Taking into account that one of the main reasons for road traffic fatalities in the world is the lane change in a road, hereby we created a cooperative driver assistance system for the lane change, arising from the combination of a kinematic model and a probabilistic graphical one.
These systems interact in an active or passive way with the driver, reducing their workload by presenting information about their surroundings, which may imply the safer direction of a land vehicle. Within the field of new vehicle technologies, it is possible to find driver assistance systems. In such context, the development of new vehicular technologies is considered an alternative to improve road safety. The increase in the number of deaths due to ground traffic accidents is a global problem. The proposed Framework allows evaluating the delay time effect on CACC communication systems and also validating the control performance, taken into consideration the distance and velocity of the simulated vehicles. The simulation is based on an approach Leader - Follower with four vehicles, using a Preceding Communication Topology. The test case is a simulation which implements the Cooperative Adaptive Cruise Control (CACC) that uses both vehicle control and communication. This framework is an integration among open-source tools which is composed by real-time robotics simulator and network simulator.
The goal of this paper is to present our simulator framework for cooperative vehicle systems and also a test case for validation. In this context, simulation tools are essential to help researchers on this development. Cooperative driving systems are a possible solution to improve traffic efficiency, road safety and even reduce the emission of pollutants, but there are several problems relating to aspects of safety, cost, duration and feasibility that slow down the development and experiments.
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