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

1 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.
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
CountryJapan
CityMatsue
Period18/09/1920/09/19

Keywords

  • Autonomous Driving
  • Data Fusion
  • Sensing
  • V2X communication

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