Carma Simulation: Enabling Cooperative Driving Automation Research
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Summary
This paper describes the CARMA Simulation project, an initiative by the Federal Highway Administration (FHWA) designed to address the lack of software-in-the-loop (SIL) and virtual simulation capabilities for Cooperative Driving Automation (CDA). CDA involves communication and cooperation between automated vehicles, other road users, and infrastructure, offering potential solutions for transportation issues such as safety, emissions, and fuel consumption. The primary motivation for this project is to provide a low-cost approach for testing CDA features, enabling transportation agencies to make informed investment and policy decisions. The project aims to establish "everything-in-the-loop" (XiL) capabilities through open-source software collaboration with the Department of Energy and the CARMA community. The CARMA simulation environment is structured as a multisimulation-focused evolutionary framework comprising several distinct simulators coordinated by a simulation manager. These include a traffic simulator for overall traffic stream effects, a vehicle simulator for dynamics and sensing, a pedestrian simulator, a driving simulator for human factors integration, and a traffic management center (TMC) simulator. Key enabling technologies supporting this environment include augmented/virtual reality, cybersecurity, artificial intelligence/machine learning, and cloud computing. Specifically, the CARMA XiL project focuses on developing SIL simulation using six core components: the CARMA Platform, CARMA Streets, MOSAIC, Simulation of Urban Mobility (SUMO), Cars Learning to Act (CARLA), and NS-3. The experimental design involved developing a cosimulation platform by integrating CARLA and SUMO, integrating the CARMA Platform with CARLA to enable sensor simulation and interactions between virtual vehicles, and integrating the NS-3 communication simulator to add cellular vehicle-to-everything (C-V2X) capabilities. Recent work detailed in the paper includes developing a MOSAIC-SUMO-CARLA cosimulation framework, creating interfaces between MOSAIC and CARLA, and enhancing the SUMO-MOSAIC interface for data exchange. The resulting environment utilizes a shared network where a single vehicle can span both simulation environments, as demonstrated in renders of the CARLA and SUMO cosimulation. The significance of this work lies in the provision of previously unavailable cosimulation capabilities for CDA research. Upon completion of development and testing, this low-cost tool will be released to the public to support the development, testing, and deployment of CDA algorithms and applications. It aims to help users evaluate these algorithms and adapt the CARMA Platform for their own research. The FHWA will provide technical support through its CARMA Support Services project, facilitating broader adoption and advancing the understanding of CDA’s impact on the transportation system.
Key finding
The CARMA Simulation project has developed a multisimulation framework integrating CARLA, SUMO, MOSAIC, and NS-3 to provide previously unavailable software-in-the-loop capabilities for Cooperative Driving Automation research.
Methodology
modeling
Provenance
The full processing record for this entry. Every stage of this paper's journey through the pipeline is logged — what ran, with which tool and model, how many attempts it took, and when it last completed. Discovered via bulk_ingest_rosap on 2026-05-23 (6 acquisition events logged).
| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | rosap | — | — | 2 | 2026-05-23 |
| archive | success | — | — | — | 1 | 2026-05-23 |
| extract | success | cached | — | — | 2 | 2026-06-10 |
| clean | success | — | — | — | 1 | 2026-06-01 |
| chunk | success | — | — | — | 1 | 2026-06-01 |
| embed | success | — | — | — | 1 | 2026-06-02 |
| enrich | success | — | — | — | 1 | 2026-05-23 |
| promote | success | — | — | — | 1 | 2026-05-23 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 3 | 2026-06-10 |
| tag | success | vector_similarity | — | — | 24 | 2026-06-11 |
| verify | success | — | — | — | 2 | 2026-06-10 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.
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- Methodological Resource: tool software
- Theoretical Contribution: computational model