Gulliver Simulation - En systemarkitektur f or n atverkssimulering av

Sammanfattning: Nowadays, a lot of resources are spent on developing systems that will make it possible for vehicles to act autonomously, and make them more effective. One of the projects that is working on this is the Gulliver Project. Gulliver has constructed a number of miniature vehicles equipped with various sensors, to use as a physical testbed for autonomous driving. One big disadvantage with this method is the long iteration time that occurs during the development and testing of a new software. This project has improved this process by developing a system architecture of a virtual testbed where it is possible to simulate autonomus vehicles that communicates through any type of wireless network. The testbed has made it possible to simulate autonomus vehicle systems that with a reasonable margin of error, acts like the system would act in a physical test. This testbed will save a lot of time for future projects, since it is now possible to develop autonomus systems virtually, and upload them to the physical testbed when it has been con rmed that the system works ok, instead of having to work with the physical testbed during the whole development period.