FTO-Sim: an open-source simulation framework for evaluating cooperative perception in urban areas

Engineering notes

To address this, the following paper presents an open-source simulation framework for evaluating cooperative perception under realistic occlusion conditions, tailored to assessing VRU safety in urban traffic. The framework is fully open-source and complemented by simulation examples that replicate published studies, ensuring transparent validation of previous results while providing a basis for adapting it to new research questions in cooperative perception.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Abstract In urban areas, static and dynamic occlusions frequently obstruct the field of view and impair the reliable detection of vulnerable road users (VRUs), posing a major challenge to the safe deployment of connected and automated vehicles in complex urban traffic. To address this, the following paper presents an open-source simulation framework for evaluating cooperative perception under realistic occlusion conditions, tailored to assessing VRU safety in urban traffic. The framework uses SUMO for microscopic traffic simulation and a Python-based ray-tracing module, enabling explicit modeling, visualization, and evaluation of occlusion effects without requiring complex co-simulation frameworks. In addition to conventional floating car observers, the framework introduces a novel observer type, the floating bike observer, extending the scope of cooperative perception studies. Several evaluation metrics are implemented, including relative visibility, level of visibility, and VRU-specific detection rates, which enable the systematic assessment of spatial perception coverage, detection reliability, and safety in critical road user interactions. The framework is fully open-source and complemented by simulation examples that replicate published studies, ensuring transparent validation of previous results while providing a basis for adapting it to new research questions in cooperative perception.

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