CAVISE Overview
===============

CAVISE (Connected & Automated Vehicle Integrated Simulation Environment)
combines driving simulation, traffic simulation, communication and perception
experiments in one workspace.

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   * - Component
     - Responsibility
   * - CARLA
     - 3D world, vehicle physics and sensors.
   * - OpenCDA
     - Scenario orchestration, driving logic, agent services and evaluation.
   * - SUMO
     - Traffic simulation synchronized with CARLA when co-simulation is enabled.
   * - Artery
     - Network simulation connected to OpenCDA through CAPI.
   * - OpenCOOD
     - Cooperative-perception models and multi-agent inference.
   * - Models
     - Checkpoint and AdvCP runtime asset bundles fetched as needed.

Start with CARLA and OpenCDA, then add capabilities as the experiment requires.
:doc:`/wiki/install-and-launch` prepares the environment.
:doc:`/getting-started/first-simulation` walks through a bounded first run.

How the Components Connect
--------------------------

OpenCDA connects to CARLA's API and advances the scenario. With ``--cosim``,
it also connects to a running SUMO server over TraCI. With ``--with-capi``,
it exchanges communication data with Artery. The base Artery CAPI scenario
connects to that same SUMO server. CAPI's Protobuf modules are generated by
the build, so these experiments require a Protobuf-capable OpenCDA image.

Cooperative perception uses OpenCOOD and a model checkpoint. AdvCP hooks into
that perception pipeline. Attacks against behavior services use a separate
attack framework. The :doc:`/opencda/index` page describes OpenCDA capabilities
and shows scenario demonstrations.

History
-------

OpenCDA and Artery were developed independently. In 2023 and 2024, the CAVISE
team implemented CAPI integration around the original
``realistic_town06_cosim`` experiment. Current launch instructions use the
shared ``artery/scenarios/capi`` configuration. See :doc:`/guides/cosimulation`.