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Development of a Hardware in the Loop Ad-Hoc Testbed for Cooperative Vehicles Platooning

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Intelligent Transport Systems (INTSYS 2022)

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Abstract

Cooperative Cyber-Physical Devices (Co-CPS) are reaching into the most diverse areas and pose new integration challenges. For cooperative autonomous machines, safety and reliability must be guaranteed without human presence. Among these, Cooperative Vehicular Platooning (Co-VP) applications offer an exciting promise, as they allow to improve road occupation, reduce accidents, and provide fuel savings. The high complexity and safety-critical characteristics of these applications requires them to be validated, to ensure their reliability before being applied in real scenarios, notably regarding their underlying communication transactions.

This paper presents an architecture for validating a Co-VP system via Hardware-In-the-Loop (HIL) integration of IEEE 802.11 communications and co-simulation support of a 3D simulator. We present it in a scenario of communication according to the ETSI ITS model and information exchange frequencies between the vehicles. Through these scenarios that mimic realistic conditions of Co-VP applications, we observe the impact of such variations on the number of messages received, network delay, and lateral and longitudinal platoon errors.

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Acknowledgements

This work was partially supported by National Funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UIDP/UIDB/04234/2020); by the FCT and the Portuguese National Innovation Agency (ANI), under the CMU Portugal partnership, through the European Regional Development Fund (ERDF) of the Operational Competitiveness Programme and Internationalization (COMPETE 2020), under the PT2020 Partnership Agreement, within project FLOYD (grant nr. 45912); and by FCT and the EU ECSEL JU under the H2020 Framework Programme, within project ECSEL/0010/2019, JU grant nr. 876019 (ADACORSA). The JU receives support from the European Union’s Horizon 2020 research and innovation program and Germany, Netherlands, Austria, France, Sweden, Cyprus, Greece, Lithuania, Portugal, Italy, Finland, and Turkey. The ECSEL JU and the European Commission are not responsible for the content on this paper or any use that may be made of the information it contains.

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Authors and Affiliations

  1. CISTER Research Centre, ISEP, Rua Alfredo Allen 535, 4200-135, Porto, Portugal

    Enio Vasconcelos Filho, Bruno Mendes, Pedro M. Santos & Eduardo Tovar

  2. PORTIC Porto Research, Technology & Innovation Center, P.PORTO, Rua Arquitecto Lobão Vital, 172, 4200-375, Porto, Portugal

    Ricardo Severino

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  1. Enio Vasconcelos Filho
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Correspondence to Enio Vasconcelos Filho .

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  1. Iscte-Instituto Universitário de Lisboa, Lisbon, Portugal

    Ana Lucia Martins

  2. Iscte-Instituto Universitário de Lisboa, Lisbon, Portugal

    Joao C. Ferreira

  3. University of Pisa, Pisa, Italy

    Alexander Kocian

  4. Iscte-Instituto Universitário de Lisboa, Lisbon, Portugal

    Ulpan Tokkozhina

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Vasconcelos Filho, E., Mendes, B., Santos, P.M., Severino, R., Tovar, E. (2023). Development of a Hardware in the Loop Ad-Hoc Testbed for Cooperative Vehicles Platooning. In: Martins, A.L., Ferreira, J.C., Kocian, A., Tokkozhina, U. (eds) Intelligent Transport Systems. INTSYS 2022. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 486. Springer, Cham. https://doi.org/10.1007/978-3-031-30855-0_4

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  • DOI: https://doi.org/10.1007/978-3-031-30855-0_4

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