This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Autonomous Vehicles in the Cyberspace: Accelerating Testing via Computer Simulation
Technical Paper
2018-01-1078
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
We present an approach in which an open-source software infrastructure is used for testing the behavior of autonomous vehicles through computer simulation. This software infrastructure is called CAVE, from Connected Autonomous Vehicle Emulator. As a software platform that allows rapid, low-cost and risk-free testing of novel designs, methods and software components, CAVE accelerates and democratizes research and development activities in the field of autonomous navigation. CAVE is (a) heterogeneous and multi-agent, in that it supports the simulation of heterogeneous traffic scenarios involving conventional, assisted, and autonomous vehicles as well as pedestrians and cyclists; (b) open platform, as it allows any client that subscribes to a standard application programming interface (API) to remotely plug into the emulator and engage in multi-participant traffic scenarios that bring together autonomous agents from different solution providers; (c) vehicle-to-vehicle (V2V) communication emulation ready, owing to its ability to simulate the V2V data exchange enabled in real-world scenarios by ad-hoc dedicated short range communication (DSRC) protocols; and (d) open-source, as the software infrastructure will be available under a BSD3 license in a public repository for unrestricted use and redistribution. CAVE provides three immediate benefits. First, it serves as a development platform for algorithms that seek to establish path planning policies for autonomous vehicles operating in heterogeneous traffic scenarios; i.e., it enables the rapid and safe testing of “work in progress” piloting computer programs (PCPs). Second, it enables auditing of existing path planning policies by exposing connected and/or autonomous vehicles to scenarios that would be costly, time consuming and/or dangerous to consider in real-world testing. Third, the CAVE will provide a scalable, high-throughput, virtual proving ground that exposes heterogeneous traffic complexity which would not otherwise emerge in actual single-vehicle testing conducted in controlled environments. We present early results of a test case in which 30 autonomous vehicles negotiate a busy intersection in Madison, WI, without the need of traffic lights, simply by using sensors and communicating via DSRC.
Recommended Content
Authors
Topic
Citation
Negrut, D., Serban, R., Elmquist, A., Hatch, D. et al., "Autonomous Vehicles in the Cyberspace: Accelerating Testing via Computer Simulation," SAE Technical Paper 2018-01-1078, 2018, https://doi.org/10.4271/2018-01-1078.Also In
References
- Zhang , Z. Microsoft Kinect Sensor and its Effect IEEE Multimedia 19 2 4 10 2012
- OpenStreetMap Foundation https://www.openstreetmap.org 2016
- MATLAB https://www.mathworks.com/products/simmechanics.html 2018
- Krajzewicz , D , Erdmann , J. , Behrisch , M. , and Bieker , L. Recent Development and Applications of SUMO - Simulation of Urban MObility International Journal On Advances in Systems and Measurements 5 3 4 128 138 2012
- Open-Source-Robotics-Foundation http://gazebosim.org/ 2015
- http://www.bulletphysics.com/Bullet/wordpress 2010
- http://www.mscsoftware.com 2014
- https://www.unrealengine.com/what-is-unreal-engine-4 2016
- https://tass.plm.automation.siemens.com/prescan 2018
- Recuero , A.M. , Serban , R. , Peterson , B. , Sugiyama , H. et al. A High-Fidelity Approach for Vehicle Mobility Simulation: Nonlinear Finite Element Tires Operating on Granular Material Journal of Terramechanics 72 39 54 2017
- Quigley , M. , Conley , K. , Gerkey , B. , Faust , J. , Foote , T. , Leibs , J. , Wheeler , R. , and Y Ng , A. ROS: an open-source Robot Operating System ICRA workshop on open source software 5 Kobe, Japan 2009
- IPG Automotive https://ipg-automotive.com/products-services/simulation-software/carmaker/ 2018
- E. J. Haug 1989
- Negrut , D. , Serban , R. , and Tasora , A. Posing multibody dynamics with friction and contact as a differential complementarity problem ASME Journal of Computational and Nonlinear Dynamics 13 1 014503 2017
- Filippov , A.F. and Arscott , F.M. Differential Equations with Discontinuous Righthand Sides: Control Systems 18 Springer 1988
- Stewart , D.E. Rigid-Body Dynamics with Friction and Impact SIAM Review 42 1 3 39 2000
- Stewart , D.E. and Trinkle , J.C. An Implicit Time-Stepping Scheme for Rigid-Body Dynamics with Inelastic Collisions and Coulomb Friction International Journal for Numerical Methods in Engineering 39 2673 2691 1996
- Anitescu , M. , Cremer , J.F. , and Potra , F.A. Formulating 3D Contact Dynamics Problems Mechanics of Structures and Machines 24 4 405 437 1996
- Trinkle , J. , Pang , J.-S. , Sudarsky , S. , and Lo , G. On Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction Zeitschrift fur angewandte Mathematik und Mechanik 77 267 279 1997
- C. Glocker and F. Pfeiffer An LCP-approach for multibody systems with planar friction Proceedings of the CMIS 92 Contact Mechanics Int. Symposium 13 20 Switzerland 2006
- Acary , V. and Brogliato , B. Numerical methods for nonsmooth dynamical systems: applications in mechanics and electronics 35 Springer Science & Business Media 2008
- Kaufman , D.M. and Pai , D.K. Geometric Numerical Integration of Inequality Constrained, Nonsmooth Hamiltonian Systems SIAM Journal on Scientific Computing 34 5 A2670 A2703 2012
- Heyn , T. , Anitescu , M. , Tasora , A. , and Negrut , D. Using Krylov Subspace and Spectral Methods for Solving Complementarity Problems in Many-Body Contact Dynamics Simulation IJNME 95 7 541 561 2013
- Mazhar , H. , Heyn , T. , Tasora , A. , and Negrut , D. Using Nesterov’s Method to Accelerate Multibody Dynamics with Friction and Contact ACM Trans. Graph 34 3 32:1 32:14 2015
- Project Chrono http://projectchrono.org 2016
- Project Chrono Development Team https://github.com/projectchrono/chrono 2017
- A. Tasora , R. Serban , H. Mazhar , A. Pazouki , D. Melanz , J. Fleischmann , M. Taylor , H. Sugiyama , and D. Negrut T. Kozubek 19 49 2016
- Serban , R. , Taylor , M. , Negrut , D. , and Tasora , A. Intl. J. Veh. Performance 2018
- Varda , K. Protocol Buffers: Googles Data Interchange Format Google Open Source Blog 72 2008
- John Torjo Boost.Asio C++ network programming 2013
- A. Elmquist and D. Negrut http://sbel.wisc.edu/documents/TR-2016-13.pdf 2016
- Simulation-Based Engineering Lab (SBEL) http://sbel.wisc.edu/Animations 2015
- Bojarski , M. , Yeres , P. , Choromanska , A. , Choromanski , K. , Firner , B. , Jackel , L. , and Muller , U. 2017
- Raman , R. , Livny , M. , and Solomon , M. Matchmaking: Distributed Resource Management for High Throughput Computing High Performance Distributed Computing, 1998. Proceedings. The Seventh International Symposium 140 146 1998