Integrating Driving Hardware-in-the-Loop Simulator with Large-Scale VANET Simulator for Evaluation of Cooperative Eco-Driving System
Round 1
Reviewer 1 Report
It is a very interesting topic with a complex system to simulate real vehicle conditions.
Suggestions to improve the paper:
The state of the art should be improved. Is there any complete commercial equipment to do the same?
Improve quality of Fig. 2
two hybrid control algorithms—driving mode decision algorithm, and power distribution control algorithm. -> Please, specify if these algorithms are new or add any relevant reference.
Please, indicate the aprox. budget of the whole system.
Please, add relevant references/links for dSPACE HIL simulator, QualNet, etc.
Minor changes:
Avoid the use of first person "we", "our". Please, try impersonal forms. For example, in the abstract:
we need to integrate simulators with expertise -> it is needed to integrate simulators with expertise or simulators with expertise are needed to be integrated.
We implement the IDHIL simulator -> The IDHIL simulator is implemented by...
The same is lines 62, 66 (we selected, we attached...)
Please check all the sentences in your paper with "we" "our"...
Line 37: of an intelligent transport systems (ITSs) -> singular or plural? of an intelligent transport system (ITS) / of the intelligent transport systems (ITSs)
Line 73: Section2 -> Section 2
Line 73: The architecture of our integrated simulator -> The architecture of the proposed integrated simulator
Line 74: Section3 -> Section 3
Line 74: Section4 -> Section 4
Line 92: to efficiently consume -> to consume efficiently
Line 94: well -> properly
Line 104: An HIL -> A HIL
Line 106: Because an HIL -> Since a HIL
Line 111: an HIL -> a HIL
Line 122: to accurately evaluate -> to evaluate accurately
Line 130: of our integrated -> of the proposed integrated
Line 151: we utilize it to monitor -> It is used to monitor
Line 154: we construct driving environment such as vehicle, road, and traffic lights using ModelDesk -> Driving environment such as vehicle, road and traffic lights are constructed/emulated by using ModelDesk
Line 197: In our simulation -> In the proposed simulation environment
Line 337: This paper presents the IDHIL simulator -> This paper presents an IDHIL simulator
Author Response
We appreciate your kind review and comments.
We revised the paper and wrote a response to your comments.
Please see the attachment.
Thank you!
Author Response File: 
Author Response.pdf
Reviewer 2 Report
1. In terms of the formal structure, the manuscript contains all
essential parts of a scientific publication.
2. In terms of originality, the paper presents an interesting scientific study.
Finally, I conclude that the proposed scientific paper contains no fundamental errors, and I recommend accepting the manuscript.
Author Response
We really appreciate your kind review and comments.
We corrected all the wrong spelling per your comment.
Thank you!
Reviewer 3 Report
The paper reads by Lee et al. reads interesting and fits into the scope of ELECTRONICS. This referee comes to the conclusion that the paper can be accepted after implemention of the following points:
The authors state correctly that for the development and test of modern connected and automated vehicles, several types of simulation and X-in-the-Loop will play a higher and even more important role in the future. A further paper to demonstrate that point could be
G. Tibba, C. Malz, C. Stoermer, N. Nagarajan, L. Zhang and S. Chakraborty, "Testing automotive embedded systems under X-in-the-loop setups," 2016 IEEE/ACM International Conference on Computer-Aided Design (ICCAD), Austin, TX, 2016, pp. 1-8, doi: 10.1145/2966986.2980076.
Within the part of describing related work in the introduction, it might be good to add some more information on proposed toolchains for cooperative and automated vehicles using traffic simulation since you are also describing requirementa for the needed simulators from page 2ff, especially when looking at figure. Such a paper describing a coherent toolchain comprising a co-simulation of traffic, vehicle dynamics and communication and a similar modular approach could be
Hallerbach, S., Xia, Y., Eberle, U., and Koester, F., "Simulation-Based Identification of Critical Scenarios for Cooperative and Automated Vehicles," SAE Intl. J CAV 1(2):93-106, 2018, https://doi.org/10.4271/2018-01-1066.
