The Driver Time Memory Car-Following Model Simulating in Apollo Platform with GRU and Real Road Traffic Data

Table 6

Table of module output interface standards provided by simulation.

Module	Topic	Description	Field
Localization	/apollo/localization/pose	Output data such as the position and orientation of the following car	Position, orientation, linear_velocity, linear_acceleration, angular_velocity in pose
Perception	/apollo/perception/obstacles	Output data such as positions, orientations, velocities, shapes, etc. of respective obstacles	The simulation will provide id, position, theta, velocity, length, width, height, type, polygon_point in PerceptionObstacle
	/apollo/perception/traffic_light	Output traffic light signals	The simulation will provide color, id and tracking_time in Traffic Light,
CAN bus	/apollo/canbus/chassis	Output data such as the velocity and drive mode of the following car	The simulation will provide speed_mps
Router	/apollo/routing_response	Output the navigation result	The simulation will provide routing response, including the planned navigation route from the current position to the destination