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

R. Ghahremaninejad, S. Bilgen

2022

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.

Paper Citation

in Harvard Style

Ghahremaninejad R. and Bilgen S. (2022). Introducing a Novel ROS-based Cooperative Autonomous Vehicles Planning Simulation Framework, CAVPsim. In Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-573-9, pages 208-215. DOI: 10.5220/0010998000003191

in Bibtex Style

@conference{vehits22,
author={R. Ghahremaninejad and S. Bilgen},
title={Introducing a Novel ROS-based Cooperative Autonomous Vehicles Planning Simulation Framework, CAVPsim},
booktitle={Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2022},
pages={208-215},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010998000003191},
isbn={978-989-758-573-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Introducing a Novel ROS-based Cooperative Autonomous Vehicles Planning Simulation Framework, CAVPsim
SN - 978-989-758-573-9
AU - Ghahremaninejad R.
AU - Bilgen S.
PY - 2022
SP - 208
EP - 215
DO - 10.5220/0010998000003191