COMPASS: Cloud-based Predictive Planning for Autonomous Semi-trailer Tank Trucks

Komasa Qi, School of Vehicle and Mobility, Tsinghua University

🌟 Simulation for Matlab and SUMO

The official implementation of the on cloud predictive planning for vehicle-road-cloud integrated control system.

Table of Contents

• Methods
• Closed-loop Performance
  • Simulation Cases
  • Qualitative Results
• Getting Started
  • Prerequisites
  • Run Simulations

Methods

Closed-loop Performance

Simulation Cases

Qualitative Results

Getting Started

To get started with the simulation, follow these steps:

Prerequisites

• Matlab 2023a or later
• SUMO version 1.23.1 or later

follow Matlab SUMO Cosimulation Setup tutorial to finish preparation of the simulation environment.

Run Simulations

To Do List

The code is under cleaning and will be released gradually.

• maps setup
• basic runtime packaging
• runtime debug
• adding uncertainty calculation
• integrate with trailer-MEI
• guidance tutorial
• mex function compilation code