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

arXiv: https://arxiv.org/abs/2212.05090 · HTML: https://mlsanity.com/paper/2212.05090/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Dec 2022.

## Built on by (most cited first, 8 of 8)

- [Advances and Applications of Computer Vision Techniques in Vehicle Trajectory Generation and Surrogate Traffic Safety Indicators](https://mlsanity.com/paper/2303.15231/) (2023)
- [Interaction-Aware Personalized Vehicle Trajectory Prediction Using Temporal Graph Neural Networks](https://mlsanity.com/paper/2308.07439/) (2023)
- [Does Twinning Vehicular Networks Enhance Their Performance in Dense Areas?](https://mlsanity.com/paper/2402.10701/) (2024)
- [AI-Powered CPS-Enabled Vulnerable-User-Aware Urban Transportation Digital Twin: Methods and Applications](https://mlsanity.com/paper/2501.10396/) (2024)
- [Towards Intelligent Transportation with Pedestrians and Vehicles In-the-Loop: A Surveillance Video-Assisted Federated Digital Twin Framework](https://mlsanity.com/paper/2503.04170/) (2025)
- [Geo-ORBIT: A Federated Digital Twin Framework for Scene-Adaptive Lane Geometry Detection](https://mlsanity.com/paper/2507.08743/) (2025)
- [The Design of a 3D Character Animation System for Digital Twins in the Metaverse](https://mlsanity.com/paper/2407.18934/) (2024)
- [SimPRIVE: a Simulation framework for Physical Robot Interaction with Virtual Environments](https://mlsanity.com/paper/2504.21454/) (2025)

## Abstract (arXiv)

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