Virtual sensor system: Merging the real world with a simulation environment

Often, when testing the controls of autonomous vehicles, physical sensors are too expensive to purchase and integrate into the system. This paper proposes a system for the virtualization of sensors used to evaluate Cyber-Physical Systems. It has been developed to extend the testbed capabilities of The Ohio State University Control and Intelligent Transportation Research Laboratory. The primary focus is on providing virtual sensor information to physical robotic vehicles without the cost of purchasing and integrating physical sensors. Several sensors have been implemented using this system, and two test scenarios are described to show usefulness of this system in cyber-physical systems in general and intelligent transportation systems in particular.