Abstract
Simulation platforms play an important role in helping intelligent vehicle research, especially for the research of cooperative driving due to the high cost and risk of the real experiments. In order to ease and bring more convenience for cooperative driving tests, we introduce an intelligent vehicle simulation platform, called CyberTORCS, for the research in cooperative driving. Details of the simulator modules including vehicle body control, vehicle visualization modeling and track visualization modeling are presented. Two simulation examples are given to validate the feasibility and effectiveness of the proposed simulation platform.
Highlights
Simulation platforms play an important role in helping intelligent vehicle research, especially for the research of cooperative driving due to the high cost and risk of the real experiments
The development of autonomous vehicles has inspired a great trend to research of cooperative driving
Despite some advanced sensor technologies and control strategies have been applied for the single vehicle system, cooperative driving requires many other technologies which may significantly increase the road capacity, and improve the safety for driving, avoid accidents and traffic jam
Summary
CyberTORCS is developed based on the software TORCS (The Open Racing Car Simulator), which is an open source software for car racing. Players could drive their cars by keyboard or joystick. It is very convenient to implement and test different control algorithms and driving strategies in this simulation platform. Each vehicle in the simulator has its own identity, sensor module, vehicle dynamics module, vehicle control module, etc. Basic features of these modules are included in TORCS, and users may edit each module for their own purposes. Some other modules are not introduced we did mention in the system architecture
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