Journal of South China University of Technology (Natural Science Edition) ›› 2018, Vol. 46 ›› Issue (1): 66-77.doi: 10.3969/j.issn.1000-565X.2018.01.009

• Traffic & Transportation Engineering • Previous Articles     Next Articles

A Construction Approach Based on Kinematic Simulation Environment for Networked Intelligent Vehicles

CHAI Linguo1 CAI Baigen1,2,3 SHANGGUAN Wei1,2,3 WANG Jian1,2,3 WANG Huashen1,2   

  1. 1． School of Electronics and Information Engineering，Beijing Jiaotong University，Beijing 100044，China; 2． State Key Laboratory of Ｒail Traffic Control and Safety，Beijing Jiaotong University，Beijing 100044，China; 3． Beijing Engineering
    Research Center of EMC and GNSS Technology for Ｒail Transportation，Beijing Jiaotong University，Beijing 100044，China
  • Received:2017-02-16 Online:2018-01-25 Published:2020-11-26
  • Contact: 上官伟(1979-)，男，教授，博士生导师，主要从事列车安全、车路协同方面研究． E-mail:wshg@bjtu.edu.cn
  • About author:柴琳果(1988-)，男，博士生，主要从事车辆安全控制研究． E-mail:lgchai@ bjtu． edu． cn
  • Supported by:
    Supported by National Key Ｒesearch and Development Program of China (2016YFB1200100)，the Major Re-search Plan of National Natural Science Foundation of China (61490705)，the National Natural Science Foundation of China(61773049) and Beijing Municipal Natural Science Foundation (4172049)

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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