基于不同渗透率下的自适应与协同自适应巡航的仿真研究

Simulation Research on Adaptive and Collaborative Adaptive Cruise Control Based on Different Permeability

随着自动驾驶技术的愈加成熟,在未来道路上必将呈现出不同级别自动驾驶车辆混合行驶的场景。文章利用VTH可变车头时距控制策略对ACC跟驰模型研究,结果显示车辆能够稳定跟驰,且不同渗透率下的道路车辆平均车速有所提高。对CACC协同自适应巡航模型进行仿真对比发现道路通行效率得到提高。最后对不同等级自动驾驶车辆进行仿真,结果显示在高速路段,随着渗透率提高车辆平均速度等都有不同程度的提高。因此证实了随着自动驾驶车辆大规模进入道路,对交通流有着积极的影响。

With the increasing maturity of autonomous driving technology,there will inevitably be mixed driving scenarios of different levels of autonomous vehicles on the road in the future.This article uses the VTH variable headway control strategy to study the ACC car following model.The results show that the vehicle can stably follow and the average speed of road vehicles under different permeabilities has increased.Simulation comparison of the CACC collaborative adaptive cruise model shows that road traffic efficiency has been improved.Finally,simulations were conducted on autonomous vehicles of different levels,and the results showed that on highway sections,the average speed of vehicles increased to varying degrees with the increase of penetration rate.Therefore,it has been confirmed that as autonomous vehicles enter the road on a large scale,it has a positive impact on traffic flow.