TEPLITS: A comprehensive Test Platform for Intelligent Transportation Systems

摘要

The introduction of Vehicle-to-Everything (V2X) communication has enormously extended the spectrum of Advanced Driver Assistance Systems (ADAS) in the past years. This development has come along with an increasing demand for test facilities. However, the number of new systems and interconnected nodes makes testing with real test vehicles costly and time consuming. For this reason virtual test drives have risen as a promising pre-filter for the final testing in real test facilities. To be effective and have a high validity, these virtual test drives need to be as close to reality as possible. Especially for connected safety-critical applications, such as platooning, all components (environment, traffic, vehicle dynamics, sensor systems, positioning and communication) must to be modeled accurately. In the work at hand, a simulation framework based on the middleware platform Robot Operating System (ROS) coupled with the vehicle dynamics simulator CarMaker is extended by the Global Navigation Satellite System (GNSS) simulator Spirent. A proof of concept is offered in terms of a simple performance evaluation of Cooperative Positioning (CP). CP allows vehicles to share raw GNSS measurements with their neighbors by means of V2X communications to increase availability, integrity and accuracy of their positioning. The proof of concept focuses on the latter and shows that it can be considerably enhanced by means of CP.