## 2 Experiment Design  
### Experimental Scenario Design  
This paper uses the open-source autonomous driving simulator CARLA as a research tool. CARLA provides an experimental environment that enables researchers to build virtual scenarios and test autonomous driving algorithms. The simulator has a variety of sensors and experimental components, including lidar, cameras, GPS, etc. These sensors can simulate real-world perception capabilities and provide an important data source for algorithm development and evaluation.  
In this experiment, this paper uses the CARLA simulator and RoadRunner (2022b) for joint simulation to build a virtual scene. Through the integration with RoadRunner (2022b), we can more accurately simulate the real traffic environment and provide more challenging test scenarios. This cosimulation approach can help us study the performance and safety of autonomous driving systems in complex traffic situations. This paper uses the open-source feature of CARLA to independently design elements, such as pedestrians, vehicles, trees, and signs, in the experimental scene. At the same time, we also adjusted the weather element parameters, including rain, snow, fog, etc., to create simulated experimental scenarios under different environmental conditions. Such a setup can help us study the ability of the automatic driving system to cope with various weather and road conditions.  
The construction process of the simulated driving platform in this paper includes the installation and configuration of CARLA, the design and placement of scene elements, sensor settings, and the adjustment of experimental scene parameters. Through this process, we are able to establish a highly controlled experimental environment for systematic testing and performance evaluation. The construction process of the simulation driving platform is shown in Figure 2.  
To ensure the integrity of the driving process and data, the entire driving process needs to encompass stages of acceleration, deceleration, constant speed, turning, and straight driving (15). In order to present a more intuitive representation of the simulated driving environment, this paper designs an overhead view of the simulated driving scenario, as shown in Figure 3. In practical simulated driving processes, the scenario primarily includes elements such as roads, bridges, and roadside structures. The design of the scenario takes into consideration the different stages of the driving process and provides corresponding  
Figure 2: Simulation driving platform and equipment.  
guidance and prompts. The entire driving scenario can be divided into six stages, each characterized by unique features and driving operation requirements. Detailed descriptions of the six driving stages are listed in Table 1. To guide drivers in their acceleration and deceleration maneuvers, this study incorporates auxiliary facilities such as deceleration signs and brake reminders. For instance, during S3, drivers will receive prompts stating \"Please decelerate when approaching the bridge ahead,\" and corresponding road signs will be placed on the right side of the road approaching the bridge. These design measures aim to remind drivers to adjust their vehicle speed to safely pass the bridge. Similarly, other stages will also provide relevant guidance and prompts according to specific circumstances, assisting drivers in completing various driving operations.  
Additionally, the driving scenario design takes into account the inclusion of various road and environmental factors that can affect the driving experience. This includes considering weather conditions, visibility, and road surface conditions, among other factors. By incorporating these elements into the simulated driving scenario, drivers can gain a more realistic and comprehensive understanding of different driving situations. The scenario design also includes the placement of relevant road signs, traffic signals, and landmarks to replicate real-world driving scenarios accurately.