Advanced co-simulation framework for cooperative maneuvers among vehicles

In this work we propose a tool for simulation of cooperative maneuvers among autonomous vehicles in which virtual and real vehicles can conjunctively interact. It is a generic simulation platform where the user can define the desired scenario using a graphical user interface. This interface facilitates insertion of controllers and models for different parts of vehicles and some elements of the infrastructure. Furthermore, vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications are available in the framework. The simulator also enables the 3D rendering of simulation and monitoring of several variables at runtime. The main advantage of the proposed framework relies on the use of hybrid simulation by combining real and virtual vehicles for studying their dynamic behavior and interaction without the need of real expensive equipment or vehicles. Therefore, the emulation of experimental tests based on data sets from the vehicle sensors serves as a powerful tool for designing and evaluation new ADAS.