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 9 Distance UCV to traffic light.

Input:u, c, ℓ
Result: Distance d to the end of the lane from current position

1:
DistanceUCVToTrafficLight $(c, ℓ)$
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for all $l \in ℓ$ do
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if $l_{i d}$ equals c then
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Point $P \leftarrow lastPointOf (l)$
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end if
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end for
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Calculate Euclidean distance $d \leftarrow ∥ (\binom{P_{x}}{P_{y}}) - (\binom{u_{x}}{u_{y}}) ∥_{2}$
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returnd