Testing Cooperative Intelligent Transport Systems in Driving Simulators

• Cooperative IntelligentTransport Systems include many actors in the transport system that are con-nected to each other via wireless communication in order to interact andcooperate. Majority of the actors in thesystems are vehicles, which can range from fully autonomous vehicles tomanually driven vehicles, equipped withwireless communication modules. Creating realistic scenarios for testing suchcomplex systems often need a com-bination of simulators. This paper presents a distributed simulation frameworkthat consists of a) a moving basedriving simulator; b) a real-time hardware-in-the-loop simulator; and c) anetwork simulator and traffic simulator. Wepresent our approach for connecting and co-simulating the mentioned simulators.As a first test of our simulationframework, a crossing scenario is simulated. Lastly, we discuss potentialbenefits and future work.

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