Simulating and validating coordination among multiple autonomous vehicles (AVs) is a challenging task as most existing simulation architectures are limited to single-vehicle operation or rely on centralized control. This paper presents a Distributed Multi-AV Architecture (DMAVA) that enables synchronized, real-time autonomous driving simulation across multiple physical hosts. Each vehicle runs its own complete AV stack and operates independently from other AVs. The vehicles in the simulation maintain synchronized coordination through a low-latency data-centric communication layer. The proposed system integrates ROS 2 Humble, Autoware Universe, AWSIM Labs, and Zenoh to support concurrent execution of multiple Autoware stacks within a shared Unity-based environment. Experiments conducted on multiple-host configurations demonstrate stable localization, reliable inter-host communication, and fully synchronized closed-loop control. The DMAVA also serves as a foundation for Multi-Vehicle Autonomous Valet Parking, demonstrating its extensibility toward higher-level cooperative autonomy. Demo videos and source code are available at: https://github.com/zubxxr/distributed-multi-autonomous-vehicle-architecture.

翻译：对多辆自动驾驶车辆之间的协同进行仿真与验证是一项具有挑战性的任务，因为现有的大多数仿真架构仅限于单车辆操作或依赖于集中式控制。本文提出了一种分布式多自动驾驶车辆架构，该架构能够在多台物理主机上实现同步的实时自动驾驶仿真。每辆车运行其自身完整的自动驾驶软件栈，并独立于其他车辆运行。仿真中的车辆通过一个低延迟的、以数据为中心的通信层保持同步协同。所提出的系统集成了ROS 2 Humble、Autoware Universe、AWSIM Labs和Zenoh，以支持在共享的基于Unity的环境中并发执行多个Autoware软件栈。在多主机配置上进行的实验证明了稳定的定位、可靠的主机间通信以及完全同步的闭环控制。该架构还可作为多车辆自主代客泊车应用的基础，展示了其向更高级别协同自主性扩展的能力。演示视频和源代码位于：https://github.com/zubxxr/distributed-multi-autonomous-vehicle-architecture。