Abstract
We propose a cyber-physical platform that combines road traffic simulation, network simulation, and physically simulated vehicles to facilitate extensive testing on various levels of vehicular systems. Our design integrates physical and digital vehicle simulation into a common development and testing environment. This paper describes the platform design and presents prototypical implementations that use Simulator of Urban Mobility (SUMO), TinyOS Simulator (TOSSIM), a 3D sensor simulation environment, and a test-bed of miniature vehicles called Gulliver. As a prototypical implementation, we demonstrate the development of cooperative applications, and by that we achieve: (a) a cyber-physical system that provides a common environment for physically and digitally simulated vehicles, (b) a platform to interface communication between physically and digitally simulated vehicles, and (c) the ability to tailor testing scenarios in which some system components are simulated digitally and some physically.
The suggested design provides flexibility, cost efficiency, and scalable testing opportunities for future vehicular systems. Furthermore, the proposed system is able to support novel steps towards intelligent transportation systems for smart cities.
The authors appear in alphabetical order. This work was partially supported by the EC, through project FP7-STREP-288195, KARYON (Kernel-based ARchitecture for safetY-critical cONtrol).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Adachi, M., Morita, Y., Fujimura, K., Takatori, Y., Hasegawa, T.: On an autonomous cruising traffic flow simulator including inter- vehicle and road-to-vehicle communication networks. In: The IEEE 5th International Conference on Intelligent Transportation Systems, pp. 645–650 (2002)
Al Jaafari, M., Al Shamisi, M., Al Darmki, M., Al Kaabi, M., Lakas, A., Boulmalf, M.: Vie: A simulator for road traffic and inter-vehicular communication. In: Int. Conf. Innovations in Information Technology, pp. 548–552 (2008)
Behrisch, M., Bieker, L., Erdmann, J., Krajzewicz, D.: Sumo - simulation of urban mobility: An overview. In: The Third International Conference on Advances in System Simulation, SIMUL 2011, Barcelona, Spain (2011)
Berger, C.: Automating Acceptance Tests for Sensor- and Actuator-based Systems on the Example of Autonomous Vehicles. Shaker Verlag, Aachener Informatik-Berichte, Software Engineering Band 6, Aachen, Germany (2010)
Bilstrup, K., Uhlemann, E., Ström, E.G., Bilstrup, U.: Evaluation of the ieee 802.11p mac method for vehicle-to-vehicle communication. In: IEEE 68th Vehicular Technology Conference: VTC2008-Fall, pp. 1–5. IEEE (2008)
Chen, H., Xiong, P., Schwan, K., Gavrilovska, A., Xu, C.-Z.: A cyber-physical integrated system for application performance and energy management in data centers. In: IGCC, pp. 1–10. IEEE Computer Society (2012)
Cho, B.-G., Koo, J.-K., Yoon, B.-J., Kim, B.-W.: The research of dead reckoning stabilization algorithm using different kinds of sensors. In: International Conference on Control, Automation and Systems, pp. 1089–1092 (2010)
Hoehmann, L., Kummert, A.: Mobility support for wireless sensor networks simulations for road intersection safety applications. In: Midwest Symposium on Circuits and Systems, pp. 260–263 (2009)
Kaiser, J., Schulze, M., Zug, S., Cardeira, C., Carreira, F.: Sentient objects for designing and controlling service robots. Proccedings of IFAC 8, 6–11 (2008)
Khalfallah, S., Ducourthial, B.: Bridging the gap between simulation and experimentation in vehicular networks. In: VTC Fall, pp. 1–5 (2010)
Krajzewicz, D., Hertkorn, G., Rössel, C., Wagner, P.: Sumo (simulation of urban mobility) - an open-source traffic simulation. In: 4th Middle East Symposium on Simulation and Modelling, pp. 183–187 (2002)
Lee, I., Sokolsky, O.: Medical cyber physical systems. In: Proceedings of the 47th Design Automation Conference, DAC 2010, pp. 743–748. ACM, New York (2010)
Leone, P., Papatriantafilou, M., Schiller, E.M., Zhu, G.: Chameleon-mac: Adaptive and self-* algorithms for media access control in mobile ad hoc networks. In: Dolev, S., Cobb, J., Fischer, M., Yung, M. (eds.) Stabilization, Safety, and Security of Distributed Systems (SSS 2010). LNCS, vol. 6366, pp. 468–488. Springer, Heidelberg (2010)
Leone, P., Schiller, E.M.: Self-stabilizing tdma algorithms for dynamic wireless ad-hoc networks. In: Bar-Noy, A., Halldórsson, M.M. (eds.) ALGOSENSORS 2012. LNCS, vol. 7718, pp. 105–107. Springer, Heidelberg (2013)
Levis, P., Lee, N., Welsh, M., Culler, D.E.: TOSSIM: accurate and scalable simulation of entire tinyos applications. In: ACM SenSys, pp. 126–137 (2003)
Lin, J., Sedigh, S., Miller, A.: Towards integrated simulation of cyber-physical systems: A case study on intelligent water distribution. In: Proceedings of the 8th IEEE Int. Conf. Dependable, Autonomic and Secure Computing, DASC 2009, pp. 690–695. IEEE Computer Society, Washington, DC (2009)
Mustafa, M., Papatriantafilou, M., Schiller, E.M., Tohidi, A., Tsigas, P.: Autonomous TDMA alignment for vanets. In: VTC Fall, pp. 1–5. IEEE (2012)
Pahlavan, M., Papatriantafilou, M., Schiller, E.M.: Gulliver: a test-bed for developing, demonstrating and prototyping vehicular systems. In: MOBIWAC, pp. 1–8 (2011)
Schulze, M., Zug, S.: A middleware based framework for multi-robot application development. Relation 10(1.115), 9498 (2010)
Schulze, M., Zug, S., Campos, F., Carreira, F.: Exploiting the famouso middleware in multi-robot application development with matlab/simulink. In: Middleware (Companion), pp. 74–77 (2008)
Schumacher, H., Schack, M., Kürner, T.: Coupling of simulators for the investigation of car-to-x communication aspects. In: APSCC, pp. 58–63 (2009)
Crossbow Technology Inc. MicaZ specs (2009), http://bit.ly/roPGqJ
Vedder, B.: Gulliver: Design and implementation of a miniature vehicular system. Master’s thesis, CSE, Chalmers Univ. of Tech. (2012)
Vinel, A.: 3gpp lte versus ieee 802.11p/wave: Which technology is able to support cooperative vehicular safety applications? IEEE Wireless Communications Letters 1(2), 125–128 (2012)
Wan, J., Suo, H., Yan, H., Liu, J.: A general test platform for cyber-physical systems: Unmanned vehicle with wireless sensor network navigation. Procedia Engineering 24, 123–127 (2011); International Conference on Advances in Engineering (2011)
Wegener, A., Piórkowski, M., Raya, M., Hellbrück, H., Fischer, S., Hubaux, J.-P.: Traci: an interface for coupling road traffic and network simulators. In: Proceedings of the 11th Communications and Networking Simulation Symposium, CNS 2008, pp. 155–163. ACM, New York (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Berger, C. et al. (2013). Bridging Physical and Digital Traffic System Simulations with the Gulliver Test-Bed. In: Berbineau, M., et al. Communication Technologies for Vehicles. Nets4Cars/Nets4Trains 2013. Lecture Notes in Computer Science, vol 7865. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37974-1_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-37974-1_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37973-4
Online ISBN: 978-3-642-37974-1
eBook Packages: Computer ScienceComputer Science (R0)