This paper proposes an architecture for enhancing autonomous vehicle perception and decision through a microservice-based framework based on DDS, leveraging vehicular and cellular communications. Our system aims to enhance
collective perception and cooperative planning through data exchanged between vehicles and infrastructure by utilizing V2X messages. Central to our system is the Vehicle Programming Interface (VPI), which seamlessly integrates data from the vehicle control (Autoware) with information from services, allowing dynamic vehicle control and enhanced awareness by leveraging both
on-board and infrastructure sensors data and V2X messages. Our system not only demonstrates the ability to handle critical scenarios effectively, such as coordinating responses to emergency
situations and planning based on on-board and infrastructure data, but it also provides essential information that contributes to a shared understanding of the environment. The results showcase the potential of our architecture to improve decision-making processes and operational efficiency in autonomous driving systems.