Real-Sim Documentation

This interface is part of the Real-Sim project funded by Department of Energy (DOE)-Vehicle Technology Office (VTO)-Energy Efficient Mobility Systems (EEMS) program. It is part of the core tools of EEMS.

Real-Sim develops a multi-resolution X-in-the-loop (XIL) simulation framework to support inclusive testing and evaluation of emerging technologies such as connected and automated vehicles. The Real-Sim framework connects different simulation components and integrates various traffic and vehicle simulation tools, virtual environments, and XIL systems through a Flexible Interface for XIL Simulation (FIXS). Connections among different tools are transparent to users and handled by the interface behind the scenes. Co-simulation of various vehicle and traffic simulation tools with different XIL systems can be easily achieved and become a transparent “plug-and-play” process to users.

Real-Sim Project Lead: Oak Ridge National Lab
Real-Sim Project Team: University of Georgia, University of Texas-Dallas

User Guide

• Getting Started
  • 1. Get FIXS
  • 2. Set up Python
  • 3. Run a first example
  • 4. Next steps
• Configuration Reference
  • SimulationSetup
  • SumoSetup
  • ApplicationSetup
  • XilSetup
  • CarMakerSetup
  • CarlaSetup
  • Vehicle Message Field Specifications
  • Example Configuration
  • Updating the YAML
• FAQ
  • Why does TrafficLayer.exe fail to start?
  • SUMO/VISSIM cannot connect to the Real-Sim interface. What should I check?
  • How do I add another ego vehicle?
  • Where do I find example configs?
  • How can I debug Real-Sim + CarMaker builds?

Simulator Guides

• RealSim VISSIM documentation
  • Table of Contents
  • Simulation Setups
  • Run Simulation Manually
  • Run Simulation With Automation Script
  • Specific Features for VISSIM Co-simulation
  • Debugging
• RealSim SUMO documentation
  • Contacts
  • Table of Contents
  • Simulation Setups
  • Specific Features for SUMO Co-simulation
  • SumoSetup in config.yaml
  • Performance & TraCI transport (libtraci vs libsumo)
• RealSim CarMaker Documentation
  • Table of Contents
  • Simulation Setups
  • Setup Application
  • Run Simulations
• RealSim CARLA documentation
  • Table of Contents
  • Carla Windows Build
  • Simulation Setups
  • SUMO Traffic Lights Replication in CARLA
  • Current Support of Co-Simulation Forms
  • Helper Scripts
  • Run Simulation

Building from Source

• Building Real-Sim FIXS
  • Table of Contents
  • Quick Start
  • First-Run Setup (fresh clone)
  • Build System Overview
  • Prerequisites
  • Release Builds
  • Automated Release CI & Proprietary Binaries Bundle
  • Development Builds
  • Debug vs Release Configuration
  • Build System Architecture
  • Troubleshooting
• CARLA 0.9.15 Windows Build Guide
  • Part One: Prerequisites
  • Part Two: Build CARLA
• CARLA 0.9.16 Windows Build Guide
  • 1. What changed from 0.9.15
  • 2. Prerequisites
  • 3. Build procedure
  • 4. Running the server
  • 5. Known-good configuration
  • 6. Upstream defects
• CARLA 0.9.15 Linux Build Guide
  • Part One: Prerequisites
  • Part Two: Build CARLA
  • Part Three: Build & launch the CarlaUE4 editor
  • Quick reference — full build from scratch
  • Part Four: the C++ client SDK that FIXS ships (#65)
  • Summary of fixes (7 issues, on par with the Windows guide)

XIL Bench

• Axle Dyno ↔ CarMaker Coupling
  • 1. Scope
  • 2. Notation
  • 3. State ownership — the central fact
  • 4. Signal flow at step k
  • 5. The k-indexing — RESOLVED, d = 1
  • 6. Why it works
  • 7. Where the margins are
  • 8. Open items
  • 10. The tire model — what produces Ttire
  • 11. Next steps

Tutorials

• Quickstart Tutorial
  • 1. Prep the Environment
  • 2. Launch TrafficLayer
  • 3. Start SUMO
  • 4. Observe Data Flow
• Tutorial Examples
  • 1. SUMO + CarMaker Visualization
  • 2. VISSIM Ego Vehicle Control
  • 3. dSPACE / HIL Scenario
  • 4. Multi-Client Experiment

Reference

• API Reference
• Releases
  • Downloads
  • Release notes

Development

• Developer Guide
  • Table of Contents
  • Repository Structure
  • Documentation (Read the Docs)
  • Known Limitations and Technical Debt
  • Dependency Management
  • Build Scripts
  • Setup Scripts
  • Usage Guide
  • Typical Workflow
  • Additional Resources
• Contributing Guide
  • Branch Strategy
  • Step 1: Fork and Clone
  • Step 2: Create a Branch off dev
  • Step 3: Make Changes and Test
  • Step 4: Commit and Open a PR
  • ProprietaryFiles Submodule
  • PR Checklist
• Traffic–Vehicle Co-Simulation Framework
  • 1. Co-Simulation Model Overview
  • 2. Final model message Flow
  • 3. Current Implementation
  • 4. Baseline Model
  • Notes

Project Info

• About
  • FIXS Contacts
  • About
• Contact
  • Official Links
• Acknowledgements

Indices and tables

• Index

• Module Index

• Search Page