Software-in-the-loop Modeling and Simulation Framework for Autonomous Vehicles

In the process of development of autonomous vehicles, software-in-the-loop (SIL) modeling and simulation has become an inevitable part of testing. In order to support the increased number of research on SR, modeling and simulation, in this paper we have created a vehicle framework by which anyone can build their own vehicle model with ease. This paper focuses on the SIL modeling and simulation which was developed in Gazebo using Robotic Operating System (ROS). The goal of the framework is to serve as a platform to create multiple vehicle models and help users to validate and compare the different algorithms for various models. This paper also explains in detail the methodology to create a vehicle model and a custom environment to show the validity of the proposed framework. The experimental results show the successful implementation of the framework in a custom environment.