Reproducing the real multimodal traffic of a city, as completely as possible, implies the simulation of autonomous entities like living beings [1]. Such entitiesa are able to perceive their environment, to communicate with other creatures and to execute some actions (drive a car or walk in the street for example). To perform a simulation composed of a large set of dynamic entities "living" and interacting in a complex environment, we need to implement different models: environment models, mechanical models, motion control models, behavioural models, sensor models, geometric models and scenario.
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