Simulation and testing method for evaluating the effects of position error, communication delay and penetration rate to connected vehicles safety

摘要

Uncertainties of connected vehicle (CV) system, such as vehicle position error, communication delay and penetration rate would significantly influence the systematic performance. A simulation and testing method for evaluating the effects of uncertainties to connected vehicle safety is proposed in this paper. To construct the basic simulation environment, a five-subsystem simulation structure is designed. And Gaussian distribution based vehicle position error model, uniform and Rayleigh distribution based communication delay model and penetration rate model are introduced and implemented to enhance the reality of the simulation. Then a simulation scenario, which is composed of vehicle overspeed as traffic hazard, nonlinear segmented vehicle braking (NSVK) model as pre-warning method and uncertainties models as system disturbances, is set up to evaluate the effects of uncertainties to connected vehicle safety. A High Level Architecture (HLA) based simulation platform is established to verify the proposed method. The results show that, with position error in the scenario, successful warning rate is 88%. And the successful warning rate increases when the deceleration of pre-warning approach decreases. In in the scenario with communication delay, successful warning rate reaches 100%. And successful warning rate increases with Origin Destination (OD) value and penetration rate, and penetration rate influences more.