An Architecture for Experiments in Connected and Automated Vehicles

Experiments with Connected and Automated Vehicless (CAVs) may be subject to external influences which prevent the experiments’ reproducibility. The vehicle’s computations may require a non-deterministic amount of time; hence, the computation times vary in each test run. Furthermore, in tests that use distributed hardware for distributed computations, the time synchronization may contain inaccuracies and the communication time may be stochastic. This non-determinism affects the reproducibility of the experiments. For reproducible motion planning of CAVs, we require all vehicles to have computations at constant sample time, a synchronization of time, and a logical execution time.