摘要
针对CACC协同自适应巡航控制技术,探究其在车联网通信时延影响下,与驾驶员驾驶汽车共存而构成的混合队列系统的性能。从微观跟车行为角度,基于频域传递函数,推导通信时延下的CACC队列稳定最小跟车时距的理论表达式,并通过数值验证指出CACC队列稳定最小跟车时距随通信时延增大而增大的特性。从交通激波特性角度,针对无时延CACC、有时延CACC和时延过大而退化后的ACC自适应巡航3种情形,给定相同的跟车时距,进行不同渗透率下的大规模交通仿真实验,实验结果表明,在无时延和1 s时延这2种情形下,CACC在20%及以上的渗透率时均能显著降低交通扰动,削弱激波,性能差别不明显;相比而言,退化后的ACC性能明显恶化。
Based on technologies of automatic control and wireless communication,e.g.,vehicle-to-vehicle(V2V)communication,intelligent and connected vehicles(ICVs)are believed to improve traffic performance significantly.This paper investigates the performance of mixed platoon systems consisting of ICVs,adopting cooperative adaptive cruise control(CACC),and human-driven vehicles(HDVs)under the influences of communication delay in vehicu⁃lar networks.From microscopic car-following behaviors,the minimum time headway for string stability is obtained based on the frequency-domain transfer function and increases as time delay grows up,verified by numerical calcula⁃tion.Large-scale traffic simulations under multiple penetration rates are conducted from traffic shockwaves,with three cases under consideration,including CACC without delay,CACC with delay,and adaptive cruise control(ACC),which degrades from CACC at an extensively considerable delay.Given the same headway for the three cases,exten⁃sive simulation results show that CACC without delay or with a communication delay of 1 s can reduce traffic perturba⁃tions and dampen traffic shockwaves,with no evident performance gaps.By contrast,ACC achieves a much worse per⁃formance compared to CACC.
作者
许庆
王嘉伟
王建强
李克强
高博麟
XU Qing;WANG Jiawei;WANG Jianqiang;LI Keqiang;GAO Bolin(School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China)
出处
《交通信息与安全》
CSCD
北大核心
2021年第1期128-136,共9页
Journal of Transport Information and Safety
基金
国家自然科学基金面上基金项目(52072212)
广东省重点领域研发计划项目(2019B090912001)
国汽智联-清华联合研究项目、清华-滴滴未来出行联合研究中心支持项目资助。
关键词
智能网联汽车
协同自适应巡航控制
混合队列特性分析
交通仿真
通信时延
队列稳定性
渗透率
intelligent and connected vehicles
cooperative adaptive cruise control
performance analysis of mixed pla⁃toon
traffic simulation
communication delay
string stability
penetration rate
