E-CoDrive Framework for Energy-Critical Driving Scenarios

This technical report presents E-CoDrive, a co-simulation framework designed for energy-aware scenario-based testing of Autonomous Electric Vehicles (AEVs). The framework integrates an energy consumption model, a micro-traffic simulator, and a high-fidelity driving simulator to evaluate AEV software stacks under varying urban traffic conditions. The report outlines the architecture of E-CoDrive, detailing its components, including the traffic management system (SUMO), the driving simulator (CARLA), and the autonomous driving stack (Autoware Mini). It emphasizes the importance of understanding energy consumption in AEVs, particularly how complex traffic dynamics can impact their performance. The framework allows for the systematic generation of energy-critical driving scenarios and supports reproducible evaluations of how traffic conditions influence energy consumption. Preliminary evaluations demonstrate that traffic scenarios executed in E-CoDrive lead to distinct energy consumption patterns, highlighting the framework's utility in addressing the non-functional aspects of AEV testing. The report concludes with insights into the framework's modularity and configurability, which facilitate integration with various simulation technologies.