ICRA 2011 Paper Abstract


Paper TuP209.3

Xu, Wenda (Peking University), Yao, Wen (Peking University), Zhao, Huijing (Peking University), Zha, Hongbin (Peking University)

A Vehicle Model for Micro-Traffic Simulation in Dynamic Urban Scenarios

Scheduled for presentation during the Regular Sessions "Motion and Path Planning II" (TuP209), Tuesday, May 10, 2011, 15:55−16:10, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Motion and Path Planning, Intelligent Transportation Systems, Animation and Simulation


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.



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