コネクテッド・自動運転車両検証のためのクローズドループ・ハイブリッドデジタルツインプラットフォーム
Closed-Loop Hybrid Digital Twin Platform for Connected and Automated Vehicle Validation
実車と高忠実度シミュレーションをV2X通信で結合し、実車の状態を仮想車両として同期させて閉ループ制御する、CAV検証用のハイブリッドデジタルツインプラットフォームを提案した。
詳しい要約
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著者: Kanglong Quan, Zhebing Xia, Linfeng Jiang, Hao Yu, Ziheng Qiao, Dapeng Dong, Dongyao Jia
分類: cs.RO, cs.CV
原文アブストラクト
Comprehensive and efficient validation of connected and automated vehicles (CAVs) is critical prior to real-world deployment. While simulation-based testing offers scalability, existing approaches often lack seamless integration with real vehicles and field data, limiting their fidelity in capturing dynamic, real-world interactions. To bridge this gap, this paper proposes a novel real-time hybrid digital twin platform. Its core innovation lies in the tight coupling of a high-fidelity CARLA-SUMO co-simulation with a physical test site and vehicle via a low-latency Vehicle-to-Everything (V2X) communication link. A custom-developed middleware serves as the critical bridge, synchronizing a real CAV's kinematic state as a shadow vehicle in the simulation and translating virtual control commands into chassis-actuating Controller Area Network (CAN) messages for closed-loop control. Detailed implementation includes using photogrammetry for full-scale asset reconstruction and a cloud-edge collaborative architecture for scalable, multi-user operation. Experimental results demonstrate stable synchronization and effective closed-loop control with low latency, confirming the platform's practicality for multi-scenario CAV verification.
