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Simulation of cooperative automated driving by bidirectional coupling of vehicle and network simulators

: Llatser, Ignacio; Guillaume, Jornod; Festag, Andreas; Mansolino, David; Navarro, Inaki; Martinoli, Alcherio


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Intelligent Transportation Systems Society -ITSS-:
28th IEEE Intelligent Vehicles Symposium 2017 : June 11-14, 2017, Redondo Beach, California, USA
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5090-4804-5
ISBN: 978-1-5090-4803-8
ISBN: 978-1-5090-4805-2
Intelligent Vehicles Symposium (IV) <28, 2017, Redondo Beach/Calif.>
Fraunhofer IVI ()
driver information system; decentralized control; Solid Modeling

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.