考虑驾驶员和车型特征的全速度差跟驰模型与控制稳定性

The Full Velocity Difference Model Considering Drivers’ and Vehicles’ Characteristics and Its Control Stability

驾驶员属性和跟驰车辆特征对跟车间距有较大影响,跟车间距具有差异性。基于全速度差(full velocity difference,FVD)模型构建可变安全车头间距非线性跟驰模型来刻画这种差异性,该模型引入了反映驾驶员个体特征的车头时距系数和反映车辆特征的跟车类型系数、车身长度参数。基于车辆间的速度传递关系构建车辆跟驰行驶的系统传递函数,得到了控制系统稳定的条件。应用MATLAB对可变安全车头间距跟驰模型进行了数值模拟分析,实验结果表明:新引入系数对跟驰车流稳定性有一定影响;该模型能较好的描述现实场景中因个人偏好和车型而表现出的跟车间距的差异性。

Driver attributes and car-following vehicle characteristics have a great influence on the car-to-car spacing, and there is a difference in the space-headway.Based on the full velocity difference(FVD) model,a nonlinear car-following model with variable safety space-headway is constructed to characterize this difference.The model introduces the time-headway coefficient that reflects the individual characteristics of the driver and the following type coefficient that reflects the vehicle characteristics, also the cars length parameter.Based on the linear control theory, the local stability of the first-order linearized model of the car-following model with variable safety space-headway is proved by constructing the Lyapunov function.The transfer function is constructed based on the velocity transfer relationship between vehicles,and the condition of stability of control system is obtained.The MATLAB is used to simulate the car-following model with variable safety headway.The results show that the improved model can be asymptotically stable and locally stable.The model can better describe the difference of safety in real-life scenarios.