CoInCar-Sim: An Open-Source Simulation Framework for Cooperatively Interacting Automobiles

While motion planning techniques for automated vehicles in a reactive and anticipatory manner have already been widely presented, cooperative motion planning has only been addressed recently. For the latter, interaction between traffic participants is crucial. Consequently, simulations where other traffic participants follow simple behavioral rules can no longer beused for development and evaluation. To close this gap, we present a multi vehicle simulation framework. Conventional simulation agents, using a simple, rule-based behavior, are replaced by multiple instances of sophisticated behavior generation algorithms. Thus, development, test and simulative evaluation of cooperative planning approaches is facilitated. The framework is implemented using the Robot Operating System (ROS) and its code will be released open source.