A network-level connected autonomous driving evaluation platform implementing C-V2X technology

With the emerging connected autonomous driving paradigm, more advanced applications leveraging vehicular communications are drawing tremendous attentions. In order to analyze the feasibility and performance of these applications, it is necessary to build an evaluation platform that jointly considers vehicular communication, road traffic and vehicle dynamics. This article describes our recent progress on network-level autonomous driving simulator based on the Cellular-Vehicle-to-Everything (C-V2X) protocol, and a joint platform combined with SUMO and CARLA simulators for evaluating road traffic and vehicle dynamics. To demonstrate its effectiveness, this article implements a hybrid multi-intersection scheduling scheme on the platform, and shows the advantages of the scheme in terms of traffic efficiency and fault tolerance. A remote driving application based on CARLA, wherein the interplay between communication and computation is also investigated.