Systems of systems arise when independently owned, operated and developed systems can achieve mutual benefits by working together. In collaborative systems of systems, there is no directing entity that instructs others how and when to collaborate. Instead, the collaboration relies on independent decisions by the constituent systems to form collaborating constellations, and the benefits are emergent properties of this. In this paper, we describe a design method for engineering collaborative systems of systems. We apply the method to the design of a collaborative system of systems for mobility in a rural setting close to an urban area and to truck platooning.

This article reports article reports on a mapping study to investigate the C-ROADS Day 1 C-ITS application Green Light Optimal Speed Advisory (GLOSA). In the study, 64 publications between 2006 and 2019 where reviewed and classified according to a schema developed using thematic analysis of the selected publications. Among the findings were that the typical publication evaluates through simulation benefits for the equipped vehicle, leaving considerable gaps in investigations of societal effects. Additionally, there is a lack of investigation on driver behaviour, both for the equipped vehicle and for fellow road users—the ability to accurately model such behaviour is necessary for reliable simulation results.

Simulation is often used as a technique to test and evaluate systems, as it provides a cost-efficient and safe alternative for testing and evaluation. A combination of simulators can be used to create high-fidelity and realistic test scenarios, especially when the systems-under-test are complex. An example of such complex systems is Cooperative Intelligent Transport Systems (C-ITS), which include many actors that are connected to each other via wireless communication in order to interact and cooperate. The majority of the actors in the systems are vehicles equipped with wireless communication modules, which can range from fully autonomous vehicles to manually driven vehicles. In order to test and evaluate C-ITS, this paper presents a distributed simulation framework that consists of (a) a moving base driving simulator; (b) a real-time vehicle simulator; and (c) network and traffic simulators. We present our approach for connecting and co-simulating the simulators. We report on limitation and performance that this simulation framework can achieve. Lastly, we discuss potential benefits and feasibility of using the simulation framework for testing of C-ITS. 

Cooperative IntelligentTransport Systems include many actors in the transport system that are con-nected to each other via wireless communication in order to interact andcooperate. Majority of the actors in thesystems are vehicles, which can range from fully autonomous vehicles tomanually driven vehicles, equipped withwireless communication modules. Creating realistic scenarios for testing suchcomplex systems often need a com-bination of simulators. This paper presents a distributed simulation frameworkthat consists of a) a moving basedriving simulator; b) a real-time hardware-in-the-loop simulator; and c) anetwork simulator and traffic simulator. Wepresent our approach for connecting and co-simulating the mentioned simulators.As a first test of our simulationframework, a crossing scenario is simulated. Lastly, we discuss potentialbenefits and future work.