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Speeding up Discrete Event Simulations (DESs) is a broad research field. Promising Parallel Discrete Event Simulation (PDES) approaches with optimistic and conservative synchronisation schemes have emerged throughout the years. However, in the area of real-time simulation, PDESs are rarely considered. This is caused by the complex problem of fitting parallel executed DES models to a real-time clock. Hence, this paper gives an extensive review of existing conservative and optimistic synchronisation schemes for PDESs. It introduces a metric to compare their real-time capabilities to determine whether they can be used for soft or firm real-time simulation. Examples are given on how to apply this metric to evaluate PDESs using synthetic and real-world examples. The results of the investigation reveal that no final answer can be given if PDESs can be used for soft or firm real-time simulation as they are. However, boundary conditions were defined, which allow a use-case specific evaluation of the real-time capabilities of a certain parallel executed DES. Using this in-depth knowledge and can lead to predictability of the real-time behaviour of a simulation run.
A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles
(2021)
V2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them and derive future research topics.