Simulation to Reality: Testbeds and Architectures for Connected and Automated Vehicles

TL;DR

This paper surveys software frameworks for connected and automated vehicles, emphasizing their real-time capabilities, transition from simulation to real-world testing, and identifying research gaps for safer CAV deployment.

Contribution

It provides a comprehensive analysis of existing frameworks, discusses tooling requirements, and highlights challenges and research gaps in transitioning from simulation to real-world CAV testing.

Findings

Analysis of frameworks' real-time and transition capabilities

Case studies on perception, motion planning, and control

Identification of key research gaps in CAV software development

Abstract

Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software framework needs to enable seamless transition between testing stages, from simulation to small-scale to full-scale experiments. In this paper, we survey prominent software frameworks used for in-vehicle and inter-vehicle communication in CAVs. We analyze these frameworks regarding opportunities and challenges, such as their real-time properties and transitioning capabilities. Additionally, we delve into the tooling requirements necessary for addressing the associated challenges. We illustrate the practical implications of these challenges through case studies focusing on critical areas such as perception, motion planning, and control. Furthermore, we identify research gaps in the field, highlighting areas where further investigation is needed to advance the development and deployment of safe and efficient CAV systems.