标题： 仿真到现实：联网和自动化车辆的试验台与架构 显示英文标题

标题： Simulation to Reality: Testbeds and Architectures for Connected and Automated Vehicles

摘要： 确保网联自动驾驶汽车（CAVs）的安全和高效运行在很大程度上依赖于所使用的软件框架。 一个软件框架需要确保实时性、可靠通信以及高效的资源利用。 此外，软件框架还需要实现从仿真到小规模再到全规模实验的无缝过渡。 本文综述了用于CAV车内和车际通信的突出软件框架。 我们分析这些框架在机会与挑战方面的情况，例如它们的实时性能和过渡能力。 此外，我们深入探讨了解决相关挑战所需的工具需求。 我们通过聚焦感知、运动规划和控制等关键领域的案例研究，展示了这些挑战的实际影响。 此外，我们还识别了该领域中的研究空白，强调了需要进一步研究以推动安全和高效CAV系统开发和部署的领域。 显示英文摘要

摘要： Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software framework needs to enable seamless transition between testing stages, from simulation to small-scale to full-scale experiments. In this paper, we survey prominent software frameworks used for in-vehicle and inter-vehicle communication in CAVs. We analyze these frameworks regarding opportunities and challenges, such as their real-time properties and transitioning capabilities. Additionally, we delve into the tooling requirements necessary for addressing the associated challenges. We illustrate the practical implications of these challenges through case studies focusing on critical areas such as perception, motion planning, and control. Furthermore, we identify research gaps in the field, highlighting areas where further investigation is needed to advance the development and deployment of safe and efficient CAV systems.