Simulation Of Cooperative Automated Driving By Bidirectional Coupling Of Vehicle And Network Simulators
2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017)(2017)
摘要
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.
更多查看译文
关键词
cooperative automated driving,bidirectional coupling,vehicle simulator,network simulator,sensor-based vehicle automation,inter-vehicle communication,IVC,CAD systems,Webots simulator,ns-3 simulator,CAD-specific metrics
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要