A Co-Simulation Middleware: Virtual Testing of Automotive Applications with Multiple Simulators
summary
A modular C++ Run‑Time Interface connects SUMO, CARLA, VTD/virtual test drive, CarMaker and Simulink and runs each simulator in parallel threads; one demonstrated trick is two SUMO instances (a high‑detail near ego and a low‑detail far field). Scenes convert 3D models to OpenSCENARIO catalogs and road geometry to OpenDRIVE, exchange sensor and measurement files in MDF, OSI, PNG and PCD, and replay TRACI logs to compare real measurements with CARLA — vehicles and pedestrians interact across simulators in real time or faster.
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chapters (10)
- 0:00Introduction
- 1:25Simulation tools overview
- 5:02Co-simulation middleware
- 5:43Scenario creation framework
- 6:503D scenario mapping
- 9:12Creating traffic scenarios
- 10:52Configuration and runtime
- 12:30Automotive applications
- 14:15Data and digital twins
- 15:29Summary and future work
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