The aim of the GEwAF project for HTW Dresden was the creation of a simulation toolchain, which enables the simulation of automated driving functions. The simulation is basically divided into 3 parts, which are connected via the ROS framework:
Global simulation: The traffic flow simulation is performed by SUMO. The program calculates the positions of the vehicles on a digital map (OSM) and allows the vehicles to interact with each other.
Local simulation: The simulation of the environment sensors and the associated scanning of the environment is carried out by Unity. The recorded data is available as ROS topic.
ADAS: The driving function to be tested can be provided by either MATLAB or a ROS node.
The development of an automated test sequence for the entire simulation and the connection of its tools to the ROS framework was the goal of the third project partner TraceTronic GmbH.