A vehicle model for micro-traffic simulation in dynamic urban scenarios

Abstract

In order to improve energy efficiency of transport systems, eco-driving strategies are studied world-widely. However, most literatures on eco-driving based on traditional traffic flow models, are greatly simplified, and can not evaluate the effects on detailed driving behaviors. By referring to robot motion planning approaches, in this research a microscopic vehicle model is developed and it can represent different driving behaviors, such as aggressive or conservative driving; a collision detection algorithm is proposed that takes O(1) time to check for a trajectory's collision, enabling realtime planning; and a traffic simulation system is developed by incorporating traffic rules, so that the driving behaviors such as observing or not observing traffic rules can also be represented. Experiments are conducted on the simulation platform, and the performance of different driving behaviors on travel time, mileage, comfort and eco is studied.

An all‐in‐one efficient lane‐changing model for virtual traffic

“…Detailed feature comparisons between some typical models and our model are shown in Table . Hidas's model and our model focus on lane‐changing decisions, and these two models are more efficient comparing with motion planning models that need to evaluate cost functions in every time step.…”

“…Lots of motion planning methods have been used to describe lane‐changing processes, such as proportional‐derivative controller method , cost functional method , and polynomial method . In these methods, the polynomial method is the simplest method to produce smooth real‐world lane‐changing trajectories.…”

“…There are lots of unrealistic hypotheses in the model, such as the velocities along lanes at the beginning and the end of a lane change should be equal. Xu et al used polynomials that are designed in moving reference frames to describe vehicles’ trajectories, which can represent different kinds of lane changes. However, they only considered vehicles’ own properties, and surrounding traffic conditions are not taken into account when generating the trajectories.…”

“…Some methods in motion planning (e.g. ) can be used to describe lane‐changing processes. However, they are designed for a single agent and time‐consuming for traffic animations.…”

Automated driving, technical approach with motion control architecture

“…Jerks compromize the comfort for the passengers and may also excite oscillations in the control system. The trajectory generation method described in [10] and [11] avoids jerks. The method is based on quintic polynoms, because the first and second derivative of a quintic polynomial are continuous.…”