Developing an integrated virtual support system based on navigational information in the framework of ensuring the security of moving vehicles

In this research the authors suggest an approach to developing an integrated navigational system based on the multi-level multi-agent simulation model. The model allows to conduct a series of simulation experiments based on the data from various on-board informational subsystems, make a forecast for the development of the navigational framework, and make recommendations on adjusting own movement parameters. Accumulated navigational data on the current road scene are used to identify the elements of the model. This model can be efficiently used in case of failure or temporary loss of connection with any of the navigational subsystems, as the model allows conducting virtual monitoring of the surrounding moving objects. The system provides the modeling of the road scene in real time mode based on the data from the technical vision subsystem, as well as provides opportunity to do virtual positioning on the system's electronic maps. The information from the electronic maps helps to improve the recognition of the road scene structure thanks to additional `a priori' information. The suggested approach can be used for describing other types of moving objects with various structures of the navigation environment.