混合交通流下的城市道路自动驾驶车辆运行特征仿真分析

Simulation Analysis of Autonomous Vehicle Operation Characteristics on Urban Roads Under Mixed Traffic Flow

为研究由人工驾驶车辆与自动驾驶车辆构成的混合交通流中自动驾驶车辆运行特征这一问题,仿真分析城市道路交通环境中两者的运行特征差异。首先,基于SUMO仿真环境建立了一个包含3种道路等级和7种断面形式的路网;其次,根据Waymo自动驾驶车辆运行数据集标定自动驾驶和人工驾驶车辆的跟驰行为模型参数,并设置记录车辆的浮动车轨迹数据和冲突记录数据运行仿真。仿真结果发现,自动驾驶车辆的速度方差更小,在设置有专用道的道路上,自动驾驶车辆的速度方差显著小于人工驾驶车辆,人工驾驶车辆会因为跟驰距离过近(速度过快)而与自动驾驶车辆产生潜在冲突,自动驾驶车辆与路段内非机动车发生摩擦冲突的比例更高。

In order to study the operating characteristics problems of autonomous vehicles in the mixed traffic flow composed of human-driven vehicles and autonomous vehicles,a simulation was operated to analyze the differences in the operating characteristics of the two in the urban road traffic environment.Firstly,a road network containing three road classes and seven cross-section forms is established based on the SUMO simulation environment.Secondly,the model parameters of the car-following behaviors of autonomous and human-driven vehicles are calibrated according to the Waymo autonomous vehicle operation dataset,and the floating vehicle trajectory data and the conflict recording data of the recording vehicles are set to run the simulation.The simulation results are found that the speed variance of the autonomous vehicle is smaller,and on the road with dedicated lanes,the speed variance of the autonomous vehicle is significantly smaller than that of the manually driven vehicle,and the manually driven vehicle will have a potential conflict with the autonomous vehicle because of the too close(fast following distance),and the friction conflict between the autonomous vehicle and the non-motorized vehicle in the road section is higher.