Interactive Simulation Program for Autonomous Vehicles
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Summary
This paper presents the development of an interactive simulation program designed as a didactic tool for understanding the locomotion phenomena of autonomous vehicles. Motivated by the complexity and difficulty of real-world testing, the authors argue that computer modeling offers an efficient method for analyzing vehicle physics, sensor feedback, and decision algorithms. The goal is to provide a unitary framework that allows users to anticipate causal relationships and visualize results before physical deployment, thereby accelerating development and enhancing educational understanding. The simulation program is implemented as a MATLAB application featuring a modular architecture composed of seven distinct objects connected via a central database. This structure ensures simulation continuity and allows for the inheritance of data across different modules. The seven modules cover trajectories (including A* and clothoid algorithms), controllers (PID and lateral dynamics), locomotion models (geometric, kinematic, and dynamic), sensors (LIDAR and odometer), filters (Bayesian, Extended Kalman, and Particle), environment models, and Simultaneous Localization and Mapping (SLAM). Users can modify specific parameters, such as vehicle mass, steering angles, or sensor resolution, and visualize the effects through plots and animations. The database facilitates case studies by linking phenomena, where the output of one module serves as the input for another. The program enables users to define locomotion environments with obstacles, compute trajectories, and simulate vehicle behavior under various conditions. For instance, the dynamic model highlights over- and understeering effects, while the LIDAR module simulates obstacle measurement and occupancy grid generation. The filters and SLAM modules calculate probability distributions of the vehicle’s position based on control quantities and sensor parameters. The interface allows for the visualization of these processes, providing a holistic report at the end of each interactive session. The system supports both isolated testing of specific algorithms and integrated scenario simulations. The significance of this work lies in its provision of a comprehensive, flexible, and educational simulation environment for autonomous vehicle research. By aggregating diverse modeling aspects into a single, interactive application, the tool simplifies the analysis of complex locomotion phenomena. It serves as a valuable resource for both educational purposes and algorithm testing, offering a reproducible method for studying vehicle dynamics, control strategies, and sensor integration without the constraints of physical road tests.
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| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | Crossref | — | — | 1 | 2026-06-20 |
| archive | success | canonical_url | — | — | 1 | 2026-06-26 |
| extract | success | cached | — | — | 2 | 2026-06-26 |
| clean | success | clean | — | — | 1 | 2026-06-20 |
| chunk | success | chunk | — | — | 1 | 2026-06-20 |
| embed | success | embed | Qwen/Qwen3-Embedding-8B | — | 1 | 2026-06-20 |
| promote | success | — | — | — | 1 | 2026-06-20 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 1 | 2026-06-26 |
| tag | success | vector_similarity | — | — | 6 | 2026-06-20 |
| verify | success | — | — | — | 1 | 2026-06-26 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-26; verification: verified.
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- Methodological Resource: tool software
- Theoretical Contribution: computational model