Information Exchange Pairs Simulation Method Based on Discrete Event Simulation for Autonomous Transportation System

Table 5

Table of simulation module (combine).

Module ID	Module role	Module name	Upstream modules	Downstream modules
c1	Combine	Collect all stored road surface video data	d3, d5	d6
c2	Combine	All road surface video data collection	d1, d2, d6	c13
c3	Combine	Collect all stored road surface millimeter microwave radar data	d9, d11	d12
c4	Combine	All road surface millimeter microwave radar data collection	d7, d8, d12	c14
c5	Combine	Collect all stored road surface lidar data	d15, d17	d18
c6	Combine	All road surface lidar data collection	d13, d14, d18	c15
c7	Combine	Collect all stored road structure video data	d21, d23	d24
c8	Combine	All road structure video data collection	d19, d20, d24	c13
c9	Combine	Collect all stored road structure millimeter microwave radar data	d25, d29	d30
c10	Combine	All road structure millimeter microwave radar data collection	d26, d27, d30	c14
c11	Combine	Collect all stored road structure lidar data	d31, d35	d36
c12	Combine	All road structure lidar data collection	d32, d33, d36	c15
c13	Combine	video data fusion	c2, c8	d37
c14	Combine	Millimeter wave radar data fusion	c4, c10	d38
c15	Combine	Lidar data fusion	c6, c12	d39