A Rapid Prototyping Environment for Cooperative Advanced Driver Assistance Systems

Table 3

Sensor and communication models.

Sensor/measurands	Property	Character	Parameters
GPS: position [lat, lng]	Atmospheric error	Changes over time	Magnitude
	Shadowing error	Depends on distance to buildings	Magnitude, distance weight
	Noise	Changes each sample	Magnitude
	Delay	Emulates signal processing time	Average time, variation
Frontal object sensor: distance [m]	Aperture	Sensing on vehicle frontal axis plus angel	Magnitude, steering offset
	Noise	Changes each sample, grows with distance	Magnitude, distance weight
	Delay	Emulates signal processing time	Average time, variation
Lane marking sensor: distance [m, m]	Noise	Changes each sample	Magnitude
	Delay	Emulates signal processing time	Average time, variation
Lateral object sensor: Rel. position [m, m], length [m]	Noise	Changes each sample	Magnitude
	Delay	Emulates signal processing time	Average time, variation
	Aperture	Fixed angles (front/rear)	Magnitude
Vehicle state: all parameters (Sections 4.3–4.7)	Noise	Changes each sample	Magnitude
	Delay	Emulates signal processing time	Average time, variation
V2X ad hoc communication: short range, 802.11p	Delay	Emulates signal travel and processing time	Average time, variation, distance weight
	Packet loss	Loss rate per distance	Loss rate, distance
Cellular communication: same as V2X + region, bandwidth	Region	Specific coverage areas	Circle or polygon
	Max. bandwidth	Reached maximum causes addition delay	Limit in byte per second