Modelling autonomous vehicle interactions with bicycles in traffic simulation

With the undeniable advance of automated vehicles and their gradual integration in day-today urban traffic, many new technologies have been developed that offer great potential for this emerging field of research. However, testing automated vehicle technologies in real road traffic with vulnerable road users (VRUs) is still a complicated and time consuming procedure. The virtual development and evaluation of automated vehicles using simulation tools offers a good opportunity to test new functions efficiently. However, existing models prove to be insufficient in modeling the interaction between autonomous vehicles and vulnerable road users such as bicyclists and pedestrians. In this paper, an automated vehicle model for microscopic traffic simulation tools is developed with the open-source traffic simulation software Simulation of Urban Mobility (SUMO) and evaluated in common traffic interaction scenarios with bicyclists. A controller model is proposed using different path-finding algorithms from the field of robotic and automated vehicle research, which covers all important control levels of a self-driving vehicle. Finally, its performance is compared to existing car-following and lane-changing models. Results showcase that the autonomous vehicle model achieves either comparable results or has a much steadier and more realistic driving behavior when compared to existing driving models while interacting with bicyclists. The whole source code developed over the course of this work is freely accessible at: https://github.com/FlixFix/Kimarite.