Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL
2022-01-0103
03/29/2022
- Event
- Content
- The widespread deployment of Connected and Automated Vehicles (CAVs) in the future will bring major changes in the automotive industry and the vehicle features it will offer. Currently, technology and infrastructure are not ready to test and develop CAV features fully in real traffic. Simulators are becoming popular to develop CAVs and assisted automated driving features for all levels of automation to overcome the infrastructural needs of the automotive industry. Simulators allow researchers to design CAV algorithms safely, quickly, and efficiently, and test these algorithms for various metrics. A co-simulation environment, where a vehicle simulator like CarSim and a traffic simulator like Simulation of Urban Mobility (SUMO) feed into each other, is an invaluable tool, allowing CAV features to be tested in a realistic traffic environment. This paper presents a co-simulation environment, where the vehicle simulator CarSim and the traffic simulator SUMO share data. The paper follows the V-cycle software development approach, where the co-simulation first was developed as a Model-in-the-Loop (MIL) setup without external hardware. Next, a Hardware-in-the-Loop (HIL) setup was implemented for the co-simulation. A low-speed collision mitigation Driver Assist Technology (DAT) was tested as a use case scenario, where the CarSim controlled ego vehicle encountered the broken-down vehicle controlled by SUMO at a 4-way intersection. The DAT feature took over the control, executed emergency braking, and avoided collision between the ego and broken-down vehicle. This result demonstrates that DATs requiring realistic traffic can be modeled and tested using this SUMO – CarSim co-simulation environment.
- Citation
- Kavas-Torris, O., cai, X., Joshi, A., Mittal, A. et al., "Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL," SAE Technical Paper 2022-01-0103, 2022, .