An Integrated Architecture for Autonomous Vehicles Simulation. Pereira, J. L. F. Master's thesis, Faculdade de Engenharia da Universidade do Porto, June, 2011. abstract bibtex Research on autonomous vehicles has come a long way since first findings, and its software tools are increasingly acclaimed by the research community. Particularly with robotics simulators, autonomous vehicles were provided with a suitable test-bed for experimentation of new methodologies such as long-term navigation algorithms, map building and intelligent reasoning. However, when it concerns the deployment and validation of such vehicles in a larger urban traffic scenario, robotics simulators do not seem to provide the required functionality for road traffic analysis, or inter-vehicular communication infrastructure as they seem present in today�s traffic simulators. The improvement of such features is the key for the successful practical deployment of such a critical system. The main objective of this dissertation is the integration of two types of simulators, namely a robotics and a traffic simulator. This integration will enable autonomous vehicles to be deployed in a rather realistic traffic flow as an agent entity (on the traffic simulator), at the same time it simulates all its sensors and actuators (on the robotics counterpart). Also, the statistical tools available in the traffic simulator will allow practitioners to infer what kind of advantages such a novel technology will bring to our everyday�s lives. Furthermore, the current features and issues on current robotics and traffic simulators are presented and a taxonomy for selecting these simulators is proposed. An architecture for the integration of the aforementioned simulators is proposed and implemented in the light of the most desired features of such software environments. To assess the usefulness of the platform architecture towards the expected realistic simulation facility, a comprehensive system evaluation is also performed and critically reviewed, leveraging the feasibility of the integration. Further developments and future perspectives are pinpointed up in the end.
@mastersthesis{Pereira2011,
author = {Jos� Luis Ferr�s Pereira},
title = {An Integrated Architecture for Autonomous Vehicles Simulation},
school = {Faculdade de Engenharia da Universidade do Porto},
year = {2011},
month = {June},
abstract = {Research on autonomous vehicles has come a long way since first findings,
and its software tools
are increasingly acclaimed by the research community. Particularly
with robotics simulators, autonomous
vehicles were provided with a suitable test-bed for experimentation
of new methodologies
such as long-term navigation algorithms, map building and intelligent
reasoning. However,
when it concerns the deployment and validation of such vehicles in
a larger urban traffic scenario,
robotics simulators do not seem to provide the required functionality
for road traffic analysis, or
inter-vehicular communication infrastructure as they seem present
in today�s traffic simulators.
The improvement of such features is the key for the successful practical
deployment of such a
critical system.
The main objective of this dissertation is the integration of two
types of simulators, namely a
robotics and a traffic simulator. This integration will enable autonomous
vehicles to be deployed
in a rather realistic traffic flow as an agent entity (on the traffic
simulator), at the same time it
simulates all its sensors and actuators (on the robotics counterpart).
Also, the statistical tools
available in the traffic simulator will allow practitioners to infer
what kind of advantages such a
novel technology will bring to our everyday�s lives. Furthermore,
the current features and issues on
current robotics and traffic simulators are presented and a taxonomy
for selecting these simulators
is proposed. An architecture for the integration of the aforementioned
simulators is proposed and
implemented in the light of the most desired features of such software
environments.
To assess the usefulness of the platform architecture towards the
expected realistic simulation
facility, a comprehensive system evaluation is also performed and
critically reviewed, leveraging
the feasibility of the integration. Further developments and future
perspectives are pinpointed up
in the end.},
file = {:https\://sumo.dlr.de/pdf/mieec1.pdf:URL},
keywords = {autonomous driving, SUMO, driver modelling, Universidade de Porto,
Models},
owner = {dkrajzew},
timestamp = {2011.09.30}
}
Downloads: 0
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However, when it concerns the deployment and validation of such vehicles in a larger urban traffic scenario, robotics simulators do not seem to provide the required functionality for road traffic analysis, or inter-vehicular communication infrastructure as they seem present in today�s traffic simulators. The improvement of such features is the key for the successful practical deployment of such a critical system. The main objective of this dissertation is the integration of two types of simulators, namely a robotics and a traffic simulator. This integration will enable autonomous vehicles to be deployed in a rather realistic traffic flow as an agent entity (on the traffic simulator), at the same time it simulates all its sensors and actuators (on the robotics counterpart). Also, the statistical tools available in the traffic simulator will allow practitioners to infer what kind of advantages such a novel technology will bring to our everyday�s lives. Furthermore, the current features and issues on current robotics and traffic simulators are presented and a taxonomy for selecting these simulators is proposed. An architecture for the integration of the aforementioned simulators is proposed and implemented in the light of the most desired features of such software environments. To assess the usefulness of the platform architecture towards the expected realistic simulation facility, a comprehensive system evaluation is also performed and critically reviewed, leveraging the feasibility of the integration. 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This integration will enable autonomous\n\tvehicles to be deployed\n\n\tin a rather realistic traffic flow as an agent entity (on the traffic\n\tsimulator), at the same time it\n\n\tsimulates all its sensors and actuators (on the robotics counterpart).\n\tAlso, the statistical tools\n\n\tavailable in the traffic simulator will allow practitioners to infer\n\twhat kind of advantages such a\n\n\tnovel technology will bring to our everyday�s lives. Furthermore,\n\tthe current features and issues on\n\n\tcurrent robotics and traffic simulators are presented and a taxonomy\n\tfor selecting these simulators\n\n\tis proposed. An architecture for the integration of the aforementioned\n\tsimulators is proposed and\n\n\timplemented in the light of the most desired features of such software\n\tenvironments.\n\n\n\tTo assess the usefulness of the platform architecture towards the\n\texpected realistic simulation\n\n\tfacility, a comprehensive system evaluation is also performed and\n\tcritically reviewed, leveraging\n\n\tthe feasibility of the integration. Further developments and future\n\tperspectives are pinpointed up\n\n\tin the end.},\n\tfile = {:https\\://sumo.dlr.de/pdf/mieec1.pdf:URL},\n\tkeywords = {autonomous driving, SUMO, driver modelling, Universidade de Porto,\n\tModels},\n\towner = {dkrajzew},\n\ttimestamp = {2011.09.30}\n}\n\n\n","author_short":["Pereira, J. L. 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