On the Virtual Testing of ADAS in CCAM environment via Vehicle-in-the-Loop framework

This paper proposes a novel Vehicle-in-the-Loop (ViL) framework for automated/autonomous vehicles in compliance with the brand-new Connected Cooperative and Automated Mobility (CCAM) paradigm. To this end, the proposed solution creates the virtual world by leveraging the MOSAIC C-ITS platform for the emulation of a realistic connected traffic environment and realistic Vehicle-to-Everything (V2X) communication. Instead, the real world is represented by the DAiSY car, i.e. a scaled 1:5 electric vehicle, whose autonomous driving system is developed in the ROS2 framework. To disclose the effectiveness of the proposed virtual testing procedure, the Adaptive Cruise Control (ACC) in the CCAM environment is considered as case of study. Experimental results prove the engineering value of the proposed solution and highlight its potentiality in virtually testing different CCAM services.