Simulation platform for cooperative vehicle systems

Abstract

Road accidents is one of the major cause of deaths worldwide. Traffic is also one of the main problems in large cities. The development of intelligent transportation systems may contribute to the solution of both problems. Autonomous vehicles have been addressed by the academic community for decades and recently have been obtaining a considerable attention from the industry. One of the next steps for such technology is the development of communication systems that allow cooperative driving, which could improve the traffic efficiency. This paper proposes a simulation framework for the development of cooperative driving systems. Our framework is capable of accurate simulation of vehicles, sensors, complex environments, and wireless communication between vehicles. It is also compatible to well known robotic control middlewares, allowing portability of the develop code between real and simulated test vehicles. Results of cooperative adaptive cruise control with multiple vehicles are presented to validate the framework proposed.

Compensation of Communication Delays in a Cooperative ACC System

“…However, the theoretical studies of string stability in many cases ignored the compromising effect of communication delays [25]- [32]. A string-stable CACC system can still be practically realized with certain communication delays when communication delay is not accounted in the process of controller design [33]- [35]. However, these studies selected a sufficiently large time gap as 0.6 s to 0.8 s, rather than considering the minimum intervehicle distance.…”

Cooperative driver assistance system for the lane change

“…MORSE has a large number of sensors that can be used in the development and evaluation of the safety and emergency systems. Furthermore, MORSE proposes not only some methods to alter the input and output data (i.e., through modifiers) but also allows the creation of new sensors 5 , such as the Network Interface Communication (NIC) sensor, which was used in (GÓMEZ et al, 2014;GÓMEZ et al, 2016). The NIC sensor has the function to simulate a communication vehicular card.…”

Sistema ADAS para identificação de distrações e perturbações do motorista na condução de veículos

“…Atualmente, a comunidade científica vem criando e melhorando simuladores de direção por diversas razões, dentre elas pode-se citar, o teste e treinamento de Sistemas Avançados de Assistência ao Condutor (ADAS, ver Seção 2.1) (HASSAN et al, 2013), no teste e melhoramento de sistemas para veículos autônomos (GÓMEZ et al, 2014) e para obtenção da simulação completa da dinâmica veicular CHEN, 2003), enfim, constituindo um ambiente virtual mais próximo ao mundo real (JIA; LU; WANG, 2011). De maneira geral, estes sistemas vem sendo aplicados por pesquisadores em estudos sobre o comportamento do motorista, como por exemplo, efeitos do cansaço e das drogas (JAMSON, 2007), possibilitando assim, o estudo do comportamento do motorista em condições, que de outra maneira, seriam consideradas ilegais ou não éticas (SLOB, 2008).…”