基于多前车最优速度与加速度的网联车跟驰模型

Car-following model of connected vehicles based on multiple optimal velocities and accelerations

考虑车辆跟驰存在的延时性与传递性,基于网联车的智能感知与协同交互,提出一种基于多前车最优速度与加速度的网联车跟驰模型,并利用线性稳定性分析方法推导所提出模型的临界稳定性判别条件。以环形道路车队过程施加扰动为例,根据加速度敏感系数ω_i和多前车数k设计数值模拟实验,结合速度和车头距等参数分析不同ω_i和k取值条件下的车队行驶稳定性。模型稳定性分析表明,所提出模型在引入多前车最优速度与加速度项后,具备更优的稳定区域,且考虑前车数k越多、加速度敏感系数ω_i越大,则模型的稳定性越好。数值模拟分析表明,所提出模型相比FVD,OVCM和MHOV模型,当加速度敏感系数ω_i和前车数k取值合理时(ω_i=0.3且k=4),车队速度和车头距的波动幅度相对较小,由此说明所提出模型能较好地吸收扰动且有利于增强车队行驶稳定性。

In view of the characteristics of delay and transitivity of car-following,an MOVA-based(multiple optimal velocities and accelerations)connected vehicle car-following model is proposed on the basis of the perception and cooperative interaction of connected vehicles,and the critical stability criteria of the proposed model are derived with the linear stability analysis method. Taking the disturbance imposed by the car-following process of vehicle group on the circular road as an example,the numerical simulation experiment is designed with the reference of the acceleration sensitivity coefficient ω_i and the number k of multiple proceeding vehicles,and the driving stability of the vehicle group under different selected values of ω_i and k is analyzed in combination with the parameters of speed and headway. The results of stability analysis shows that the proposed model has a better stability region after introducing the MOVA,and the greater the number k of proceeding vehicles and the greater the acceleration sensitivity coefficient ω_i,the better the model stability. The analysis of numerical simulations indicates that,when the selected value of acceleration sensitivity coefficient ω_i and the number k of proceeding vehicles are reasonable(ω_i = 0.3 andk = 4),the fluctuation range of the vehicle group speed and headway of the proposed model is relatively small in comparison with the models of FVD,OVCM and MHOV. Therefore,the proposed model can better absorb the disturbance and enhance the stability of vehicle group.