考虑速度差特性的网联车辆弯道跟驰模型

Curve car-following model of connected vehicle considering velocity difference characteristics

为了研究网联车辆在弯道的跟驰特性和稳定性条件,在纵向控制模型的基础上,综合考虑速度差、弯道半径和汽车最小转弯半径等因素的影响,建立网联车辆弯道跟驰模型。使用线性傅里叶展开式对所提模型的线性稳定性进行理论分析,得到了网联车辆弯道跟驰模型的稳定性判别条件。根据所提模型稳定性判别条件,分析各关键参数对模型稳定性的影响。将改进模型与LCM、IDM和IDM改进模型在跟驰场景下进行对比分析。结果表明:当速度差权值λ>0.9和弯道半径R>200 m时,交通流处于稳定区域,且稳定性随着λ和R的增大而增强;改进后的网联车辆弯道跟驰模型具有较小的车头间距且各跟驰状态下表现良好。

Previous research on the car-following model mostly focuses on building the manual vehicles car-following model on straight roads while few has built the connected vehicles car-following model for the curve.To study the car-following characteristics and stability condition of connected vehicles on curves,this paper builds a car-following model of connected vehicles in curves based on longitudinal control model,taking into account the effects of velocity difference,curve radius and minimum turning radius.Based on linear Fourier-mode expansion,linear stability of the proposed model is analyzed,and the stability conditions of the model are obtained.Then,according to the stable condition of the proposed model,the impact of each key parameter on the model stability is analyzed.Finally,the model is compared with LCM,IDM and IDM improved model in the car-following scenarios.Our results show when the velocity difference weightλ>0.9 and the curve radius R>200 m,the stability of traffic flow is in a stable region and the stability increases with the addition ofλand R;the improved curve following model of the connected vehicle has smaller headspace and performs fairly well in car-following scenarios.