A survey of vehicle group behaviors simulation under a connected vehicle environment

The connected vehicle (CV) that integrates vehicle intelligence and communication network technology is one of the main methods to approach intelligent transportation, which is of great significance in solving the problem of road congestion and traffic accidents. As an important application field of CVs, multi-vehicle formation driving can realize the collaboration of perception, decision making, and control among vehicles, which has a great promotion effect on improving road traffic safety, reducing fuel consumption, and improving traffic congestion. In order to ensure the safe, reliable, and efficient operation of the CV platoon under the actual road network, weather, and various application scenarios, a large number of tests need to be conducted to validate the platoon before it is applied. Simulation studies are still indispensable considering the cost and risk of real vehicle testing. This paper reviews the current status of research and application of vehicle group behavior simulation in a CV environment from four aspects: simulation tools, modeling methods, evaluation indicators, and application scenarios, and discusses the development direction of CV simulation testing, which provides a framework, method, and technology reference for future research and application of vehicle group behavior simulation in a CV environment. (C) 2022 Elsevier B.V. All rights reserved.