Building a V2X Simulation Framework for Future Autonomous Driving

Tsu Kuang Lee, Tong Wen Wang, Wen Xuan Wu, Yu Chiao Kuo, Shih Hsuan Huang, Guan Sheng Wang, Chih Yu Lin, Jen-Jee Chen, Yu-Chee Tseng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

Collecting surrounding vehicles' motion information is one of the key issues for accident prevention and autonomous driving. Although multi-vehicle simulation frameworks are widely provided, We need a platform that enable inter-vehicle V2X communications. In this work, based on the open source simulation platform, CARLA, we extend and implement several modules to build a V2X simulation framework. In the proposed framework, vehicles are allowed to share their profiles and sensory data through V2X communications. With the motion information of other vehicles, a car can thus make more intelligent decisions. To validate the effectiveness of the framework, we run simulations in variose scenarios. Each time, a primary vehicle is selected and then both its sensory data and received surrounding vehicles' information are output and recorded in a simulated dataset. It is shown that with the dataset and our multi-vehicle data fusion algorithm, the primary vehicle can visually see the driving status of surrounding cars, which can greatly help a vehicle to choose a better driving strategy. This work not only proposes a V2X communication-enabled multi-vehicle simulation framework based on CARLA, but also provides a low cost way to generate simulated V2X datasets.

Original languageEnglish
Title of host publication2019 20th Asia-Pacific Network Operations and Management Symposium
Subtitle of host publicationManagement in a Cyber-Physical World, APNOMS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9784885523205
DOIs
StatePublished - Sep 2019
Event20th Asia-Pacific Network Operations and Management Symposium, APNOMS 2019 - Matsue, Japan
Duration: 18 Sep 201920 Sep 2019

Publication series

Name2019 20th Asia-Pacific Network Operations and Management Symposium: Management in a Cyber-Physical World, APNOMS 2019

Conference

Conference20th Asia-Pacific Network Operations and Management Symposium, APNOMS 2019
Country/TerritoryJapan
CityMatsue
Period18/09/1920/09/19

Keywords

  • Autonomous Driving
  • Data Fusion
  • Sensing
  • V2X communication

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