基于自然驾驶数据的切入场景队列跟驰仿真

Simulation of Vehicle Following Platoons at Cut-in Scenarios Based on Natural Driving Data

车辆切入是常见的驾驶行为,频繁的变道切入行为影响了通行效率与交通安全。因此,揭示切入场景下的驾驶特性对研究交通拥堵和行驶安全机理具有重要意义。在自然驾驶数据的基础上,根据驾驶人的主观风险感知特性,探究驾驶人的切入行为发生条件,并在期望安全裕度(DSM)模型的基础上,标定了切入场景下的相关参数,根据标定结果进行切入场景下的队列跟驰仿真。仿真结果表明:在仿真区间内,队列的长度、行驶速度以及切入车的切入位置不同会影响队列的稳定性以及队列的调整,当队列长度由4辆变为13辆,速度由5 m/s增至20 m/s,切入车的位置由贴近前后车变为前后2辆车中间时,切入行为对队列的稳定性影响变得越小,队列越容易恢复到稳定状态。

Vehicle cut-in is a frequent lane-changing behavior,which has a significant impact on traffic efficiency and safety.Therefore,studying driving behavior at the cut-in scenarios is of great significance for disclosing the mech⁃anism of traffic congestion and driving safety.Based on a natural driving dataset collected for this study,driving condi⁃tions of the cut-in behaviors are analyzed based on drivers'subjective risk perceptions.A desired safety margin(DSM)model is used to calibrate the relevant parameters under the cut-in scenario,and a following platoon simula⁃tion at the cut-in scenarios is developed according to the calibrated results.During the simulation study,it is found that the differences in platoon length,vehicle speed,and cut-in position all affect the stability and adjustment of the platoon.When the number of vehicles in platoon increases from 4 to 13,and their speed increases from 5 to 20 m/s,and the position of the cut-in vehicle changes from close to the front and rear vehicles to the middle of the two vehi⁃cles,it is found that the cut-in behavior presents a reducing impact on the stability of the platoon,which also facili⁃tates the platoon returning to a stable state.