Simulation of Cooperative Automated Driving by Bidirectional Coupling of Vehicle and Network Simulators

The convergence of sensor-based vehicle automation and Inter-Vehicle Communication (IVC) will be a key to achieve the full automation of vehicles. In this paper we present a new method for the design and performance evaluation of Cooperative Automated Driving (CAD) systems, based on a bidirectional coupling of vehicle and network simulators (Webots and ns-3). The coupling exploits the comprehensive capabilities of the simulators at a reasonable computational complexity and allows simulating CAD systems with high accuracy. We demonstrate the capabilities of the simulation tool by a case study of convoy driving with automated vehicles using a fully distributed control algorithm and IVC. The study compares CAD-specific metrics (safety distance, headway, speed) for an ideal and a realistic communication channel. The simulation results underline the need of accurate modeling and give valuable insights for the design of CAD systems.


Published in:
Intelligent Vehicles Symposium (IV), 2017 IEEE, 1881 - 1886
Presented at:
2017 IEEE Intelligent Vehicles Symposium, Redondo Beach, California, USA, June 11-14, 2017
Year:
2017
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 Record created 2017-05-22, last modified 2018-03-17

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