Simulation efficiencyFigure 7 shows the maximum error and time cost of the algorithm at different operationvelocities. The employment of frequency truncation method can help to reduce the simulationcost to about th of the original method, and the efficiency boosts with the increase of theoperation velocity. This phenomenon is resulted from the fact that, with the increase ofvehicle velocity, the interval between two time steps becomes larger, which makes thecoherence matrix converge to unit matrix more quickly. However, the maximum errorsduring the total simulation process for all the scenarios remain below 5%, which is relativelylow and is acceptable