Connection of the SUMO Microscopic Traffic Simulator and the Unity 3D Game Engine to Evaluate V2X Communication-Based Systems

. 2018 Dec 12;18(12):4399. doi: 10.3390/s18124399

Algorithm 13 Visual advise.

Input:t_min, t_max, time to reach TLS u_t, actual speed u_s, distance to next TLS d max speed allowed v_M
Result: A visual advise to the vehicle u

1:
$m \leftarrow$ “Actual speed OK”
2:
$(\binom{v_{\min}}{v_{\max}}) \leftarrow$ TLRAlgorithm $(t_{\min}, t_{\max}, u_{t}, u_{s}, d, v_{M})$
3:
if $(\binom{v_{\min}}{v_{\max}}) \neq \vec{0}$ then
4:
if $v_{\min} = v_{\max}$ then
5:
if $v_{\min} > u_{s}$ then
6:
$m \leftarrow$ “Speed up to $v_{\min}$ km/h”
7:
else
8:
if $v_{\min} = 0$ then
9:
$m \leftarrow$ “STOP at line”
10:
else
11:
$m \leftarrow$ “Slow down to $v_{\min}$ km/h”
12:
end if
13:
end if
14:
else
15:
$m \leftarrow$ “Optimal speed between $v_{\min} - v_{\max}$ km/h”
16:
end if
17:
end if
18:
DisplayMessage $(m)$