An hybrid simulation tool for autonomous cars in very high traffic scenarios

Mario Garzon, Anne Spalanzani

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

9 Citations (Scopus)

Abstract

This article introduces an open source tool for simulating autonomous vehicles in complex, high traffic, scenarios. The proposed approach consists on creating an hybrid simulation, which fully integrates and synchronizes two well known simulators: A microscopic, multi-modal traffic simulator and a complex 3D simulator. The presented software tool allows to simulate an autonomous vehicle, including all its dynamics, sensors and control layers, in a scenario with a very high volume of traffic. The hybrid simulation creates a bi-directional integration, meaning that, in the 3D simulator, the ego-vehicle sees and interacts with the rest of the vehicles, and at the same time, in the traffic simulator, all additional vehicles detect and react to the actions of the ego-vehicle. Two interfaces, one for each simulator, where created to achieve the integration, they ensure the synchronization of the scenario, the state of all vehicles including the ego-vehicle, and the time. The capabilities of the hybrid simulation was tested with different models for the ego-vehicle and almost 300 additional vehicles in a complex merge scenario.

Original languageEnglish
Title of host publication2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PublisherIEEE
Pages803-808
Number of pages6
ISBN (Electronic)9781538695821
DOIs
Publication statusPublished - 2018
Externally publishedYes
Event15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 - Singapore, Singapore
Duration: 18 Nov 201821 Nov 2018

Conference

Conference15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
CountrySingapore
CitySingapore
Period18/11/1821/11/18

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