MOBATSim (Model-based Autonomous Traffic Simulation Framework)
MOBATSim (Model-based Autonomous Traffic Simulation Framework) is a simulation framework based on MATLAB® and Simulink® that provides a set of customizable models and code for simulating automated driving systems. The project's main goal is to help users/students jump-start with a baseline template that lets them run traffic simulations, which also allows them to customize/experiment with path planning, decision-making, and control algorithms. The main use case is to run automated traffic simulations using Simulink models and MATLAB scripts/functions on a default map with streets and an intersection. By defining a driving scenario, the starting and destination points of the vehicles are set as initial conditions on the map. The trajectories of the simulated vehicles can be logged to assess the safety and the performance of the tested algorithm/controller or to visualize their behaviors using supported 2D and 3D visualization options. If you would like to read more about MOBATSim and how it can be used for simulation-based testing, make sure you check our scientific paper.
MOBATSim is developed with Release 2020b of MATLAB® and Simulink®. There may be issues and unexpected errors with other versions. Therefore, for running MOBATSim, the requirement is R2020b version for the following MathWorks products and toolboxes:
If you use MOBATSim for scientific work please cite our related paper as:
Saraoglu, M., Morozov, A., & Janschek, K. (2019). MOBATSim: MOdel-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis. IFAC-PapersOnLine, 52(8), 239–244. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.ifacol.2019.08.077
BibTex:
@article{MOBATSim,
title = {{MOBATSim}: {MOdel}-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis},
journal = "IFAC-PapersOnLine",
volume = "52",
number = "8",
pages = "239 - 244",
year = "2019",
note = "10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019",
issn = "2405-8963",
doi = "https://doi.org/10.1016/j.ifacol.2019.08.077",
url = "http://www.sciencedirect.com/science/article/pii/S2405896319304100",
author = "Mustafa Saraoglu and Andrey Morozov and Klaus Janschek",
keywords = "Autonomous driving, Fault injection, Error propagation, Safety analysis, Traffic simulator",
}
We would like to acknowledge the help and support in the development of MOBATSim of the following contributors: Sheng Ding, Manuel Schirmer, Johannes Pintscher, Laura Slabon, Qianwei Yang, Qihang Shi, Wenkai Wu, Maoxuan Zhao, Erik Noack, Fabian Hart, Müjdat Korkmaz, Marta Valdes Martin, Mustafa Saraoğlu
MOBATSim has a project file that includes the Simulink files and their paths. The project can be opened by double-clicking on MOBATSim.prj
and a GUI will appear, which can be used to start the simulation. Simply click on Start Simulation
and wait for the simulation to start.
After opening the MOBATSim folder please refer to the live script file GettingStarted.mlx
for more detailed documentation.
0.02
or playing with different Simulink Solver options other than auto
may cause unexpected behavior.