Marchetta, Andrea (2025) Simulation and co-simulation environments for the Cooperative, Connected and Automated Mobility (CCAM). [Tesi di dottorato]

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Abstract

The future, if not the upcoming present, of traffic mobility is and will be Cooperative and Cconnected. Each and every road actor, from vehicles, to infrastructure sensors and vulnerable road users, will be able to share information between each other to simplify the driving task, smoothen traffic queues, and reduce accidents rate as well as their effects on traffic. This information sharing is granted by Vehicle-To-Everything (V2X) communication, which in turn allows for a plethora of services related to the paradigm of Cooperative, Connected and Automated Mobility (CCAM) to spread. However, the deployment of such services is still hindered by the lack of definitive solutions allowing for efficient testing and validation: indeed, not only these strategies have to be deployed, but there also needs to be an extensive validation campaign to evaluate their impact of the whole traffic system. This statement is corroborated by a detailed literature analysis regarding testing and validation of Cooperative-Intelligent Transportation Systems (C-ITS), which also highlights the major gaps on the matter; a nonexhaustive list of these include the definitive absence of widespread and open-source Hardware-in-Loop (HiL) applications for testing and development of C-ITS, the absence of related software implementations of the aforementioned services, the inability to offer realistic simulations to shorten development and deployment time, and the lack of thorough testing of these applications from a cybersecurity point of view. The literature analysis also sheds the light on the most promising co-simulation platforms, which are able to capture some of the heterogeneous aspects of the traffic environment, as well as to partially fill some of the described gaps, as well as possible open-source solutions which can be suitable for valuable extensions. With this ample discussion in mind, the goal set for this thesis is to design, deploy and validate a co-simulation framework able of capturing all the heterogeneous aspects of traffic and cover the aforementioned gaps. Starting from a suitable open-source solution in the Eclipse MOSAIC software, we describe all the functional requirements of this platform and the necessary features, as well as the carried advancements to enable both C-ITS and HiL testing. Subsequently, the platform is challenged against different applications which exemplify various use cases: this includes the synthetization of real-world communication facilities on a real hardware board, HiL algorithm testing, and evaluating C-ITS against conventional detection strategies. Moreover, the framework also enabled cybersecurity testing of vehicular applications, including testing the application timeliness and ground truth testing for realism purposes. Moreover, the co-simulation platform is also employed to evaluate the C-ITS in their intended environment with the full message exchange pipeline enabled by enabling a Public Key Infrastructure (PKI) platform. Finally, the advancement tested within the platform have been ported to a real-world use case related to a highway application in Italy. Ultimately, the goal is to offer this platform as a valuable starting point to speed up rapid prototyping and deployment of C-ITS application in the near future, while also providing a scalable, portable and modular framework which can simulate various traffic environments in an integrated and realistic way.

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