混有协同自适应巡航控制车辆的异质交通流稳定性解析与基本图模型  

Stability analysis and fundamental diagram of heterogeneous traffic flow mixed with cooperative adaptive cruise control vehicles

作　　者：秦严严[1,2] 王昊[1,2] 王炜[1,2] 万千[3,4] 

机构地区：[1]东南大学交通学院,城市智能交通江苏省重点实验室,南京210096 [2]现代城市交通技术江苏高校协同创新中心,南京210096 [3]桂林电子科技大学,桂林541004 [4]华蓝设计(集团)有限公司,南宁530011

出　　处：《物理学报》2017年第9期227-235,共9页Acta Physica Sinica

基　　金：国家自然科学基金(批准号:51478113,51508122);东南大学优秀青年教师教学科研资助项目(批准号:2242015R30028);广西科技攻关计划(批准号:桂科攻15248002-10)资助的课题~~

摘　　要：针对传统车辆和协同自适应巡航控制(cooperative adaptive cruise control,CACC)车辆构成的异质交通流,研究其稳定性与基本图模型.应用实车测试验证的CACC模型和智能驾驶员模型(intelligent driver model)分别作为CACC车辆和传统车辆的跟驰模型,建立异质流稳定性解析框架,研究不同平衡态速度、不同CACC车辆比例时的异质流稳定性.推导异质流基本图模型,并进行数值仿真实验.研究结果表明,在传统车辆稳定的速度范围,异质流处于稳定状态.在传统车辆不稳定的速度范围,CACC车辆比例增加以及平衡态速度远离9.6—18.6 m/s速度范围,均能够改善异质流的不稳定性.通行能力随着CACC车辆比例的增加而提高.此外,CACC模型的期望车间时距越大,异质流稳定域越大,但通行能力降低.因此,恒定车间时距CACC控制策略下的期望车间时距取值应权衡异质流稳定域和通行能力两个方面的影响.This paper is aimed at building a framework for string stability analysis of traffic flow mixed with different coop- erative adaptive cruise control （CACC） market penetration rates. In addition to the string stability, the fundamental diagram of the mixed flow is also taken into consideration for evaluating the effect of CACC vehicles on capacity. In order to describe the car-following dynamics of real CACC vehicles, the CACC model proposed by PATH is employed, which is validated by real experimental data. The intelligent driver model （IDM） is used as a surrogate car-following model for traditional manual driven vehicles. Based on the guidelines proposed by Ward [Ward J A 2009 Ph.D. Dissertation （Bristol： University of Bristol）], a framework is developed for the analytical investigation of het- erogeneous traffic flow string stability. The framework presented considers the instability condition of traffic flow as a linear function of CACC market penetration rate. Following the framework, the string stabilities of the mixed traffic flow under different CACC market penetration rates and equilibrium velocities are analyzed. For fundamental diagram of the heterogeneous traffic flow, the equilibrium velocity-spacing functions of manual vehicles and CACC vehicles are obtained respectively based on car-following model. Then, the fundamental diagram of the density-velocity relationship of the heterogeneous traffic flow is derived based on the definition of traffic flow density. In addition, the theoretical fundamental diagram is plotted to show the property of traffic throughput. The numerical simulations are also carried out in order to investigate the effect of CACC vehicle on the characteristics of fundamental diagram. Besides, sensitivity analyses on CACC desired time gap are conducted for both string stability and fundamental diagram. Analytical studies and simulation results are as follows. 1） The heterogeneous traffic flow is stable for different equilibrium velocities and CACC market penetration

关 键 词：异质交通流 稳定性解析 协同自适应巡航控制 基本图 

分 类 号：U491.112[交通运输工程—交通运输规划与管理]