Interactive Simulation Program for Autonomous Vehicles

Abstract

The paper presents an interactive simulation program dedicated to autonomous vehicles. The program, developed in the form of an app and written in the Matlab programming language, is a didactic tool, which aims to better understand the phenomena that occur during locomotion. To achieve this goal, the user can easily perform interactive simulations by changing the model parameters. In addition to the mentioned flexibility, the user can perform case studies and scenarios. The structure of the program is obtained by aggregating seven objects (modules), dedicated to studying the contributions of each to the simulation. These modules are for different types of trajectories, for controllers, three types of locomotion models, sensors, different filters, environment models, and for simultaneous localization and mapping. The connection between them is possible through a database. This framework ensures the continuity of the simulations. At the end of the interactive visual simulation, the user is obtaining a holistic report with the results.