# Traffic Simulation of Future Intelligent Vehicles in Duisburg City Inner Ring
###### Abstract  
Intelligent vehicles gradually enter the vehicular fleet with advanced driver-assistance technologies. Their impact on traffic should, therefore, be considered by transportation decision-makers. This paper examines the effect of vehicles with different levels of automation on traffic flow, such as non-assisted vehicles, vehicles with driver assistance systems, and fully autonomous vehicles. The accuracy of the examined traffic scenario is also an important factor in microscopic traffic simulation. In this paper, the central part of the city of Duisburg, Duisburg's inner ring, is chosen for the traffic scenario. Through the cooperation with local government, official data of Origin/Destination matrices, induction loops, and traffic light plans are provided for this work. Thus, traffic demand from Origin/Destination matrices and induction loops are generated and compared, respectively. Finally, vehicles with different levels of automation are simulated in the Duisburg inner ring scenario. intelligent vehicles; autonomous vehicles; microscopic traffic simulation +
Footnote †: journal: Medical  
technology has reached more than 80 billion US dollars and is expected to show an upward trend [8]. Although some people expect the popularizing of fully autonomous vehicles by 2050 [9], the process of realization is still gradual, from few to many, from simple to complex. In the early stages of adopting autonomous vehicles, ordinary people cannot afford autonomous vehicles [4]. Although prices may decline in the foreseeable future, the cost of autonomous vehicles is expected to be higher than that of non-autonomous vehicles [10]. This has been reflected in the addition of existing vehicles and the addition of certain automatic functions, such as adaptive cruise control, right vision, and pedestrian detection, making vehicles equipped with these systems more expensive than ordinary vehicles. In addition to price factors, many drivers have doubts about the safety of autonomous vehicles. Urban residents and car users of different counties, ages, genders educational backgrounds, and income levels have different views on the current and future safety of autonomous vehicles [11]. Due to the considerations of price and safety, road vehicles will gradually shift from low level to high-level degrees of automation. The choice of different types of vehicle owners and the transformation of urban alternative transportation modes (such as car-sharing and self-driving taxis) will result in a long hybrid period of vehicles of various automation levels. From the perspective of travel demand, almost 85% of urban autonomous car-sharing trips can be covered using vehicles with significantly reduced requirements in the simulation scenario of the year 2035 [12]. An increasing number of partly and fully automated vehicles will likely enter into public roads [13]. Previous works regarding the traffic flow effects of different degrees of automation focus on many different aspects. [PERSON] et al. [14] pointed out that modellinlg and simulation is an effective tool in understanding different aspects of interactions between vehicles with different levels of automation in a mixed environment, but no specific models or simulations are implemented. [PERSON] et al. [15] introduced a MIXIC (Microscopic Model for Simulation of Intelligent Cruise Control) simulation model for vehicles with CACC (Cooperative Adaptive Cruise Control) and conducted simulations in a highway scenario. They concluded that only a high-CACC-penetration rate (>60%) has benefits on traffic stability while a low penetration rate of CACC (<40%) does not affect traffic flow throughput. [PERSON] et al. [16] introduced a computational driving model called Ulysses for autonomous vehicles and simulated the traffic in a simple intersection scenario. However, no comparisons with vehicles of other degrees of automation were performed. Based on the previous studies, [PERSON] et al.