Automated valet parking (AVP) is a key component of autonomous driving systems. Its functionality and reliability need to be thoroughly tested before road application. Current testing technologies are limited by insufficient scenario coverage and lack of comprehensive evaluation indices. This study proposes an AVP testing and evaluation framework using OnSite (Open Naturalistic Simulation and Testing Environment) and Unity3D platforms. Through scenario construction based on field-collected data and model reconstruction, a testing scenario library is established, complying with industry standards. A simplified kinematic model, balancing simulation accuracy and operational efficiency, is applied to describe vehicle motion. A multidimensional evaluation system is developed with completion rate as a primary index and operation performance as a secondary index, which considers both parking efficiency and accuracy. Over 500 AVP algorithms are tested on the OnSite platform, and the testing results are evaluated through the Unity3D platform. The performance of the top 10 algorithms is analyzed. The evaluation platform is compared with CARLA simulation platform and field vehicle testing. This study finds that the framework provides an effective tool for AVP testing and evaluation; a variety of high-level AVP algorithms are developed, but their flexibility in complex dynamic scenarios has limitations. Future research should focus on exploring more sophisticated learning-based algorithms to enhance AVP adaptability and performance in complex dynamic environment.

Collision avoidance between vehicles is a great challenge, especially in the context of mixed driving of connected and autonomous vehicles (CAVs) and human-driven vehicles (HVs). Advances in automation and connectivity technologies provide opportunities for CAVs to drive cooperatively. This paper proposes a proactive collision avoidance model, aiming to avoid collisions by controlling the speed and lane-changing behavior of CAVs. In the model, the subject vehicle first collects information about surrounding lanes and judges the traffic conditions; it then chooses to decelerate or change lanes to avoid collisions. The subject vehicle also searches for the optimal vehicle in the surrounding lanes for cooperation. The effectiveness of the proposed collision avoidance model is verified through the Python-SUMO platform. The experimental results show that the performance of the collision avoidance model is better than that of the cooperative adaptive cruise control (CACC) model in terms of average speed, lost time and the number of vehicle conflicts, proving the advantages of the proposed model in safety and efficiency.

Metro stations, while essential for urban transportation, pose unique evacuation challenges due to confined layouts and high densities; existing models often struggle to accurately capture individual pedestrian behaviors and the dynamic spread of fires. This study introduces a human–fire–agent interaction model designed to enhance the understanding and simulation of critical interactions among pedestrians, fire dynamics, and the underground environment of a metro station. The model integrates social force modeling and fluid dynamics to accurately represent pedestrian behavior and fire spread, for a more complete analysis of evacuation scenarios. Using Lumu Station in Suzhou as a case study, this study develops a detailed simulation framework implemented in an integrated PyroSim-Python-AnyLogic platform to model the evacuation process. The framework is employed to evaluate the effectiveness of turnstile reversal strategies—an approach that involves temporarily reversing the direction of turnstiles to facilitate faster evacuation during emergencies. Beyond mitigation, this study extends to the preparedness phase by functioning as a high-fidelity digital twin. It enables immersive “Serious Game” training and provides a quantitative tool for railway managers, decision-makers, and engineers to optimize operating procedures and performance-based station designs.