A proposal for a remote vehicle control emulator coordinated with CARLA, OMNeT++, and SUMO

Next-generation mobile networks, such as Beyond-5G and 6G, have significant potential for realizing connected services, such as remote vehicle control. Simulators and emulators are crucial in the design and evaluation of mission-critical services, particularly in the early stages of development. However, to the best of our knowledge, no emulators guarantee requirements as real-time performance and connectivity between drivers and systems when evaluating remote vehicle control services. This study proposes an emulation architecture that utilizes OMNeT++, CARLA, and SUMO. To guarantee the requirements, there are two hindrances. The first one is the tight coupling among the simulators. The other is that OMNeT++ cannot easily accept packets from real networks. Thus, we examine a method to resolve these problems. We demonstrate that service performance, including communication delay, throughput, vehicle trajectory, and movie quality, can be properly reflected according to wireless communication performance using our emulator. We illustrate this with two case studies: remote autonomous control and remote manual control.