自适应巡航控制车辆跟驰模型综述

发布时间：2018-05-24 09:08

本文选题：交通工程 + 车辆跟驰模型　；参考：《交通运输工程学报》2017年03期

【摘要】：分析了自动驾驶汽车自适应巡航控制(Adaptive Cruise Control,ACC)和协同自适应巡航控制(Cooperative Adaptive Cruise Control,CACC)车辆跟驰模型,从系统控制原理、车车通信技术与车间时距方面阐述了ACC与CACC车辆的异同点;将目前主流ACC/CACC车辆跟驰模型分为3类:基于智能驾驶的车辆跟驰模型、加州伯克利大学PATH实验室车辆跟驰模型与基于控制论的车辆跟驰模型,总结3类车辆跟驰模型的建模思路与主要优缺点;从道路通行能力、交通安全和交通流稳定性3方面,分析了ACC/CACC车辆对交通流特性的影响,及其研究现状与未来发展趋势。研究结果表明:不同的ACC/CACC车辆跟驰模型对通行能力的影响存在较大差别,ACC/CACC车辆有利于提升交通安全性,但由于缺乏统一的安全性评价指标,难以量化ACC/CACC车辆对交通安全性的影响程度;小规模实车试验验证了ACC车辆具有不稳定的交通流特性,否定了ACC车辆稳定性数值仿真结果,而数值仿真试验和小规模实车试验均表明CACC车辆可较好提升交通流稳定性,因此,完全依赖于计算机仿真试验无法获得令人信服的结论,实车试验是ACC/CACC研究的必要途径;为了完善ACC/CACC在交通领域的研究,应构建不同ACC/CACC车辆比例下的混合交通流基本图模型、智能网联环境下的ACC/CACC车辆跟驰模型建模方法与ACC/CACC混合交通流稳定性解析方法。
[Abstract]:The model of auto-driving vehicle adaptive Cruise control and cooperative adaptive cruise control cooperative Adaptive Cruise control is analyzed in this paper. The similarities and differences between ACC and CACC vehicle are discussed from the aspects of system control principle, vehicle-vehicle communication technology and workshop time distance. The current mainstream ACC/CACC car-following model is divided into three categories: intelligent driver-based car-following model, PATH lab car-following model and cybernetic-based car-following model. The main advantages and disadvantages of three kinds of car-following models are summarized, and the influence of ACC/CACC vehicles on traffic flow characteristics is analyzed from three aspects: road capacity, traffic safety and traffic flow stability. The results show that the influence of different ACC/CACC car-following models on traffic capacity is quite different. ACC-CACC vehicles are helpful to improve traffic safety, but there is no uniform safety evaluation index. It is difficult to quantify the influence of ACC/CACC vehicles on traffic safety. Small scale real vehicle tests verify the unstable traffic flow characteristics of ACC vehicles and negate the numerical simulation results of ACC vehicle stability. Numerical simulation test and small scale vehicle test show that CACC vehicle can improve the stability of traffic flow. Therefore, it is impossible to obtain a convincing conclusion by computer simulation test. The real vehicle test is a necessary approach to ACC/CACC research. In order to perfect the research of ACC/CACC in the field of traffic, we should construct the basic graph model of mixed traffic flow under different ACC/CACC vehicle proportions, the modeling method of ACC/CACC vehicle following model and the analytical method of ACC/CACC mixed traffic flow stability under the environment of intelligent network connection.
【作者单位】：东南大学江苏省城市智能交通重点实验室;东南大学现代城市交通技术江苏高校协同创新中心;马萨诸塞大学安姆斯特分校土木与环境工程系;
【基金】：国家自然科学基金项目(51478113)
【分类号】：U463.6;U491.25

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