考虑反应时滞的ACC跟驰模型构建与分析

Construction and Analysis of ACC Car Following Model Considering Reaction Time Delay

为建立自适应巡航(Adaptive cruise control, ACC)车辆的跟驰模型,采用实车试验数据,确定ACC车辆的反应时滞的存在,并将反应时滞代入全速度差(Full Velocity Difference, FVD)模型,建立考虑反应时滞的ACC跟驰模型;通过傅里叶变换和泰勒展开,推导出所构建模型的稳定性条件;通过灵敏性分析,确定各参数对模型的影响;采用遗传算法进行模型标定,分析仿真结果的稳定性状态。研究结果表明,ACC车辆仍旧存在较大的反应时滞,各车的反应时滞均值均大于1.3 s;随着ACC车辆对车头间距和速度差灵敏性提升,保持车队稳定所需的时滞时间逐渐减低,反之则逐渐上升;稳定状态判定结果与实际结果基本一致。得到以下结论,ACC车辆对前后车速度差的敏感程度对车队线性稳定性的影响更大;所构建模型能较好地反映ACC车辆的行为模式和跟驰特点。

Omitted To establish a car-following model for Adaptive Cruise Control(ACC)vehicles,this study utilizes real vehicle experiment data to identify the presence of reaction time delay in ACC vehicles.The reaction time delay is incorporated into the Full Velocity Difference(FVD)model to establish an ACC car-following model that considers reaction time delay.Using Fourier transform and Taylor expansion,the stability condition of the constructed model is derived.Sensitivity analysis is performed to determine the impact of various parameters on the model.The model is calibrated using a genetic algorithm,and the stability state of the simulation results is analyzed.The study findings indicate that ACC vehicles still exhibit significant reaction time delay,with an average of over 1.3 seconds.As the sensitivity of ACC vehicles to headway and speed difference increases,the delay time required to maintain a stable platoon decreases,and vice versa,it increases.The stability state determination results are largely consistent with the actual results.The following conclusions are drawn:the sensitivity of ACC vehicles to the speed difference has a greater impact on the linear stability of the platoon;the constructed model effectively captures the behavior patterns and characteristics of ACC vehicles.