Coupling SUMO with a Motion Planning Framework for Automated Vehicles

9 pages•Published: August 13, 2019

Moritz Klischat, Octav Dragoi, Mostafa Eissa and Matthias Althoff

Abstract

Testing motion planning algorithms for automated vehicles in realistic simulation environments accelerates their development compared to performing real-world test drives only. In this work, we combine the open-source microscopic traffic simulator SUMO with our software framework CommonRoad to test motion planning of automated vehicles. Since SUMO is not originally designed for simulating automated vehicles, we present an inter- face for exchanging the trajectories of vehicles controlled by a motion planner and the trajectories of other traffic participants between SUMO and CommonRoad. Furthermore, we ensure realistic dynamic behavior of other traffic participants by extending the lane changing model in SUMO to implement more realistic lateral dynamics. We demonstrate our SUMO interface with a highway scenario.

Keyphrases: autonomous vehicles, motion planning, traffic simulation

In: Melanie Weber, Laura Bieker-Walz, Robert Hilbrich and Michael Behrisch (editors). SUMO User Conference 2019, vol 62, pages 1-9.

Links:	https://easychair.org/publications/paper/tN14
	https://doi.org/10.29007/1p2d

BibTeX entry

@inproceedings{SUMO2019:Coupling_SUMO_with_Motion,
  author    = {Moritz Klischat and Octav Dragoi and Mostafa Eissa and Matthias Althoff},
  title     = {Coupling SUMO with a Motion Planning Framework for Automated Vehicles},
  booktitle = {SUMO User Conference 2019},
  editor    = {Melanie Weber and Laura Bieker-Walz and Robert Hilbrich and Michael Behrisch},
  series    = {EPiC Series in Computing},
  volume    = {62},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-7340},
  url       = {/publications/paper/tN14},
  doi       = {10.29007/1p2d},
  pages     = {1-9},
  year      = {2019}}

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