Interfacing a Brake-by-Wire Simulink Model with SUMO

This paper presents an adapter to link the Matlab/Simulink model of a custom braking system into an open-source road traffic simulator, namely SUMO. The traditional braking models in SUMO work on a coarser level, generally modeling the deceleration of the vehicle based on a single equation. Substituting this model with a detailed system allows adjustments on a very low level, including delays between components, the traction of individual tires, and controllers for the anti-locking system by simulating those in Simulink. Besides introducing the novel adapter linked into SUMO and discussing parameter fitting to mimic the behavior of the traditional braking system, this paper discusses the amount of performance deterioration as the price for simulating a more sophisticated braking system.