Towards Next Generation of Pedestrian and Connected Vehicle In-the-Loop Research: A Digital Twin Co-Simulation Framework

Digital Twin is an emerging technology that replicates real-world entities into a digital space. It has attracted increasing attention in the transportation field and many researchers are exploring its future applications development of Intelligent Transportation System (ITS) technologies. Connected vehicles (CVs) pedestrians among major traffic participants ITS. However, usage research involving both CV pedestrian remains largely unexplored. In this study, framework for in-the-loop simulation proposed. The proposed consists physical world, data transmission between. features (CV pedestrian) need twining divided external state internal state, attributes each described. We also demonstrate sample architecture under framework, which based on Carla-Sumo Co-simulation Cave automatic virtual environment (CAVE). A case study investigates Vehicle-Pedestrian (V2P) warning system conducted to validate effectiveness presented architecture. expected provide guidance research, we build can serve as testbed further ITS pedestrians.