@article{Peng2025, 
author = {Liping Peng and Rongrong Deng and Xiaoyan Li and Aiyan Yang and Lei Li and Yanpeng Wei},
title = {Multi-entity co-simulation of intelligent vehicle based on distributed message-oriented middleware},
year = {2025},
journal = {Journal of Highway and Transportation Research and Development (English Edition)},
volume = {19},
number = {1},
pages = {1-6},
keywords = {Cyber-physical system, Automotive engineering, Intelligent vehicle, Heterogeneous simulation platforms, Multi-entity co-simulation, Distributed message-oriented middleware},
url = {https://www.sciopen.com/article/10.26599/HTRD.2025.9480043},
doi = {10.26599/HTRD.2025.9480043},
abstract = {With the integration of cutting-edge technologies such as information communication, the internet, big data, cloud computing, and artificial intelligence into intelligent vehicles, the scale and complexity of their cyber-physical subsystems have been steadily increasing. In response to the growing demands for high concurrent access and efficient operation within the multiple entities of information system modeling and simulation, this study introduces a novel method for multi-entity co-simulation of intelligent vehicles, grounded in distributed message-oriented middleware. Tailored for the unique challenges of multi-entity co-simulation scenarios, the proposed method involves classifying heterogeneous simulation platforms and developing distinct implementation modes for message middleware interface units corresponding to each platform type. This approach significantly enhances the efficiency of multi-entity co-simulation in intelligent vehicle systems, facilitating more effective integration and operation of diverse subsystems.}
}