- VEHICLE SIMULATOR FRAMEWORK DRIVER
- VEHICLE SIMULATOR FRAMEWORK SOFTWARE
- VEHICLE SIMULATOR FRAMEWORK WINDOWS
Several virtual vehicles are successfully controlled by cooperative adaptive cruise controllers executed outside of CARLA.
VEHICLE SIMULATOR FRAMEWORK WINDOWS
A model-in-the-loop use case is performed with the traffic simulator CARLA running on a Linux machine connected to the co-simulation master xMOD on a Windows computer via DCP. A C-code-based interface enables the co-simulation platform to act as a DCP master and to realize cross-platform data exchange and time synchronization of the environment simulation with other integrated models. A universal Python wrapper is implemented and connected to the simulator to allow its control as a DCP slave. As part of an assessment framework for AD, this paper presents a DCP compliant implementation of an interoperable interface between a 3D environment and vehicle simulator and a co-simulation platform. The newer FMI companion standard distributed co-simulation protocol (DCP) introduces platform coupling but must still be used in conjunction with AD co-simulations. However, widely supported model integration standards such as functional mock-up interface (FMI) lack native support for distributed platforms, which is a key feature for AD due to the computational intensity and platform exclusivity of certain models. For the realization of such models, different simulation domains must be coupled with co-simulation. Closed-loop simulations for automated driving (AD) require highly complex simulation models for multiple controlled vehicles with their perception systems as well as their surrounding context.
VEHICLE SIMULATOR FRAMEWORK SOFTWARE
Such an assessment can greatly facilitate the development of control systems, algorithms, and protocols for real-world ITS.To meet the challenges in software testing for automated vehicles, such as increasing system complexity and an infinite number of operating scenarios, new simulation methods must be developed. CoMoVe finds its use to evaluate the impact of vehicle connectivity, while imposing causality on vehicle dynamics and mobility. Our framework encapsulates the important attributes of vehicle communication, road traffic, and dynamics into a single environment, by combining the strengths of different simulators. In this work, we present a simulation framework, called CoMoVe (Communication, Mobility, Vehicle dynamics), that effectively addresses the above need, as it enables the virtual validation of innovative solutions for vehicles that are both connected and equipped with ADAS sensors. For this reason, the availability of an effective, scalable, and comprehensive tool for the investigation and virtual validation of new ITS solutions is paramount. The study of such diverse aspects makes the evaluation of new ITS approaches, algorithms, and protocols not a small feat.
VEHICLE SIMULATOR FRAMEWORK DRIVER
Given its wide array of applications, ITS has also become a multidisciplinary field of work where vehicular communications, traffic control, ADAS (Advance Driver Assistance System) sensors, and vehicle dynamics have all to be accounted for. Intelligent Transport Systems (ITS) have emerged as an integral part of smart cities, providing increased ease of mobility as well as efficiency and safety in vehicular traffic.
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