Authors:
R. Ghahremaninejad
and
S. Bilgen
Affiliation:
Mechatronics Engineering, PhD Program, Istanbul Okan University, Turkey
Keyword(s):
Cooperative Autonomous Vehicles, Robot Operating System (ROS), Planning Simulation, CAVPsim.
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.