The logging architecture that captures raw over-the-air Basic Safety Messages alongside RTK-corrected position, camera, and radar streams with a common hardware timestamp across a multi-vehicle fleet.
If the same radio module that decodes V2V messages for the ADAS stack is also the one logging the dataset, any decode bug becomes invisible to the validation harness. The collection vehicles instead run an independent SDR tap on the antenna feed, capturing raw RF frames the production stack never touches, so ground truth can be regenerated even from messages the vehicle's own decoder silently dropped.
Not all V2V validation failures are equal — a message loss rate acceptable in open highway conditions may be unacceptable in dense urban multipath. Every capture session is tagged with structured metadata covering building density, foliage cover, precipitation, and known interference sources, letting engineers slice the regression dataset by RF difficulty tier rather than treating all miles as equivalent.