考虑后视效应和速度差的智能驾驶模型仿真

doi:10.16182/j.issn1004731x.joss.22-0341

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (7): 1562-1571.doi: 10.16182/j.issn1004731x.joss.22-0341

考虑后视效应和速度差的智能驾驶模型仿真

徐银¹^,²(), 蒲云¹^,², 刘海旭¹^,²(), 谭一帆¹^,²^,³

^1.西南交通大学交通运输与物流学院, 四川成都 611756
^2.西南交通大学综合交通大数据应用技术国家工程实验室, 四川成都 611756
^3.威斯康星大学麦迪逊分校土木与环境工程系, 威斯康星州麦迪逊 53706

收稿日期:2022-04-12 修回日期:2022-05-06 出版日期:2023-07-29 发布日期:2023-07-19
通讯作者: 刘海旭 E-mail:xuyin@my.swjtu.edu.cn;hxliu@swjtu.edu.cn
作者简介:徐银(1995-)，男，硕士生，研究方向为交通建模与仿真。E-mail：xuyin@my.swjtu.edu.cn
基金资助:
湖北省交通运输厅科技项目(2022-11-1-5);国家自然科学基金(52002339);四川省科技计划(2021YJ0535)

An Intelligent Driver Model Simulation Considering Both Backward Looking Effect and Velocity Difference

Yin Xu¹^,²(), Yun Pu¹^,², Haixu Liu¹^,²(), Yifan Tan¹^,²^,³

^1.School of Transportation and Logistics, Southwest Jiaotong University, Chengdu 611756, China
^2.National Engineering Laboratory of Application Technology of Integrated Transportation Big Data, Southwest Jiaotong University, Chengdu 611756, China
^3.Department of Civil and Environment Engineering, University of Wisconsin-Madison, Madison 53706, USA

Received:2022-04-12 Revised:2022-05-06 Online:2023-07-29 Published:2023-07-19
Contact: Haixu Liu E-mail:xuyin@my.swjtu.edu.cn;hxliu@swjtu.edu.cn

摘要/Abstract

摘要：

针对实际跟驰驾驶中驾驶员通过后视镜观察后方车辆来调整本车运动的现象，提出了一种同时考虑后视效应和速度差的智能驾驶模型，应用线性稳定性分析获得了模型的临界稳定性条件。设计仿真实验，分析了车辆加速过程中的跟驰特性，对模型进行了交通安全性评价。采用周期性边界条件下的小扰动仿真实验，验证了模型稳定性理论分析与数值模拟结论的一致性。研究表明：在改进模型中车辆加速度变化更平缓，车辆达到最大速度进入匀速状态的时间更短；考虑后视效应和速度差有助于提高交通流稳定性和交通安全性。

关键词: 智能驾驶模型, 后视效应, 交通流稳定性, 交通安全性, 数值仿真

Abstract:

Aiming at the phenomenon that driver adjusts vehicle movement by observing the following vehicles through rearview mirror in the actual car-following driving, an improved intelligent driver model accounting forboth backward looking effect and velocity difference is proposed, and the critical stability condition of the new model is obtained by employing the linear stability analysis. Based on the numerical simulation experiments, the car following characteristics analysis during the acceleration process of the vehicle and the traffic safety evaluation are carried out. A small disturbance simulation under the periodic boundary condition is used to verify the conclusion consistency of stability theoretical analysis and numerical simulation. Results show that the vehicle acceleration changes more smoothly, and the time for the vehicle to reach the maximum speed and enter a constant speed state is shorter; the simultaneous consideration of the backward looking effect and velocity difference also plays an important role in strengthening the traffic flow stability and traffic safety.

Key words: intelligent driver model, backward looking effect, traffic flow stability, traffic safety, numerical simulation

中图分类号:

TP391.9

徐银, 蒲云, 刘海旭, 谭一帆. 考虑后视效应和速度差的智能驾驶模型仿真[J]. 系统仿真学报, 2023, 35(7): 1562-1571.

Yin Xu, Yun Pu, Haixu Liu, Yifan Tan. An Intelligent Driver Model Simulation Considering Both Backward Looking Effect and Velocity Difference[J]. Journal of System Simulation, 2023, 35(7): 1562-1571.

图/表 6

图1

图2

表1

不同k值对TET指标

k	不同 $T E T$ 计算值
k	2.0	2.5	3.0	3.5
0.10	11.4	30.9	42.5	51.5
0.15	5.0	17.2	33.1	43.0
0.20	4.8	8.1	18.4	33.9
0.25	3.0	8.0	11.4	13.4
0.30	2.9	6.8	10.4	12.7

表1

表2

不同k值对TIT指标

k	不同 $T I T$ 计算值
k	2.0	2.5	3.0	3.5
0.10	1.57	13.01	31.50	55.07
0.15	1.29	5.66	18.86	37.99
0.20	1.10	4.37	9.87	23.45
0.25	0.91	3.91	8.53	14.32
0.30	0.83	3.13	7.58	13.41

表2

图3

图4

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考虑后视效应和速度差的智能驾驶模型仿真

An Intelligent Driver Model Simulation Considering Both Backward Looking Effect and Velocity Difference

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