SimuSIL: a software-in-the-loop simulator for cooperative driving in intelligent transportation systems

Abstract

We present SimuSIL, a software-in-the-loop (SIL) simulation platform using open-source tools to capture the behavior of connected vehicles in intelligent transportation system (ITS) applications. Connected cooperative vehicles use vehicleto-everything (V2X) communication to enable ITS. Real-world testing of ITS applications involves significant risks. Simulating true vehicle dynamics and real-time behavior is challenging in discrete time step environments. We extend the Veins platform, integrating SUMO and OMNet++, with Webots, a simulator for robots and vehicles. Webots implements engine control unit (ECU) models in software to mimic physical vehicle behavior. We validate SimuSIL with a car-following application using Webots and demonstrate its ability to capture communication anomalies like packet losses. Additionally, we demonstrate fuel consumption and CO2 emissions in autonomous eco-driving versus human driving.