Introducing a Novel ROS-based Cooperative Autonomous Vehicles Planning Simulation Framework, CAVPsim
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Date
2022
Journal Title
Journal ISSN
Volume Title
Publisher
Scitepress
Abstract
Emerging full stack autonomous driving software packages promise rapid development on autonomous driving deployment studies. However, considering the increasing importance of cooperation among vehicles, the absence of the Cooperative Autonomous Vehicle (CAV) research focus in those works draws attention. In this paper, we review some CAV simulation frameworks and introduce a novel ROS based CAV Planning simulation framework, CAVPsim. The framework has three main components: vehicle, communication, and computation models. We verify the integration of these three components, and we show, via a simple scenario, that cooperation of communicating autonomous vehicles can be effectively simulated on CAVPsim.
Description
Ghahremaninejad, Reza/0000-0003-3766-6319; Ghahremaninejad, Reza/0000-0003-3766-6319
Keywords
Cooperative Autonomous Vehicles, Robot Operating System (ROS), Planning Simulation, CAVPsim
Turkish CoHE Thesis Center URL
Citation
0
WoS Q
N/A
Scopus Q
N/A
Source
8th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS) -- APR 27-29, 2022 -- ELECTR NETWORK
Volume
Issue
Start Page
208
End Page
215