Traffic Flow Simulation for Autonomous Driving

Abstract

A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing and evaluating the development of automatic driving technology are getting higher and higher, so the application of computer technology for traffic simulation has become a very effective technical means. Based on the micro-traffic flow modelling, this paper adopts the vehicle motion model based on cellular automata and the theory of bicycle intelligence to build the simulation environment of autonomous vehicle flow. The architecture of autonomous vehicles is generally divided into a perception system, decision system and control system. The perception system is generally divided into many subsystems, responsible for autonomous vehicle positioning, obstacle recognition, traffic signal detection and recognition and other tasks. Decision systems are typically divided into many subsystems that are responsible for tasks such as path planning, path planning, behavior selection, motion planning, and control. The control system is the basis of the selfdriving car, and each control system of the vehicle needs to be connected with the decision-making system through the bus, and can accurately control the acceleration degree, braking degree, steering amplitude, lighting control and other driving actions according to the bus instructions issued by the decision-making system, so as to achieve the autonomous driving of the vehicle.