The findings support the development of a robust, collaborative testing ecosystem that can accommodate diverse CAV technologies and simulation tools, ultimately aiding in the safe deployment of connected transportation systems. The report concludes with lessons learned regarding hardware requirements, software compatibility, and logging capabilities, providing guidance for subsequent VOICES integration tests.
Key finding
The VOICES Systems Integration Test 1 successfully demonstrated that geographically distributed simulation nodes can communicate and coordinate in real-time to perform cooperative driving automation maneuvers, verifying the platform's feasibility for distributed testing.
Methodology
simulator
Provenance
The full processing record for this entry. Every stage of this paper's journey through the pipeline is logged — what ran, with which tool and model, how many attempts it took, and when it last completed. Discovered via bulk_ingest_rosap on 2026-05-23 (6 acquisition events logged).
| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | rosap | — | — | 2 | 2026-05-23 |
| archive | success | — | — | — | 1 | 2026-05-23 |
| extract | success | cached | — | — | 2 | 2026-06-10 |
| clean | success | — | — | — | 1 | 2026-06-01 |
| chunk | success | — | — | — | 1 | 2026-06-01 |
| embed | success | — | — | — | 1 | 2026-06-02 |
| enrich | success | — | — | — | 1 | 2026-05-23 |
| promote | success | — | — | — | 1 | 2026-05-23 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 3 | 2026-06-10 |
| tag | success | vector_similarity | — | — | 24 | 2026-06-11 |
| verify | success | — | — | — | 2 | 2026-06-10 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.
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- Methodological Resource: tool software, dataset resource, validation psychometrics