摘要
针对传统交通系统正在走向智能交通系统,自动驾驶车辆必将逐渐替代现有的手动驾驶车辆,可预见在未来必将出现传统手动驾驶与自动驾驶车辆混合交通场景.因此混合交通流的交通特性、安全、以及传统手动驾驶车辆与自动驾驶车辆相互影响等问题亟需研究.将加州大学伯克利分校PATH实验室协同自适应巡航控制(Cooperative Adaptive Cruise Control,CACC)自动驾驶跟驰模型与元胞自动机理论结合,以合理的假设为前提条件,建立传统手动驾驶与CACC自动驾驶车辆混合场景模型并进行数值模拟.得出含有不同比例CACC自动驾驶车辆混合交通流的基本图、时空图以及数据.结果表明:随着CACC车辆比例上升,交通流局部堵塞降低,流量、平均速度增加;对混合交通流中当手动驾驶车辆前车为CACC自动驾驶车辆时,驾驶员会在心理作用下造成车间距增大的情况.驾驶员对CACC车辆的安全顾虑越大,手动驾驶车辆安全距离增加程度越大.交通流车间距过大,前后车辆的速度调节同步率低,从而使交通流流量、平均速度、截止密度下降.
As traditional transportation systems are developing towards intelligent transportation systems,autonomous vehicles will ultimately replace the current human-driven vehicles.It is foreseeable that in the future,there will be a mixed traffic scene where traditional human-driven vehicles and autonomous vehicles co-exist.Therefore,the traffic characteristics of mixed traffic flow,including issues such as safety and the interaction between traditional human-driven vehicles and autonomous vehicles,are in urgent need of research.Combining the Cooperative Adaptive Cruise Control(CACC)autonomous car-following model proposed by the PATH Laboratory of the University of California,Berkeley and cellular automata theory,this paper establishes a hybrid-scene model of traditional human-driven and CACC autonomous vehicles and performs numerical simulations with reasonable assumptions.Then,the basic and spatiotemporal graphs and data of the mixed traffic flow with different proportions of CACC autonomous vehicles are obtained.Results show that with the increase in the proportion of CACC vehicles,the local blockage of traffic flow decreases and the flow rate and average speed increase.For the mixed traffic flow.When the vehicle in front of the human-driven vehicle is a CACC autonomous vehicle,the driver will increase the distance between the vehicles due to the psychological effect.When the driver’s safety concerns about CACC vehicles are greater,the safety distance of human-driven vehicles increases more significantly;when the distance between vehicles is too long,the speed adjustment synchronization rate of front and rear vehicle will be low,so that the traffic flow will be evenly distributed,leading to the decrease of traffic flow,average speed and cut-off density.
作者
侯培国
曹军
HOU Peiguo;CAO Jun(School of Electrical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)
出处
《北京交通大学学报》
CAS
CSCD
北大核心
2021年第6期94-102,共9页
JOURNAL OF BEIJING JIAOTONG UNIVERSITY
基金
国家自然科学基金(61873223)。
关键词
交通工程
混合交通流
元胞自动机
协同式自适应巡航
traffic engineering
mixed traffic flow
cellular automata
cooperative adaptive cruise
作者简介
第一作者:侯培国(1968-),男,山东郯城人,教授,博士,博士生导师.研究方向为智能仪器与智能交通.email:pghou@ysu.edu.cn.