Although it is totally ok and also required to describe your hardware, to this referee the numbe rof time it is referred to dSpace company is a little bit extreme. Perhaps you could find a way to a little bit reduce the number of times "dSpace" is mentioned by introducing generic terms for certain components.
Please replace figure 6 by a figure in better quality, at least resolution of the nmap background needs to be significantly improved.
Please increase the captions and legends of figs 7-11.
Fig 12 seems to be mistakingly called fig 22. Issue from previous figures on the caption font size also applicable here.
Please remove pseudo-accuracy in table 2, "12.34 l/100km" makes no sense. Neither your simulation nor a hardware meter is or would be sufficiently precise, holds also true for "14.34%" improvement
Please describe in more detail what the reader sees in fihures 5-12, currently the explanatory text here is extremely brief. Elaborate in more detail what the reader sees here and why you have chosen to present to him these graphs. Please also provide briefly how these figures are interconnected. It is highly unusual to start a paragraph directly with a larger number of figures and without introduction. Also the analysis part is here definitely to brief, please stat clearly which graphs are input to your simulation and what is output of your approach and how you have arrived with that numbers. The balance of level of detail between introduction and results requires that you increase in results section the level of detail and rise the level of information provided.
Author Response
We appreciate your kind review and comments.
We revised the paper and wrote a response to your comments.
Please see the attachment.
Thank you!
Author Response File: Author Response.pdf
Reviewer 4 Report
The authors in this article presents an Integrated Driving Hardware-In-The-Loop (IDHIL) simulator for the testing and evaluation of cooperative eco-driving systems, integrating the driving hardware-in-the-loop simulator and a vehicular ad-hoc network simulator. Thus, the authors develop and evaluate hybrid control unit and cooperative eco-driving application for the Connected Hybrid Electric Vehicle This work is well supported by the requirements presented by the authors. However, I will present my comments or questions below to improve the quality of this work:
-The authors use acronyms, which are misspelled, since the correct form is the first capital letter to denote the acronym, for example, the incorrect form that the authors have written is << information communication technology (ICT)> >, the correct way is: << Information Communication Technology (ICT) >>. This problem must be corrected throughout the document with all the acronyms used by the authors.
-The authors should increase or explain in a better way the introduction, and likewise a section dedicated to Related Works.
-I suggest the following works to the authors to broaden the panorama in Related Works Section:
==> Zambrano-Martinez, J. L., Calafate, C. T., Soler, D., Lemus-Zúñiga, L. G., Cano, J. C., Manzoni, P., & Gayraud, T. (2019). A Centralized Route-Management Solution for Autonomous Vehicles in Urban Areas. Electronics, 8 (7), 722.
==> Hu, J., Shao, Y., Sun, Z., Wang, M., Bared, J., & Huang, P. (2016). Integrated optimal eco-driving on rolling terrain for hybrid electric vehicle with vehicle-infrastructure communication. Transportation Research Part C: Emerging Technologies, 68, 228-244.
-The authors must better describe the components of the 4 equations presented.
-What are the advantages of using the HIL simulator?
-In Figure 2, there are some too small letters, you cannot see it well. Authors must increase the font size to observe properly.
-What is the main reason to use QualNet 4.5 network simulator instead of OMNeT?
-The Simulator presented, how many vehicles can be injected?
-In the simulator, the traffic data are real or synthetic?
-Where were the vehicle behavior data obtained for the simulation?
-The simulator easily supports the noise that exists in a real environment, that is, noise caused by nearby interferences or obstruction of buildings, etc?
-Is there greater loss of packets when increasing vehicle speed?
-Was not the experimentation performed with other scenarios, or with different types of routes, or adding more traffic lights to the scene, etc?
-The results obtained should be explained in more detail.
Author Response
We appreciate your kind review and comments.
We revised the paper and wrote a response to your comments.
Please see the attachment.
Thank you!
Author Response File: Author Response.pdf
Round 2
Reviewer 4 Report
Thanks a lot to the Authors for performing the changes in the article. However, I recommend adding the answer of the authors to the questions asked in the article.
Author Response
We thank for your helpful comments.
We added the answer in the article and revised response to reviewer document.
Please see the attachment.
Author Response File: Author Response.pdf
