摘要
针对协同自适应巡航控制(CACC)车辆市场普及过程中存在的CACC车辆、自适应巡航控制(ACC)车辆与人工驾驶汽车混合行驶的异质交通流,应用智能驾驶模型(IDM)和由加州大学伯克利分校PATH实验室实车验证的ACC模型、CACC模型分别作为人工车辆、ACC车辆和CACC车辆的跟驰模型,建立能够反映异质交通流中3种车型相互关系的解析表达。基于此,推导不同CACC车辆渗漏率p下的异质交通流基本图模型,并针对异质交通流基本图散点分布与基本路段通行能力,设计数值仿真试验。最后,针对ACC车辆和CACC车辆的期望车间时距进行参数敏感性分析。研究结果表明:建立的异质交通流解析表达与随机性仿真试验的误差小于1.5%,异质交通流基本图解析可取代基本路段通行能力的仿真试验,用于分析不同p时的异质交通流通行能力;ACC期望车间时距ta取值1.1 s时,交通流通行能力随着p的增加逐渐提升;当t_a=1.6 s,p低于30%时,异质交通流通行能力与传统人工车辆通行能力基本相当;当t_a=2.2 s,p低于40%时,异质交通流通行能力低于人工车辆通行能力;同时,CACC车辆期望车间时距tc越小,异质交通流通行能力越大;建立的异质交通流解析表达可为异质交通流其他特性的解析研究提供思路,异质交通流基本图解析结果,从通行能力的角度为ACC,CACC上层控制器设计提供期望车间时距取值的参考。
In allusion to the heterogeneous traffic flow mixed with cooperative adaptive cruise control（ CACC） vehicles,adaptive cruise control（ ACC） vehicles and manual vehicles,the ACC model and CACC model,validated by PATH laboratory of University of California,Berkeley,were employed as the surrogate models for current commercial ACC vehicles and real CACC vehicles respectively. Meanwhile,the intelligent driver model was used as the manual driven model. An analytical expression was built to reflect the relationship of three types of vehicles in heterogeneous traffic flow. Then,fundamental diagram model of the heterogeneous traffic flow was derived at different CACC penetration rates. The scattered pattern of the fundamental diagram and traffic capacity were also investigated via numerical simulations.Moreover,the sensitivity analyses on desired time-gap of ACC and CACC were carried out respectively.The results show that the error between the analytical expression of heterogeneous traffic flow and the random simulation experiment result is less than 1. 5%. Analytical investigation of fundamental diagram can replace the simulation-based investigation of traffic capacity,with the purpose of analyzing traffic capacity of heterogeneous traffic flow for different CACC penetration rates. When the tais 1. 1 s,the traffic flow capacity is gradually improved with the increase of penetration rate（ p） of CACC vehicles. If tais 1. 6 s and the penetration rate（ p） is below 30%,the capacity of heterogeneous traffic flow is almost the same as that of homogeneous manual vehicles. However,the capacity of heterogeneous traffic flow is less than that of homogeneous manual vehicles if tais 2. 2 s and CACC penetration rate is below 40%.Meanwhile,the smaller the desired time-gap of CACC is,the higher capacity of heterogeneous traffic flow will be. The analytical expression can provide a reference for analytical investigation on other characteristics of heterogeneous traffic flow. Besides,the analytical results of fundamental di
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2017年第10期127-136,共10页
China Journal of Highway and Transport
基金
国家自然科学基金项目(51478113
51508122)
广西科技攻关计划项目(桂科攻15248002-10)
江苏省研究生科研与实践创新计划项目(KYCX17_0146)
关键词
交通工程
基本图模型
解析研究
异质交通流
协同自适应巡航控制
traffic engineering
fundamental diagram model
analytical investigation
heterogene ous traffic flow
cooperative adaptive cruise control
