A hardware-in-the-loop simulation platform for emulating large-scale intelligent transportation systems is presented. The platform embeds a real vehicle into SUMO, a microscopic road traffic simulation package. Emulations, consisting of the real vehicle, and potentially thousands of simulated vehicles, are run in real time. The platform provides an opportunity for real drivers to gain a feel of being in a large-scale connected vehicle scenario. Various applications of the platform are presented.
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Griggs et al. (2015) studied this question.
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