Volume 22 Issue 3
Jun.  2022
Turn off MathJax
Article Contents
Article Navigation >  Journal of Traffic and Transportation Engineering  > 2022  >  22(3): 199-209
Next Previous
QIU Wei-zhi, SHANGGUAN Wei, CHAI Lin-guo, CHU Duan-feng. Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing[J]. Journal of Traffic and Transportation Engineering, 2022, 22(3): 199-209. doi: 10.19818/j.cnki.1671-1637.2022.03.016
Citation: QIU Wei-zhi, SHANGGUAN Wei, CHAI Lin-guo, CHU Duan-feng. Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing[J]. Journal of Traffic and Transportation Engineering, 2022, 22(3): 199-209. doi: 10.19818/j.cnki.1671-1637.2022.03.016
shu

Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing

doi: 10.19818/j.cnki.1671-1637.2022.03.016
  • 1.

    School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China

  • 2.

    State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China

  • 3.

    Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei, China

Funds:

National Key Research and Development Program of China 2018YFB1600600

Beijing Natural Science Foundation-Fengtai Rail Transit Frontier Research Joint Fund L191013

More Information
  • Author Bio:

    QIU Wei-zhi(1995-), male, doctoral student, weizhi_qiu@bjtu.edu.cn

    SHANGGUAN Wei(1979-), male, professor, PhD, wshg@bjtu.edu.cn

  • Received Date: 2021-12-12
  • Publish Date: 2022-06-25
    Abstract
  • To enhance the synchronization performance of the vehicle-infrastructure cooperative twin-simulation testing system, the operation mechanism of twin objects was clarified. Then the interference factors affecting the synchronization performance of the system were analyzed to establish the synchronous mapping model for the twin state. In view of the asynchronous clock problem in twin state sampling, a clock error estimation strategy was designed to correct the measurement time deviation of the twin-simulation testing system. On this basis, a multi-scale filtering updating mechanism was introduced by combining the principle of the Kalman filtering. Furthermore, a measurement noise model considering the synchronization sampling errors was established, and the multi-scale filtering synchronization optimization method was proposed. Finally, the vehicle trajectories from the NGSIM dataset were selected to carry out experiments in a constructed prototype system of twin-simulation testing. Research results show that the synchronization performance can be well maintained by the proposed multi-scale filtering synchronization optimization method under different vehicle speeds. In terms of synchronizing the lateral coordinate, the mean absolute error (MAE) is less than 1 mm, and 99.5% of absolute error (AE) can be controlled to within 8 mm. In terms of synchronizing the longitudinal coordinate, the MAE is less than 9 mm, and 99.5% of AE can be controlled to within 38 mm. In terms of synchronizing the speed, the MAE is less than 2.8 cm·s-1, and 99.5% of AE can be controlled to within 24 cm·s-1. In terms of synchronizing the yaw angle, the MAE is less than 1.1×10-3 rad, and 99.5% of AE can be controlled to within 1.1×10-2 rad. Compared with the dead reckoning method, the proposed method can improve the synchronization accuracy by an average of 30.0% in terms of lateral coordinate, longitudinal coordinate, speed, and yaw angle, solve the asynchronous state problem for twin objects effectively, and guarantee the real-time synchronization and accurate operation of the vehicle-infrastructure cooperative twin-simulation testing system. 3 tabs, 10 figs, 31 refs.

     

