Design and Implementation of Digital Twin-Assisted Simulation Method for Autonomous Vehicle in Car-Following Scenario

Algorithm 1

Motion control of AV in car-following scenario.

Input: 1. TTC: collision time calculated by collision avoidance strategy; 2. : time threshold for collision avoidance warning; 3. : time threshold for braking;

Output: 1. Flag1: the collision avoidance warning indicator; 2. Flag2: the braking indicator;

1:

2: Flag1 0; Flag2 0;

3: if TTC then

4:  Flag1 0;

5:  Flag2 0;

6: end if

7: if TTC then

8:  Flag1 1;

9:  Flag2 0;

10:end if

11:if 0 TTC then

12:  Flag1 1;

13:  Flag2 1;

14:end if

15:return Flag1, Flag2