标题： OpenCAMS：一个开源的连接和自动化移动协同仿真平台，用于推进下一代智能交通系统研究 显示英文标题

标题： OpenCAMS: An Open-Source Connected and Automated Mobility Co-Simulation Platform for Advancing Next-Generation Intelligent Transportation Systems Research

摘要： 我们介绍了OpenCAMS（开源连接和自动化移动协同仿真平台），这是一个开源、同步且可扩展的协同仿真框架，它紧密耦合了三个顶级的仿真工具：(i) SUMO，(ii) CARLA，以及(iii) OMNeT++。 OpenCAMS旨在通过结合每个仿真领域的优势，支持交通安全性、移动性和网络安全方面的高级研究。 具体来说，SUMO提供大规模的微观交通建模；CARLA提供高保真度的3D感知、车辆动力学和控制仿真；而OMNeT++则实现模块化、事件驱动的网络通信，例如蜂窝式车联网（C-V2X）。 OpenCAMS采用时间同步的双向耦合架构，在保持模块化和可重复性的前提下，确保交通、感知和通信领域之间的仿真进程一致。 例如，CARLA可以模拟并渲染需要详细传感器仿真和控制逻辑的车辆子集；SUMO协调全局交通流、车辆路径规划和交通信号管理；而OMNeT++则动态地将通信节点映射到移动实体（如车辆）和静态实体（如路边单元）上，以实现C-V2X通信。 尽管这三个模拟器构成了OpenCAMS的基础核心，但该平台设计为可扩展和未来适用，允许在不改变系统架构基础的前提下，在此核心之上集成其他模拟器。 OpenCAMS平台完全开源，并通过其GitHub仓库https://github.com/minhaj6/carla-sumo-omnetpp-cosim公开可用，为研究社区提供了一个可访问、灵活和协作的环境，以推动下一代智能交通系统的发展。 显示英文摘要

摘要： We introduce OpenCAMS (Open-Source Connected and Automated Mobility Co-Simulation Platform), an open-source, synchronized, and extensible co-simulation framework that tightly couples three best-in-class simulation tools: (i) SUMO, (ii) CARLA, and (iii) OMNeT++. OpenCAMS is designed to support advanced research in transportation safety, mobility, and cybersecurity by combining the strengths of each simulation domain. Specifically, SUMO provides large-scale, microscopic traffic modeling; CARLA offers high-fidelity 3D perception, vehicle dynamics, and control simulation; and OMNeT++ enables modular, event-driven network communication, such as cellular vehicle-to-everything (C-V2X). OpenCAMS employs a time-synchronized, bidirectional coupling architecture that ensures coherent simulation progression across traffic, perception, and communication domains while preserving modularity and reproducibility. For example, CARLA can simulate and render a subset of vehicles that require detailed sensor emulation and control logic; SUMO orchestrates network-wide traffic flow, vehicle routing, and traffic signal management; and OMNeT++ dynamically maps communication nodes to both mobile entities (e.g., vehicles) and static entities (e.g., roadside units) to enable C-V2X communication. While these three simulators form the foundational core of OpenCAMS, the platform is designed to be expandable and future-proof, allowing additional simulators to be integrated on top of this core without requiring fundamental changes to the system architecture. The OpenCAMS platform is fully open-source and publicly available through its GitHub repository https://github.com/minhaj6/carla-sumo-omnetpp-cosim, providing the research community with an accessible, flexible, and collaborative environment for advancing next-generation intelligent transportation systems.