Open-Source Integrated Simulation Framework for Cooperative Autonomous Vehicles

While many mature and reliable simulation engines exist for different system components, such as the network or the sensing and physics subsystems, the integration of these simulators into a single framework and workflow is not always a straight-forward task. This paper presents such an integrated s...

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Bibliographic Details
Published in2022 11th Mediterranean Conference on Embedded Computing (MECO) pp. 1 - 4
Main Authors Anagnostopoulos, Christos, Koulamas, Christos, Lalos, Aris, Stylios, Chrysostomos
Format Conference Proceeding
LanguageEnglish
Published IEEE 07.06.2022
Subjects
Autonomous vehicles
CAV
Computational modeling
Engines
integrated simulator
Reliability
Research and development
Sensors
Task analysis
V2X
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Summary:While many mature and reliable simulation engines exist for different system components, such as the network or the sensing and physics subsystems, the integration of these simulators into a single framework and workflow is not always a straight-forward task. This paper presents such an integrated simulation framework, built from available open source components, focusing on cooperative autonomous vehicles research and development. The framework combines the CARLA simulation engine with the ETSI ITS-G5 implementation of the Artery/OMNET++ network simulator, as well as with selected functionality available in ROS, in order to provide a complete and high-fidelity integrated simulation environment which can be exploited for the development and testing of unaltered final code running in ROS-enabled devices.
ISSN:2637-9511
DOI:10.1109/MECO55406.2022.9797115