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为避免既有跟驰模型普遍将速度差作为直接反馈项,而导致减速度过大、撞车和负速度的现象,从安全行车角度分析了速度差对驾驶行为的作用机理,根据期望跟驰车速与安全间距对驾驶行为的共同影响,将安全间距作为直接反馈控制项建立了协同跟驰模型。通过拟合检验与动力学分析,发现模型与实测数据拟合度较高,同时能克服减速度过大的缺陷、避免撞车现象;数值仿真再现了交通流的演化过程,观察到了阻塞演化的相变和时走时停交通现象。与全速度差模型相比,协同跟驰模型的稳定范围更大,且堵塞区域的宽度要比前者小得多;与综合速度优化模型相比,协同跟驰模型很好地避免了负速度的出现。结果表明:考虑安全间距反馈作用的模型能有效提高驾驶员反应灵敏度,对驾驶行为的描述更接近实际,同时能在一定程度上缓解交通流堵塞程度。
In order to avoid the speed difference as a direct feedback term in the existing car-following models, which leads to the phenomena of excessive deceleration, crash and negative speed, the mechanism of speed difference on driving behavior is analyzed from the perspective of safe driving. According to the expected car speed And the common influence of safety distance on driving behavior, the safety distance is established as the direct feedback control item. Through the fitting test and dynamic analysis, it is found that the fitting degree between the model and the measured data is high, and the defects of excessive deceleration can be overcome to avoid collision. The numerical simulation reproduces the evolution of traffic flow and observes the phase of blocking evolution Turn and stop when changing traffic phenomenon. Compared with the full-speed difference model, the stability of the cooperative-following model is larger and the width of the jammed area is much smaller than the former. Compared with the integrated speed optimization model, the coordinated-following model can well avoid the negative speed appear. The results show that the model considering the effect of safety clearance feedback can effectively improve the driver response sensitivity, and the description of driving behavior is more realistic. At the same time, it can alleviate the congestion of traffic flow to a certain extent.