# OpenConvoy: Universal Platform for Real-World Testing of Cooperative Driving Systems

arXiv: https://arxiv.org/abs/2405.18600 · HTML: https://mlsanity.com/paper/2405.18600/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 11 of its 59 references that are in the map.
- First posted on arXiv 28 May 2024.

## Placed in

- End-to-end autonomous driving / [Cooperative and V2X driving](https://mlsanity.com/driving/cooperative-and-v2x-driving/)

## Builds on (most cited first, 11 of 11)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception](https://mlsanity.com/paper/2303.07601/) (2023)
- [LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving](https://mlsanity.com/paper/2005.03778/) (2020)
- [COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles](https://mlsanity.com/paper/2205.02222/) (2022)
- [How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence](https://mlsanity.com/paper/2305.01263/) (2023)
- [The OpenCDA Open-source Ecosystem for Cooperative Driving Automation Research](https://mlsanity.com/paper/2301.07325/) (2023)
- [Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End System](https://mlsanity.com/paper/2404.09496/) (2024)
- [Are commercially implemented adaptive cruise control systems string stable?](https://mlsanity.com/paper/1905.02108/) (2019)
- [Impact of Information Flow Topology on Safety of Tightly-coupled Connected and Automated Vehicle Platoons Utilizing Stochastic Control](https://mlsanity.com/paper/2203.15772/) (2022)
- [Impact of Communication Loss on MPC based Cooperative Adaptive Cruise Control and Platooning](https://mlsanity.com/paper/2106.09094/) (2021)
- [Cooperative look-ahead control for fuel-efficient and safe heavy-duty vehicle platooning](https://mlsanity.com/paper/1505.00447/) (2015)

## Abstract (arXiv)

Cooperative driving, enabled by communication between automated vehicle systems, promises significant benefits to fuel efficiency, road capacity, and safety over single-vehicle driver assistance systems such as adaptive cruise control (ACC). However, the responsible development and implementation of these algorithms poses substantial challenges due to the need for extensive real-world testing. We address this issue and introduce OpenConvoy, an open and extensible framework designed for the implementation and assessment of cooperative driving policies on physical connected and autonomous vehicles (CAVs). We demonstrate the capabilities of OpenConvoy through a series of experiments on a convoy of multi-scale vehicles controlled by Platooning to show the stability of our system across vehicle configurations and its ability to effectively measure convoy cohesion across driving scenarios including varying degrees of communication loss.