论文标题
网络物理流动性实验室：网络和自动驾驶汽车的开源平台
Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles
论文作者
论文摘要
本文介绍了我们的网络物理移动性实验室（CPM实验室）。这是一个开源开发环境，针对网络和自动驾驶汽车，重点关注网络决策，轨迹计划和控制。 CPM实验室拥有20辆物理型号车辆（μCARS），我们可以通过无限制的模拟车辆无缝延伸。该代码和施工计划可公开使用，以启用重建CPM实验室。 我们的四层体系结构可以在模拟和实验中无缝使用相同的软件，而无需任何进一步的适应。基于数据分配服务（DDS）的中间件允许以无缝的方式调整实验期间的车辆数量。该中间软件还负责在实现实验的确定性和可重复性的逻辑执行时间方法之后同步所有实体。这种方法使CPM实验室成为网络决策算法快速功能原型制作的独特平台。 CPM实验室允许研究人员和来自不同学科的学生看到他们的想法发展成为现实。我们使用两个示例实验来证明其功能。我们正在通过WebInterface进行远程访问CPM实验室的访问。
This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts 20 physical model-scale vehicles (μCars) which we can seamlessly extend by unlimited simulated vehicles. The code and construction plans are publicly available to enable rebuilding the CPM Lab. Our four-layered architecture enables the seamless use of the same software in simulations and in experiments without any further adaptions. A Data Distribution Service (DDS) based middleware allows adapting the number of vehicles during experiments in a seamless manner. The middleware is also responsible for synchronizing all entities following a logical execution time approach to achieve determinism and reproducibility of experiments. This approach makes the CPM Lab a unique platform for rapid functional prototyping of networked decision-making algorithms. The CPM Lab allows researchers as well as students from different disciplines to see their ideas developing into reality. We demonstrate its capabilities using two example experiments. We are working on a remote access to the CPM Lab via a webinterface.
