关键词: 交通工程, 联网智能车, 车辆运动学模型, 误差模型, 仿真环境构建

Abstract: A novel approach based on kinematic simulation environment of networked intelligent vehicle is proposed in this paper． Functionality relevant to kinematics of networked intelligent vehicles can be verified via simulation on the basis of proposed approach． Intersections are adopted as the main elements composing the road network and all the roads are classed as connection between two different intersections． Properties of intersections and vehicles are defined and approaches of realization for vehicle kinematic models in the simulation environment are designed． Ve-hicle-positioning deviation based on Gaussian distribution is given and uniform and Ｒayleigh distribution on the ba-sis of communication delay in the process of simulation are introduced to enhance the simulation reality． A series of simulation is conducted to prove the reliability of the simulation environment． Vehicle delay presents the same tend-ency to HCM 1994 vehicle delay model in different volumes to capacity ratio． The distribution of distance between two vehicles when pre-warning is generated is subject to the uncertainty models． A slot-based intersection control method is implemented so that the approach to kinematic function of networked intelligent vehicle is verified．

Key words: transportation engineering, networked intelligent vehicles, vehicle kinematic models, error/deviation modeling, simulation environment construction