A Rapid Prototyping Environment for Cooperative Advanced Driver Assistance Systems

<table class="fixed-width table-group" id="tab10"><tr><td><table class="table"><colgroup><col style="width:12.64em"/><col style="width:12.48em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Steady state gains </td><td class="align_center">Long. acceleration <svg height="12.6721pt" id="M129" style="vertical-align:-3.38377pt" version="1.1" viewbox="-0.0498162 -9.28833 47.4709 12.6721" width="47.4709pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path></g><g transform="matrix(.013,0,0,-0.013,4.485,0)"><path d="M463 437C426 431 375 425 327 422C297 440 264 449 231 449H230C153 449 51 396 51 283C51 215 94 168 139 149C123 129 91 103 51 88C50 78 53 60 62 46C75 25 100 2 136 -9C112 -28 73 -59 53 -79C38 -94 29 -113 29 -135C30 -192 91 -257 203 -257C336 -257 452 -160 452 -59C452 39 371 59 309 59C275 59 240 58 203 58C158 58 140 77 140 96C140 110 157 129 170 138C186 135 205 133 221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z" id="g121-101"></path></g><g transform="matrix(.013,0,0,-0.013,10.569,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path></g><g transform="matrix(.013,0,0,-0.013,17.96,0)"><path d="M471 153C471 170 463 194 452 212C400 220 373 229 322 255C373 281 400 290 452 298C463 316 471 339 471 357C456 366 431 371 410 370C377 329 356 310 308 279C311 336 317 364 336 413C326 432 310 451 294 459C279 451 262 432 252 413C271 364 277 336 280 279C232 310 211 329 178 370C157 371 132 367 117 357C117 340 125 316 136 298C188 290 215 281 266 255C215 229 188 220 136 212C125 194 117 171 117 153C132 144 157 139 178 140C211 181 232 200 280 231C277 174 271 146 252 97C262 78 278 59 294 51C309 59 326 78 336 97C317 146 311 174 308 231C356 200 377 181 410 140C431 139 456 143 471 153Z" id="g113-43"></path></g><g transform="matrix(.013,0,0,-0.013,28.496,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g><g transform="matrix(.013,0,0,-0.013,34.736,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path></g><g transform="matrix(.013,0,0,-0.013,40.976,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path></g></svg></td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Average of experiments</td><td class="align_center">21.168</td></tr><tr><td class="align_left">Confidence interval</td><td class="align_center">19.395–22.941</td></tr><tr><td class="align_left">Average of simulations</td><td class="align_center">20.950</td></tr><tr><td class="align_left">Average of simulations error</td><td class="align_center">0.218</td></tr><tr><td class="align_left">Averaged simulation</td><td class="align_center">20.214</td></tr><tr><td class="align_left">Averaged simulation error</td><td class="align_center">0.95 (<b>4.51</b>%)</td></tr><tr><td class="align_left">Verdict</td><td class="align_center">Pass</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Validation results Maneuver Long II: steady-state gains.</div>

Journal of Advanced Transportation

tab10

Table 10

Table 10: A Rapid Prototyping Environment for Cooperative Advanced Driver Assistance Systems 