Heterogeneous data-based spatiotemporal trajectory synchronization for virtual-real interactive testing.

Virtual-real interactive testing (VRIT) is a practical approach to assessing the safety and intelligence of connected vehicles. Under this testing scheme, state consistency between physical and virtual spaces must be guaranteed. This paper proposes a multispace synchronization framework to ensure the desired interactive performance of VRIT systems. According to this framework, the synchronization process is decomposed into tracking and extensional periods. In addition, the heterogeneous data collected from physical and virtual spaces are divided into three layers. Each layer has a specific priority in the generation of the tracking trajectory. Furthermore, an extensional trajectory is integrated based on the proposed filtering mechanism, which improves the synchronization accuracy under high latency conditions. Finally, numerical experiments are conducted to demonstrate the superiority of the proposed method and to illustrate how the key parameters affect the system performance.