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

Linguo Chai; Baigen Cai; Wei ShangGuan; Jian Wang; Huashen Wang

doi:10.3390/s17091938

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

Sensors (Basel). 2017 Aug 23;17(9):1938. doi: 10.3390/s17091938.

Authors

Linguo Chai¹, Baigen Cai², Wei ShangGuan³, Jian Wang⁴, Huashen Wang⁵

Affiliations

¹ School of Electronics and Information Engineering, Beijing Jiaotong University, NO. 3 Shangyuancun, Haidian, Beijing 100044, China. lgchai@bjtu.edu.cn.
² School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China. bgcai@bjtu.edu.cn.
³ School of Electronics and Information Engineering, Beijing Jiaotong University, NO. 3 Shangyuancun, Haidian, Beijing 100044, China. wshg@bjtu.edu.cn.
⁴ School of Electronics and Information Engineering, Beijing Jiaotong University, NO. 3 Shangyuancun, Haidian, Beijing 100044, China. wangj@bjtu.edu.cn.
⁵ School of Electronics and Information Engineering, Beijing Jiaotong University, NO. 3 Shangyuancun, Haidian, Beijing 100044, China. hswang@bjtu.edu.cn.

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.

Keywords: application verification; connected and autonomous vehicles; road network description; simulation platform; uncertainties modelling; vehicle kinematic models.