ParametersAgent

This module is responsible for gathering all agent related parameters from the simulation framework and providing them to all other modules of the agent, like Implementation Architecture. The module also provides the driver’s current preview distance to the input module SensorDriver. Functionally und structurally, this module consists of two separate parts for the current agent’s parameterization. The first section specializes in the parameterization of the vehicle model, while the second section focuses on the parameterization for the ParametersScm module, which operates the total driving behaviours of the current agent.

Vehicle Parameterization

This section includes all vehicle system related parameters, power train system related parameters and steering system related parameters. Relevant parameters are presented in the following three tables with the coresponding explanations.

Table list of the vehicle system related parameters for vehicle parameterization

Variable	Meaning	Unit
width	The maximum width of the vehicle	m
length	The maximum length of the vehicle	m
height	The maximum height of the vehicle	m
wheelbase	The wheelbase of the vehicle	m
trackwidth	The trackwidth of the vehicle	m
distanceReferencePointToLeadingEdge	The distance between the vehicle coordinate system’s reference point (rear axle) and the front bumper	m
distanceReferencePointToFrontAxle	The distance between the vehicle coordinate system’s reference point (rear axle) and the front axle	m
maxVelocity	The maximum velocity of the vehicle	m/s
weight	The overall mass of the vehicle	kg
heightCOG	The height of the center of gravity above ground	m
momentInertiaRoll	The moment of inertia along the vehicle’s longtudinal axes	kgm2
momentInertiaYaw	The moment of inertia along the vehicle’s vertical axes	kgm2
frontSurface	The projected front surface of the vehicle	m2
airDragCoefficient	The air drag coefficient of the vehicle	/

Table list of the power train system related parameters for vehicle parameterization

Variable	Meaning	Unit
minimumEngineSpeed	The idle speed of the engine	1/min
maximumEngineSpeed	The maximum engine speed	1/min
minimumEngineTorque	The maximum height of the vehicle	Nm
maximumEngineTorque	maximum torque of the engine	Nm
numberOfGears	The number of gears in the gearbox	/
axleRatio	The ratio of the axle gear	/
decelerationFromPowertrainDrag	The deceleration caused by the overall powertrain drag torque	m/s2

Table list of the steering system related parameters for vehicle parameterization

Variable	Meaning	Unit
steeringRatio	he ratio of the steering gear	/
maximumSteeringWheelAngleAmplitude	maximum amplitude of the steering wheel angle	degree
maxCurvature	The maximum curavture the vehicle is able to drive	1/m

Driving Behaviour Parameterization

The parameters relating to the behaviour of SCM drivers are described in Driver Parameters.

Regression model for driver behaviour parameterization

When required, this module can use a regression model (DriverCharacteristicsSampler) for the targeted determination of some behavioral parameters from driver characteristics. The regression model and its graphical representation (see Figure 1) can be sourced from Manuela Witt’s PhD thesis (Regressionsmodelle zur Berücksichtigung von Fahrerindividualität in der kognitiven Fahrerverhaltensmodellierung, 2021, Technische Universität Dresden). Following behavior parameters are concerned in the model:

desiredVelocity
amountOfSpeedLimitViolation
agentCooperationFactor
comfortLongitudinalAcceleration
comfortLongitudinalDeceleration
rightKeepingFactor

Fig. 58 Graphical representation of the regression model