Introducing a Novel ROS-based Cooperative Autonomous Vehicles Planning Simulation Framework, CAVPsim

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Date

2022

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Scitepress

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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

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0

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Source

8th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS) -- APR 27-29, 2022 -- ELECTR NETWORK

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208

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215