## 5 Discussion and Future Scope  
This paper presents a microscopic vehicle guidance model with three different degrees of automation level. The driver model consists of an adjusted microscopic car-following model and a fuzzy control model. The driving data of the fuzzy control model were collected from a driving experiment with 34 participants in a driving simulator. Using TraCI, SUMO was connected with MATLAB to simulate the driver model in a simple traffic scenario. Through the comparison of the fuzzy control model and real driver data, it has been verified that the driver model of Level 0 can represent real driving behavior. In the comparison of simulations implemented with driver models with different degrees of automation, it was shown that the traffic flow can be increased by vehicles with a higher degree of automation. With the increase of the automation level, the traffic density drops. Vehicles with the full automation level travel more efficiently on the road than the partial automation level ones. The driving experiment showed some deficiencies for this work. In the driving simulator, due to the no-collision model, the participants have less fear of their vehicle at high speeds. In addition, the sensation of speed in real vehicles cannot be perfectly reproduced in simulators. This also affects the driving data at high speeds. Generally, in most instances, the driving model with no automation reproduces the behavior of human drivers sufficiently well. The vehicle guidance model with a close-to-reality driver model presented in this article is different from the driver models which treat the driver and the vehicle as a unit. The model in this article is independent of the vehicle and can be matched with a variety of vehicle models to simulate more possibilities for future trends. For example, with an electric vehicle model, the impact of vehicles' different degrees of automation on electric  
Figure 6: (a–c) Comparison of simulations with different driver models. vehicles can be researched. There are also limitations of this article. The driving behavior segments were collected from the driving simulator, but for some reason, the driving behavior of subjects in a driving simulator can differ from their real behavior on the road. First, the difference of screen and real scenarios and the motion limitation of the driving simulator may cause a feeling of unreality in driving. Second, some participants may change their usual driving behavior when \"being watched\" (e.g., probably, aggressive drivers would slow down and timid drivers would drive faster). Lastly, some participants may drive faster than usual because there is no fear of crashing in the simulated scenario. Moreover, in the driving experiment of this article, the number of male and female drivers was not the same; however, no obvious difference between male and female drivers were found in the driving experiment of this article. Further research is planned to implement the driver model in a larger traffic scenario such as a whole city. By this, the effects of vehicles with different automation degrees can be observed in a simulation. In further simulations, the automation levels of certain vehicle groups will be continuously increased in order to see the process of traffic transformation from the actual situation to the far future. In cooperation with vehicle models, more different vehicle types (electric/hybrid/fuel cell) will be increasingly used and will be simulated with different driver models. In this case, not only the effects of traffic but also those of the environment can be seen from the simulation. X.M. : conceptualization, data curation, formal analysis, methodology, software, writing and editing. X.H. : conceptualization, methodology, validation, writing and editing. S.S.: methodology, software, revision. J.P.: revision. D.S. : project administration and supervision, result validation and critical revision. All authors have read and agreed to the published version of the manuscript. This research received no external funding.