SUMO-Matlab 연동을 통한 자율주행 시뮬레이션 환경 구축

Abstract

Recently, research on AV (Autonomous vehicle) and ADAS (Advanced Driver Assistance System) technology has been actively conducted. The traditional body and chassis system can be verified as a single system, but in the case of AV and ADAS, interaction with surrounding vehicles and the environment should be concerned. AV and ADAS require verification in complex and variety of test scenarios. Therefore, it is necessary to verify in virtual environment to secure economic feasibility and safety. This paper proposes a co-simulation environment and interfacing method that compensates for the shortcomings between simulators through SUMO (Simulation of Urban MObility), Matlab/Simulink, and Unity 3D. A large-scale of traffic such as surrounding vehicles, pedestrians, and buildings can be constructed through SUMO. Due to it’s visualization is very limited and the vehicle dynamics can’t be applied, vehicle dynamic, sensor, and controller model constructed in Simulink and 3D graphic engine Unity were interfaced with SUMO through TraCI (Traffic Control Interface).