An SDR-in-the-Loop Carla Simulator for C-V2X-Based Autonomous Driving
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In this demo, we showcase an integrated hardware-software evaluation platform for collaborative autonomous driving. The vehicle control and motion dynamics are simulated by SUMO [1], and the communications among vehicles are realized by software defined radios, which are programmed to run the standardized Cellular Vehicle-to-Everything (C-V2X) Mode 4 protocol. We implement our parallel communication scheme [2] and demonstrate a platooning autonomous driving system. The platform can be extended to run more advanced collaborative autonomous driving applications in the future.
[1] Krzysztof Wesolowski,et al. 3GPP C-V2X and IEEE 802.11p for Vehicle-to-Vehicle communications in highway platooning scenarios , 2018, Ad Hoc Networks.
[2] Shugong Xu,et al. Revealing Much While Saying Less: Predictive Wireless for Status Update , 2020, IEEE INFOCOM 2020 - IEEE Conference on Computer Communications.