차량 통신 플랫폼 테스팅을 위한 물리엔진 기반 실시간 시뮬레이션에 관한 연구

Abstract

An integrated real-time simulation framework is essential for the assessment and development of new vehicle-to-vehicle (V2V) communication-based solutions in the field of Cooperative Intelligent Transportation Systems. Based on recent improvements in situational awareness sensors and Vehicular Ad-hoc Networking technologies, a wide range of cooperative active-safety, autonomous driving, and infotainment solutions are envisioned in this field. Unfortunately, such technologies significantly increase the costs of development, optimization, and testing, because of the greater complexity of in-vehicle software. A real-time hardware-in-the-loop simulation-based testing approach is the most practical way of testing complex systems prior to Field Operational Tests (FOTs). To this end, we propose an integrated real-time simulation framework for testing a variety of real V2V platforms in a lab environment. Our approach employs bidirectional simulation with physics engine-based virtual-reality and a network simulator. To demonstrate the feasibility of this architecture, we describe its implementation via core framework components and analyze its integrated real-time simulation performance. We also implement a simulation scenario for vehicle platooning, a cooperative active-safety application that would otherwise require high-cost FOTs. Our results show that the proposed architecture achieves real-time, realistic simulations of in-vehicle sensor networking and inter-vehicle information networking.