Developing Simulink Co-Simulation with SUMO and CARLA

Ford ADAS Toolbox is a user-friendly toolbox developed for Ford by MathWorks Consulting Services. The toolbox is a plug-in for Simulink^® to use CARLA and SUMO (open source software for autonomous driving and traffic simulation). A creative implementation of the plug-in enables the user to launch CARLA/SUMO server, clients, and co-simulation directly from Simulink without the need to write any code. It allows the user to control actors (vehicles, pedestrians, etc.); access traffic, map, and route info; and access modeling sensors (camera, radar, lidar, etc.) using Simulink block diagrams. It supports code generation and can be installed in both Windows^® and Linux^® environments. It also supports MATLAB^® functions, Simulink blocks, and deployment via MATLAB Coder™, Simulink Coder™, and Embedded Coder^®. The toolbox has been applied by major projects, brought significant benefits, and proved to be very effective.