MS-VAN3T-CARLA: An Open-Source Co-Simulation Framework for Cooperative Perception Evaluation

The CARLA simulator stands out amongst available open-source simulators providing life-like rendering of vehicular scenarios. While several frameworks, such as OpenCDA [1], have extended CARLA capabilities for the evaluation of cooperative perception applications, a significant gap remains in the use of accurate communication models. To address this need, we present an extension of the ms-van3t simulation framework, based on the ns-3 simulator. It integrates CARLA's high-fidelity sensor and vehicle physics, OpenCDA's data fusion and control automation, with ns-3's advanced communication models. Ms-van3t-CARLA offers a comprehensive tool for researchers working on the evaluation of the effects of vehicular cooperative perception under different communication technologies.