A Cooperative Motion Control Strategy of Multi-objects Simulation Based on CAV Testing Platform

摘要

Test system of Connected and Autonomous Vehicles (CAV) is a newly-developed research area. Nowadays, CAVs are basically tested in real time field test. However, the field test has two disadvantages: (ⅰ) the safety of pedestrians and other conventional vehicles cannot be guaranteed in field test, (ⅱ) the testing period can be prolix because of the scarcity of certain extreme driving conditions. In this paper, a cooperative control algorithm of mobile unit is designed. In the proposed algorithm, motion and reaction of different traffic participants can be simulated, such as pedestrian, animals and non-motor vehicles. Motion models of traffic participants are built up in two dimensionalities: trajectory and reaction. After setting appropriate simulation parameters, the scarce driving scenarios can be easily reproduced so that the CAV test period is expected to significantly shortened. We also build up a comprehensive testing framework to realize the designed function. In the end, numerical analysis and experiments are carried out to show the algorithm's feasibility.