A Vehicle Model for Micro-Traffic Simulation in Dynamic Urban Scenarios
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.
Wenda Xu Wen Yao Huijing Zhao Hongbin Zha
State Key Lab of Machine Perception (MOE),Peking University,Beijing,P.R. China
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2267-2274
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）