Section: New Results

PROSIVIC-CTS simulator

Participant : Joshué Pérez Rastelli.

The Architecture validation and experiments presented in this document have been implemented in a simulated environment, called ProSiVIC, which allows implementing a virtual Cybercars, among other vehicles. The algorithms are the same as in our Cybus platform, using the position from the SLAM and DGPS sensors. The ProSivic simulator offers a multi-sensorial environment, and takes into account several parameters of a real car such as the inertia, steering wheel response, lateral acceleration with yaw angles, damping suspension, simple weather conditions, friction parameters and more.

Moreover, synchronized time, acceleration (in wheel torque), steering, odometer information, lidar information and camera viewports are some of the components supporting the connection between the control architecture in RTMaps and the simulation.

The simulations show the behavior of the control architecture implemented for CTSs. Two urban scenarios were tested: roundabouts and intersections.