Llatser, IgnacioJornod, Guillaume StefanFestag, AndreasMansolino, DavidNavarro Oiza, InakiMartinoli, Alcherio2017-05-222017-05-222017-05-22201710.1109/IVS.2017.7995979https://infoscience.epfl.ch/handle/20.500.14299/137492The 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.Cooperative Automated DrivingBidirectional SimulatorWebotsns-3Network and Vehicle Simulatorstext::conference output::conference proceedings::conference paper