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

Table 7

Table of decision planning module interface standards.

Module	Topic	Description	Fields
Planning	/apollo/planning	Output the planned trajectory of the following car in a future period of time	The developer must provide; (1) timestamp_sec in header; (2) , a, relative_time in trajectoryPoint; (3) x, y, z, theta, kappa in pathPoint
Prediction	/apollo/prediction	Output respective obstacles and their predicted trajectories	The developer optionally outputs trajectories in predictionObstacle, which may be used for displaying predicted trajectories of respective obstacles
Decision	/apollo/decision	Output decisions with respect to various obstacles and the main decisions	The developer optionally outputs mainDecision and objectDecisions, which may be used for displaying the main decisions and the decisions with respect to respective obstacles

Testing and validating the model in the Apollo simulation environment.