applied sciences  
A Declarative Application Framework for Evaluating Advanced V2X-Based ADAS Solutions +
Footnote †: journal: Applied Sciences  
[PERSON]  
1 Department of Networked Systems and Services, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, Muegyetrem rkp. 3., 3111 Budapest, Hungary  
12 Commission Research, [PERSON] 1. 4-20. 1117 Budapest, Hungary  
2  
[PERSON]  
2  
[PERSON]  
1 Department of Networked Systems and Services, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, Muegyetrem rkp. 3., 3111 Budapest, Hungary  
2 Commission Research, [PERSON] 1. 4-20.  
a primordial design quality in contemporary vehicles creating the required technology known as Advanced Driver Assistance Systems (ADAS). The application of ADAS methodology combined with V2X promises a solution to some of the most challenging traffic problems nowadays [1; 2]. Since ADAS can influence driving performance one can consider it safety-critical to create demands for an efficient and sufficiently detailed simulation framework to evaluate such applications and vehicle systems by using accurate network and sensor models. In this work, we propose a novel extension to the Artery/OMNeT++ simulator to support rapid prototyping of V2X-enabled ADAS applications with large-scale testing and evaluation capabilities in complex environments. Our solution features a flexible configuration scheme and an accurate sensor suite with realistic traffic and network models. To the best of our knowledge, no such system is currently available for the V2X community. There are numerous VANET simulators and testing tools available for research purposes. A detailed summary of such systems is provided in [3]. In the scope of this work, we selected Artery [4; 5], the most widespread state-of-the-art V2X simulator, due to its accurate network handling, precise protocol, and realistic traffic model implementation and capabilities of efficient full-stack V2X simulation. Artery is an advanced V2X simulator built on top of OMNeT++ [6], a discrete-time, event-based network simulator engine, and the INET framework [7], which is also an OMNeT++ extension library responsible for the accurate protocol stack implementation, especially for the physical layer operations. Artery also features an exact ITS-G5 protocol model via the Vanetza library [8]. Vanetza is a standard-compliant protocol implementation which ensures the accuracy of the protocol model. SUMO [9] is a microscopic traffic simulator in Artery responsible for traffic simulation. This involves a number of accurate driving models and map generator tools, including support for OpenStreetMap [10]. The Artery simulator integrates the components listed above and also extends those components with additional modules. The extensions include a local object database called LocalEnvironmentModel and a sensor model, which feeds the database. The vehicles in the Artery can be configured to maintain the object database. The sensor model also supports V2X messages as object sources (Cooperative Awareness Messages, CAMs, by default and Collective Perception Messages, CPMs, with extensions of [11]) and models of physical sensors. The V2X object source practically detects a remote object if a corresponding message is received. The physical sensor model detects an object, e.g., a road user, if the related object is in the sensor's field of view. The field of view and the onboard (in vehicle) placement of the sensor is configurable. The remainder of this paper is structured as follows. In Section 2, some background information on the evolution of ADAS and autonomous driving applications is presented and the role of V2X in the progress is characterized. Section 3 highlights preliminaries and the most important related work of V2X-based ADAS simulations. This is followed by Section 4 where the proposed ADASApp framework is described with details of its implementation.