CAMASA: A CAM-based Dataset from the MASA Living Lab

Salvatore Iandolo; Marco Savarese; Gaetano Orazio Cauchi; Antonio Solida; Martin Klapez; Maurizio Casoni; Angelo Porrello; Carlo Augusto Grazia

arXiv · 2606.10641

CAMASA: A CAM-based Dataset from the MASA Living Lab

Salvatore Iandolo·Marco Savarese·Gaetano Orazio Cauchi·Antonio Solida·Martin Klapez·Maurizio Casoni·Angelo Porrello·Carlo Augusto Grazia

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Abstract

Trajectory prediction is a key enabler of autonomous and cooperative driving systems. However, most existing benchmarks are either sensor-centric, geographically constrained, or based on synthetic mobility traces that do not capture real-world V2X communication dynamics. This paper introduces CAMASA, a large-scale infrastructure-based dataset derived from Cooperative Awareness Messages (CAMs) and Decentralized Environmental Notification Messages (DENMs) collected within the Modena Automotive Smart Area (MASA). The dataset comprises more than 40 million CAMs and 2 million DENMs recorded under authentic urban traffic conditions over multiple months. We present a rigorous preprocessing pipeline that includes filtering, pseudonym reconciliation to account for ETSI privacy-driven stationID changes, and temporal normalization to 10 Hz trajectories, suitable for motion forecasting and time-series analysis. With over 14,000 km of reconstructed vehicle paths and tens of thousands of unique station IDs, CAMASA provides a statistically significant empirical foundation for research on Cooperative Intelligent Transportation Systems (C-ITS). Beyond trajectory prediction, the dataset enables calibration of microscopic urban traffic simulators (e.g., SUMO) and supports the development of realistic Intelligent Transportation Systems (ITS) Digital Twins by jointly modeling mobility patterns and V2X communication coverage in real deployments.

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Salvatore Iandolo, Marco Savarese, Gaetano Orazio Cauchi, Antonio Solida, Martin Klapez, Maurizio Casoni, Angelo Porrello, Carlo Augusto Grazia. 2026-06-09. CAMASA: A CAM-based Dataset from the MASA Living Lab. https://arxiv.org/abs/2606.10641

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