CARMASM products provide the necessary software for conducting cooperative driving automation (CDA) research and testing. The CARMA product suite includes four tools supporting informed and dynamic cooperation among vehicles: CARMA Cloud℠, CARMA Platform℠, CARMA Messenger, and CARMA Streets.
All four CARMA products work together with the Vehicle-to-Everything (V2X) Hub, a separate multimodal open source software (OSS) system enabling networked, wireless communications between automated vehicles, infrastructure devices, and personal communications devices. CARMA products are available for collaboration and are currently being used in a set of research tracks examining the impacts of CDA to traffic and freight operations.
Figure 1. Illustration. CARMA product suite.
CARMA Cloud is a set of downloadable, cloud-based, OSS services enabling communication and cooperation between cloud services, vehicles, infrastructure, and road users. CARMA Cloud comprises CARMA Command Center and CARMA Analytics. CARMA Command Center provides cloud-based management of transportation systems and bidirectional communication, data exchange, and management of multiple remote services simultaneously. CARMA Analytics supports the fusion, analysis, and management of cooperative automated vehicles and traditional transportation data. CARMA Cloud will allow infrastructure owners and operators (IOOs) to apply transportation systems management and operations (TSMO) CDA strategies through rules for road users (i.e., new speed limits, minimum following gaps, platooning size limitations, etc.) to help manage the flow of traffic.
CARMA Platform is a downloadable, vehicle-based platform that bestows the research functionality of a cooperative automated driving system (C-ADS), defined by the Society of Automotive Engineers (SAE) J3216 Standard. The current version of CARMA Platform operates today as an SAE C-ADS Level 3 Class A-D, enabling incremental development towards ODDs for SAE C-ADS Level 4 automation. Together with the real-time traffic operational rules and other important infrastructure information provided by CARMA Cloud, CARMA Platform enables automated vehicles to interact and cooperate with other road elements, including vehicles, infrastructure, and other vulnerable road users with mobile devices. CARMA Platform leverages community-developed automated driving systems (ADS) functionality from autoware, allowing researchers to focus more on cooperative behavior.
Figure 2. Photo. Passenger vehicle equipped with CARMA Platform.
CARMA Messenger is a downloadable, vehicle-based application for manual (nonautomated) vehicles at SAE CDA Level 0-2 Class A-B, and enables their communication with other participants to engage in CDA. CARMA Messenger integrates nonautomated vehicles into the CDA system through a device such as an onboard unit (OBU) or cellular network that transmits alert messages or shares data on a network to other participants to engage in CDA. The new capability will support research with first responders and encourage transit participation in CDA.
CARMA Streets is a downloadable, infrastructure-based application supporting CDA participation of the infrastructure and interactions with other participants to engage in CDA. The platform enables communication between infrastructure and various modes, vehicles, and road users to optimize transportation system management, operations, and safety. This new capability will enable the use of edge computing to support activities such as cooperative perception and future signal control strategies, such as vehicle reservations.