    • FullText(HTML)
  • loading
    • References(31)
  • [1]
    WANG Yun-peng, LU Guang-quan, YU Hai-yang. Traffic engineering considering cooperative vehicle infrastructure system[J]. Engineering Science, 2018, 20(2): 106-110. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GCKX201802017.htm
    [2]
    WU Yi-ping, LI Hai-jian, ZHAO Xiao-hua, et al. Effect of fog weather warning system under cooperative vehicle infrastructure on vehicle operating eco-characteristics[J]. Journal of Traffic and Transportation Engineering, 2021, 21(4): 259-268. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JYGC202104023.htm
    [3]
    TANG Li, QING San-dong, XU Zhi-gang, et al. Research review on public acceptance of autonomous driving[J]. Journal of Traffic and Transportation Engineering, 2020, 20(2): 131-146. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JYGC202002011.htm
    [4]
    FAN Zhi-xiang, SUN Wei, PAN Han-zhong, et al. Current situations and considerations of automated vehicle testing technology[J]. China Standardization, 2017(20): 47-48, 55. (in Chinese) doi: 10.3969/j.issn.1002-5944.2017.20.037
    [5]
    YU Zhuo-ping, XING Xing-yu, CHEN Jun-yi. Review on automated vehicle testing technology and its application[J]. Journal of Tongji University (Natural Science), 2019, 47(4): 540-547. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-TJDZ201904013.htm
    [6]
    XU Zhi-gang, LI Jin-long, ZHAO Xiang-mo, et al. A review on intelligent road and its related key technologies[J]. China Journal of Highway and Transport, 2019, 32(8): 1-24. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201908002.htm
    [7]
    BRUNELLI L, CAPANCIONI A, GONNELLA P, et al. A hybrid vehicle hardware-in-the-loop system with integrated connectivity for ehorizon functions validation[J]. IEEE Transactions on Vehicular Technology, 2021, 70(5): 4340-4352. doi: 10.1109/TVT.2021.3073807
    [8]
    TUEGELE J, INGRAFFEA A R, EASON T G, et al. Reengineering aircraft structural life prediction using a digital twin[J]. International Journal of Aerospace Engineering, 2011, 2011: 154798.
    [9]
    SEMERAROC, LEZOCHE M, PANETTO H, et al. Digital twin paradigm: a systematic literature review[J]. Computers in Industry, 2021, 130: 1-23.
    [10]
    SONG Xue-guan, LAI Xiao-nan, HE Xi-wang, et al. Key technologies of shape-performance integrated digital twin for major equipment[J]. Journal of Mechanical Engineering, 2022, 58(10): 298-325. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB202210028.htm
    [11]
    MIAO Bing-rong, ZHANG Wei-hua, LIU Jian-xin, et al. Review on frontier technical issues of intelligent railways under Industry 4.0[J]. Journal of Traffic and Transportation Engineering, 2021, 21(1): 115-131. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JYGC202101008.htm
    [12]
    LU Yu-qian, LIU Chao, WANG K I, et al. Digital twin-driven smart manufacturing: connotation, reference model, applications and research issues[J]. Robotics and Computer-Integrated Manufacturing, 2020, 61: 101837. doi: 10.1016/j.rcim.2019.101837
    [13]
    FENG Yi-heng, YU Chun-hui, XU Shao-bing, et al. An augmented reality environment for connected and automated vehicle testing and evaluation[C]//IEEE. 2018 Intelligent Vehicles Symposium. New York: IEEE, 2018: 1549-1554.
    [14]
    ZHENG Han-ying, TANG Xue-yan. Analysis of server provisioning for distributed interactive applications[J]. IEEE Transactions on Computers, 2015, 64(10): 2752-2766. doi: 10.1109/TC.2014.2378252
    [15]
    ZHANG Tong, REN Feng-yuan, SHU Ran. Distributed-optimization-based mix-flow scheduling mechanism for data center networks[J]. Journal of Tsinghua University (Science and Technology), 2021, 61(6): 618-625. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-QHXB202106016.htm
    [16]
    TIAN Bin, ZHAO Xiang-mo, XU Zhi-gang, et al. NRT-V2X: adaptive data dissemination protocol for traffic efficiency of connected and automated highways[J]. China Journal of Highway and Transport, 2019, 32(6): 293-307. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201906030.htm
    [17]
