MOBATSim (Model-based Autonomous Traffic Simulation Framework)

MOBATSim

MOBATSim (Model-based Autonomous Traffic Simulation Framework) is a simulation framework based on MATLAB Simulink that allows the user to assess vehicle level and traffic level safety by a 3D traffic simulation.

Website: https://mobatsim.com/

MOBATSim
Requirements
- MATLAB version requirement
- Toolbox requirements

Overview

MOBATSim has a project file which includes the Simulink files and their paths. As you run MOBATSim.prj, a GUI will open and you can run simulations from that GUI. The live script is a more detailed documentation than this one.

uiopen('\MOBATSim.prj',1)

Author

Main Author: Mustafa Saraoglu

Copyright Notice

Please cite 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

Requirements

MATLAB version requirement

MOBATSim is continuously updated with different versions of MATLAB. Therefore, at this moment, the requirement is MATLAB 2020a.

Toolbox requirements

Simulink 3D Animation Toolbox™ (required for the 3D Animation Model)
Model Predictive Control Toolbox™ (will be soon required)
Simulink Coverage™ (will be required in the next versions for testing and code coverage analyses)

0 Open More issues

Closed

- Simplified Kinematic Bicycle Model with basic Simulink blocks

all kinematic bicycle models have been replaced with basic Simulink blocks

opened Mar 5, 2022 by jackding9306 1

Closed

New icons added

null

opened Jan 29, 2022 by Valdesmarta 1

Closed

Development

null

opened Oct 13, 2021 by MustafaSaraoglu 1

Closed

Grid map dev

opened Jul 9, 2021 by johannes-pi 1

Closed

Safety planner added and code cleaned up a little bit

Start and end positions of vehicle 4 and 9 changed.

opened May 3, 2021 by johannes-pi 1

Closed

Add new mlx document and more comments for the function

1.Sychronize the local workspace with remote repository of branch GridMap_dev. 2. Add one mlx document "Road_Conversion_Algorithm.mlx" in "Load Data/map_v1", to describe the procesure of the road conversion. 3. add more comments for the function "Load Data/map_v1/Circle_center.m"

opened Mar 24, 2021 by Qianwei-Yang 1

v2.0.1(Dec 2, 2021)

Getting Started

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.

First, it would be best if you fork the MOBATSim repository and then clone it to your computer. After opening the MOBATSim folder please refer to the live script file GettingStarted.mlx for more detailed documentation.

More detailed information about the scientific papers related to MOBATSim can be found on our website,

or you can visit our YouTube Channel where we publish the latest updates with tutorial videos:

Release Notes - Version 2.0

New ways to visualize your driving scenario: Unreal Engine 4 support via DrivingScenarioDesigner App, Bird's Eye View.
New vehicle kinematic bicycle models from the Automated Driving Toolbox library.
A more detailed road structure with actual units as meters and double lane roads.
New lateral controllers are easily chosen using a variant subsystem: Stanley lateral controller and Pure Pursuit lateral controller with lane-changing capabilities.
Implementation of the Frenet Coordinate system for local trajectory planning and optimal trajectory generation for maneuvers.
Implementation of lane-changing maneuver on double lane roads.
An improved coding structure using superclasses, name-value pairs to also enhance the flexibility of MOBATSim and also code optimization using vectorizations and memory preallocations to increase the performance.
Detailed documentation for the people who are interested and would like to understand and contribute to MOBATSim
Bonus content: 3D Animation World with the new Dinosaur Park.

Known Issues and Bugs

Vehicles are not allowed to start or finish on the intersection points to avoid congestion.
Bird's Eye View or DrivingScenarioDesigner APP might work slowly because of the size of the road network.
Some road merges do not have safety guarantees which means that a vehicle just merging another road at the same time with another vehicle or there is a stopping vehicle at the merging point of the joining road may cause collisions.
Changing the default sample time value of 0.02 or playing with different Simulink Solver options other than auto may cause unexpected behavior.