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自适应巡航控制车辆跟驰模型综述

秦严严 王昊 王炜 NIDai-heng

秦严严, 王昊, 王炜, NIDai-heng. 自适应巡航控制车辆跟驰模型综述[J]. 交通运输工程学报, 2017, 17(3): 121-130.
引用本文: 秦严严, 王昊, 王炜, NIDai-heng. 自适应巡航控制车辆跟驰模型综述[J]. 交通运输工程学报, 2017, 17(3): 121-130.
QIN Yan-yan, WANG Hao, WANG Wei, NI Dai-heng. Review of car-following models of adaptive cruise control[J]. Journal of Traffic and Transportation Engineering, 2017, 17(3): 121-130.
Citation: QIN Yan-yan, WANG Hao, WANG Wei, NI Dai-heng. Review of car-following models of adaptive cruise control[J]. Journal of Traffic and Transportation Engineering, 2017, 17(3): 121-130.

自适应巡航控制车辆跟驰模型综述

基金项目: 

国家自然科学基金项目 51478113

详细信息
    作者简介:

    秦严严(1989-), 男, 江苏沛县人, 东南大学工学博士研究生, 从事交通流理论研究

    王昊(1980-), 男, 江苏高淳人, 东南大学教授, 工学博士

  • 中图分类号: U491.25

Review of car-following models of adaptive cruise control

More Information
  • 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。

     

  • 图  1  ACC系统

    Figure  1.  ACC System

    图  2  PD控制结构

    Figure  2.  PD control structure

    表  1  驾驶人接受比例

    Table  1.   Acceptance proportions of drivers

    下载: 导出CSV

    表  2  基于IDM的ACC车辆跟驰模型参数取值

    Table  2.   Parameter values of ACC car-following models based on IDM

    下载: 导出CSV

    表  3  PATH实验室车辆跟驰模型

    Table  3.   Car-following models of PATH laboratory

    下载: 导出CSV

    表  4  基于控制论的车辆跟驰模型

    Table  4.   Car-following models based on control theory

    下载: 导出CSV

    表  5  ACC车辆对通行能力的影响

    Table  5.   Impacts of ACC vehicles on capacity

    下载: 导出CSV
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  • 收稿日期:  2016-12-23
  • 刊出日期:  2017-06-25

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