    BOCCA M, ERIKSSON L M, MAHMOOD A, et al. A synchronized wireless sensor network for experimental modal analysis in structural health monitoring[J]. Computer-Aided Civil and Infrastructure Engineering, 2011, 26(7): 483-499. doi: 10.1111/j.1467-8667.2011.00718.x
    [18]
    WANG Ting, BAI Hua, TANG Xiao-ming, et al. Distributed global precise clock synchronization state tracking: analysis of observable observer[J]. Acta Electronica Sinica, 2019, 47(9): 1855-1862. (in Chinese) doi: 10.3969/j.issn.0372-2112.2019.09.006
    [19]
    YU Shi-ming, ZHOU Jing-yuan, HE De-feng, et al. Time synchronization based on consensus in WSN with random bounded communication delay[J]. Control and Decision, 2020, 35(5): 1159-1166. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-KZYC202005015.htm
    [20]
    ZHANG Yang, DONG Shi-cheng. Intelligent recommendation method for lock mechanism in concurrent program[J]. Journal of Computer Applications, 2021, 41(6): 1597-1603. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JSJY202106010.htm
    [21]
    ZHU Tao, GUO Jin-wei, ZHOU Huan, et al. Consistency and availability in distributed database systems[J]. Journal of Software, 2018, 29(1): 131-149. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-RJXB201801007.htm
    [22]
    VEGAM T, MEHMLI T, VAN DER HOOFT J, et al. Enabling virtual reality for the tactile internet: hurdles and opportunities[C]//IEEE. 14th International Conference on Network and Service Management (CNSM). New York: IEEE, 2018: 378-383.
    [23]
    LIN K C, SCHAB D E. The performance assessment of the dead reckoning algorithms in DIS[J]. Simulation, 1994, 63(5): 318-325. doi: 10.1177/003754979406300507
    [24]
    FUNGY S, LUI J C S. Hack-proof synchronization protocol for multi-player online games[J]. Multimedia Tools and Applications, 2009, 41(2): 305-331. doi: 10.1007/s11042-008-0230-3
    [25]
    MONDOLONIS, ROZEN N. Aircraft trajectory prediction and synchronization for air traffic management applications[J]. Progress in Aerospace Sciences, 2020, 119: 100640. doi: 10.1016/j.paerosci.2020.100640
    [26]
    GÖRÜR B K, İMRE K M, OǦUZTÜZÜN H, et al. Predetermined rollbacks: an extension to time warp for spatially parallel agent-based simulation[J]. Simulation Modelling Practice and Theory, 2019, 95: 60-77. doi: 10.1016/j.simpat.2019.04.008
    [27]
    CHEN You-fu, LIU E S. Comparing dead reckoning algorithms for distributed car simulations[C]//ACM. 32nd SIGSIM Conference on Principles of Advanced Discrete Simulation. New York: ACM, 2018: 105-111.
    [28]
    DIBERNARDO M D, SALVI A, STEFANI S. Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(1): 102-112. doi: 10.1109/TITS.2014.2328439
    [29]
    LIANG Hua-gang, CHENG Jia-le, SUN Xiao-nan, et al. Time correction method of asynchronous cameras in road monitoring system[J]. Journal of Traffic and Transportation Engineering, 2015, 15(4): 118-126. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JYGC201504017.htm
    [30]
    QIU Wei-zhi, SHANGGUAN Wei, CHAI Lin-guo, et al. Parallel hierarchical control-based efficiency enhancement for large-scale virtual reality traffic simulation[J]. IEEE Intelligent Transportation Systems Magazine, 2021, 14(4): 145-162.
    [31]
    HUI Yang, WANG Yong-gang, PENG Hui, et al. Subway passenger flow prediction based on optimized PSO-BP algorithm with coupled spatial-temporal characteristics[J]. Journal of Traffic and Transportation Engineering, 2021, 21(4): 210-222. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JYGC202104019.htm
    • Relative Articles
    • Supplements(0)
    • Cited By

Catalog

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1842) PDF downloads(147) Cited by()
    Related

    Website copyright Journal of Traffic and Transportation Engineering Editorial Department陕ICP备05001904号-1

    Address ：Editorial Department of Journal of Traffic and Transportation Engineering, Chang'an University, Middle Section of South 2nd Ring Road, Xi'an, China（710064） Tel：029-82334388 Email：jygc@chd.edu.cn

    All visit:Today's visit:

    Supported by: Beijing Renhe Information Technology Co. Ltd    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return