Enhancing the realism of autonomous driving simulation with real-time co-simulation

Qiwei Chen; Tiexin Wang; Chengjie Lu; Tao Yue; Shaukat Ali

doi:10.1145/3550356.3561558

Enhancing the realism of autonomous driving simulation with real-time co-simulation

Qiwei Chen
, Tiexin Wang
, Chengjie Lu
, Tao Yue
, Shaukat Ali

Nanjing University of Aeronautics and Astronautics
Simula Research Laboratory

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

Autonomous driving simulators are commonly used to develop autonomous driving systems (ADS) since they provide the flexibility to experiment with scenarios that could even be dangerous in a real setting. This flexibility, however, comes with the possibility of experimenting with unrealistic scenarios. To this end, we present an initial co-simulation framework integrating OpenModelica and CARLA to enable real-time communication between them. As a proof of concept, we experimented with two Modelica models (air resistance and energy consumption). We connected the two models with CARLA to enable real-time communication between them to ensure the realism of scenarios in addition to connecting CARLA with OpenWeather through its API to access real weather conditions. We conducted experiments with a specific virtual electric vehicle (Tesla Model 3) running on the Town06 map in CARLA. Results provide preliminary evidence that co-simulation with Modelica models improved the realism of the virtual vehicle in CARLA.

源语言	英语
主期刊名	Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022
主期刊副标题	Companion Proceedings
出版商	Association for Computing Machinery, Inc
页	659-667
页数	9
ISBN（电子版）	9781450394673
DOI	https://doi.org/10.1145/3550356.3561558
出版状态	已出版 - 23 10月 2022
已对外发布	是
活动	25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022 - Montreal, 加拿大期限: 23 10月 2022 → 28 10月 2022

出版系列

姓名	Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings

会议

会议	25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022
国家/地区	加拿大
市	Montreal
时期	23/10/22 → 28/10/22

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1145/3550356.3561558

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, Q., Wang, T., Lu, C., Yue, T., & Ali, S. (2022). Enhancing the realism of autonomous driving simulation with real-time co-simulation. 在 Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings (页码 659-667). (Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings). Association for Computing Machinery, Inc. https://doi.org/10.1145/3550356.3561558

Chen, Qiwei ; Wang, Tiexin ; Lu, Chengjie 等. / Enhancing the realism of autonomous driving simulation with real-time co-simulation. Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings. Association for Computing Machinery, Inc, 2022. 页码 659-667 (Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings).

@inproceedings{769b2f001bfe4a2ba749c9329b443c87,

title = "Enhancing the realism of autonomous driving simulation with real-time co-simulation",

abstract = "Autonomous driving simulators are commonly used to develop autonomous driving systems (ADS) since they provide the flexibility to experiment with scenarios that could even be dangerous in a real setting. This flexibility, however, comes with the possibility of experimenting with unrealistic scenarios. To this end, we present an initial co-simulation framework integrating OpenModelica and CARLA to enable real-time communication between them. As a proof of concept, we experimented with two Modelica models (air resistance and energy consumption). We connected the two models with CARLA to enable real-time communication between them to ensure the realism of scenarios in addition to connecting CARLA with OpenWeather through its API to access real weather conditions. We conducted experiments with a specific virtual electric vehicle (Tesla Model 3) running on the Town06 map in CARLA. Results provide preliminary evidence that co-simulation with Modelica models improved the realism of the virtual vehicle in CARLA.",

keywords = "autonomous vehicles, Multi-paradigm modeling, Real-time co-simulation",

author = "Qiwei Chen and Tiexin Wang and Chengjie Lu and Tao Yue and Shaukat Ali",

note = "Publisher Copyright: {\textcopyright} 2022 ACM.; 25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022 ; Conference date: 23-10-2022 Through 28-10-2022",

year = "2022",

month = oct,

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doi = "10.1145/3550356.3561558",

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Chen, Q, Wang, T, Lu, C, Yue, T & Ali, S 2022, Enhancing the realism of autonomous driving simulation with real-time co-simulation. 在 Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings. Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings, Association for Computing Machinery, Inc, 页码 659-667, 25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022, Montreal, 加拿大, 23/10/22. https://doi.org/10.1145/3550356.3561558

Enhancing the realism of autonomous driving simulation with real-time co-simulation. / Chen, Qiwei; Wang, Tiexin; Lu, Chengjie 等.
Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings. Association for Computing Machinery, Inc, 2022. 页码 659-667 (Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Enhancing the realism of autonomous driving simulation with real-time co-simulation

AU - Chen, Qiwei

AU - Wang, Tiexin

AU - Lu, Chengjie

AU - Yue, Tao

AU - Ali, Shaukat

PY - 2022/10/23

Y1 - 2022/10/23

N2 - Autonomous driving simulators are commonly used to develop autonomous driving systems (ADS) since they provide the flexibility to experiment with scenarios that could even be dangerous in a real setting. This flexibility, however, comes with the possibility of experimenting with unrealistic scenarios. To this end, we present an initial co-simulation framework integrating OpenModelica and CARLA to enable real-time communication between them. As a proof of concept, we experimented with two Modelica models (air resistance and energy consumption). We connected the two models with CARLA to enable real-time communication between them to ensure the realism of scenarios in addition to connecting CARLA with OpenWeather through its API to access real weather conditions. We conducted experiments with a specific virtual electric vehicle (Tesla Model 3) running on the Town06 map in CARLA. Results provide preliminary evidence that co-simulation with Modelica models improved the realism of the virtual vehicle in CARLA.

AB - Autonomous driving simulators are commonly used to develop autonomous driving systems (ADS) since they provide the flexibility to experiment with scenarios that could even be dangerous in a real setting. This flexibility, however, comes with the possibility of experimenting with unrealistic scenarios. To this end, we present an initial co-simulation framework integrating OpenModelica and CARLA to enable real-time communication between them. As a proof of concept, we experimented with two Modelica models (air resistance and energy consumption). We connected the two models with CARLA to enable real-time communication between them to ensure the realism of scenarios in addition to connecting CARLA with OpenWeather through its API to access real weather conditions. We conducted experiments with a specific virtual electric vehicle (Tesla Model 3) running on the Town06 map in CARLA. Results provide preliminary evidence that co-simulation with Modelica models improved the realism of the virtual vehicle in CARLA.

KW - autonomous vehicles

KW - Multi-paradigm modeling

KW - Real-time co-simulation

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U2 - 10.1145/3550356.3561558

DO - 10.1145/3550356.3561558

M3 - 会议稿件

AN - SCOPUS:85142931475

T3 - Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings

SP - 659

EP - 667

BT - Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022

PB - Association for Computing Machinery, Inc

T2 - 25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022

Y2 - 23 October 2022 through 28 October 2022

ER -

Chen Q, Wang T, Lu C, Yue T, Ali S. Enhancing the realism of autonomous driving simulation with real-time co-simulation. 在 Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings. Association for Computing Machinery, Inc. 2022. 页码 659-667. (Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings). doi: 10.1145/3550356.3561558

Enhancing the realism of autonomous driving simulation with real-time co-simulation

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

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引用此