Basic Simulation Environment for Highly Customized Connected and Autonomous Vehicle Kinematic Scenarios

Abstract

To enhance the reality of Connected and Autonomous Vehicles (CAVs) kinematic simulation scenarios and to guarantee the accuracy and reliability of the verification, a four-layer CAVs kinematic simulation framework, which is composed with road network layer, vehicle operating layer, uncertainties modelling layer and demonstrating layer, is proposed in this paper. Properties of the intersections are defined to describe the road network. A target position based vehicle position updating method is designed to simulate such vehicle behaviors as lane changing and turning. Vehicle kinematic models are implemented to maintain the status of the vehicles when they are moving towards the target position. Priorities for individual vehicle control are authorized for different layers. Operation mechanisms of CAVs uncertainties, which are defined as position error and communication delay in this paper, are implemented in the simulation to enhance the reality of the simulation. A simulation platform is developed based on the proposed methodology. A comparison of simulated and theoretical vehicle delay has been analyzed to prove the validity and the creditability of the platform. The scenario of rear-end collision avoidance is conducted to verify the uncertainties operating mechanisms, and a slot-based intersections (SIs) control strategy is realized and verified in the simulation platform to show the supports of the platform to CAVs kinematic simulation and verification.

Sensing and Connection Systems for Assisted and Autonomous Driving and Unmanned Vehicles

“…[11], still from a Chinese University, presents a four-layer Connected and Autonomous Vehicles (CAVs) kinematic simulation framework, which is composed with a road network layer, a vehicle operating layer, an uncertainties modelling layer and a demonstrating layer. The properties of the intersections are defined to describe the road network.…”

“…The proposed special issue has invited submissions related to sensing and connectivity systems for assisted and autonomous driving and for unmanned aerial, underwater and ground vehicles (namely UAV, UUV and UGV) [1,2,3,4,5,6,7,8,9,10,11,12]. Recent studies on the future of the automotive and robotic industry predict that the borders between the ICT (Information and Communication Technology) industry and the consumer industry will blur, and that vehicles will become consumer-centric [13].…”

Study and Simulation Analysis of Vehicle Rear-End Collision Model considering Driver Types

“…Hu et al firstly studied driver behavior differences and empirical judgment ratio distributions in an abnormal traffic scenario and then proposed a car-following model for estimating the minimum safety distance for the emergency evacuation vehicle [9]. Similar research studies can be found in [10][11][12][13][14].…”

Platoon Separation Strategy Optimization Method Based on Deep Cognition of a Driver’s Behavior at Signalized Intersections

“…For example, subjectively decomposing the road in the vicinity of intersection, into finite segments, within each segment, vehicles operate under different control methods [13]. Researchers segment the intersection connected road into three parts (approach area, adjust area and maintain area), and then guide the vehicles by using the double-loop Spatial Position Associating Time Series (SPATS) method and the Acceleration Dynamically Adjusting based on Predicted Trajectory (ADAPT) method [14]. Slot-based intersections, which could replace traditional traffic lights, have also been implemented to reduce queues and delays.…”