基于驾驶风险场的网联自主车辆跟驰行为建模  

Following behavior modeling of connected autonomous vehicles based on driving risk field

在线阅读下载全文

作  者:邵德栋 曲大义 陈意成 杨子奕 崔善柠 SHAO Dedong;QU Dayi;CHEN Yicheng;YANG Ziyi;CUI Shanning(School of Civil Engineering,Qingdao University of Technology,Qingdao 266525,China;b.School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266525,China)

机构地区:[1]青岛理工大学土木工程学院,青岛266525 [2]青岛理工大学机械与汽车工程学院,青岛266525

出  处:《青岛理工大学学报》2025年第1期123-131,共9页Journal of Qingdao University of Technology

基  金:国家自然科学基金(52272311)。

摘  要:驾驶风险场是评价网联自主车辆驾驶安全性和稳定性的有效方法。为了提高网联自主车辆跟驰行驶效率和驾驶安全性,建立基于驾驶风险场的跟驰行为模型。首先构建了包含运动物体对应的风险场、静态环境要素对应的风险场以及动态交通控制信息对应的风险场,系统刻画车辆在行驶过程中面临的风险特征;然后将风险场叠加,通过对跟驰车辆在交通环境中受到的风险合力建立跟驰模型,此外,在模型参数标定的过程中,通过对City Sim数据集的数据进行拼接和筛选,得到加速度和位移信息变化明显的跟车单元,用于模型的标定和验证;最后,运用SUMO软件对网联自主车辆跟驰模型进行仿真验证分析,将仿真结果和City Sim数据集及基础跟驰模型进行对比。结果表明:该模型可以提前2 s感知到前车速度的变化,而且1/TTC的波动更小,且红绿灯时的驾驶行为更加温和,驾驶环境更加安全。基于驾驶风险场预测网联自主车辆的跟驰行为,可提高网联队列的跟驰效率和运行安全。Driving risk field is an effective method to evaluate the driving safety and stability of connected autonomous vehicles.In order to improve the driving efficiency and safety of connected autonomous vehicles,the following behavior model is established based on driving risk field.Firstly,risk fields corresponding respectively to moving objects,static environment features and dynamic traffic information are constructed to systematically describe the risk characteristics faced by vehicles during driving.Then these risk fields are superimposed and the following model is built by combining the risks that the following vehicle is subjected to in the traffic environment.In addition,in the process of parameter calibration,the data of City Sim data set are stitched and screened and the following unit with obvious changes in acceleration and displacement information is obtained for the calibration and verification of the model.Finally,SUMO software is used to simulate and verify the following model of connected autonomous vehicles,and the simulation results are compared with the City Sim data set and the basic following model.The results show that the model can sense the speed change of the leading vehicle 2 s in advance,the fluctuation of 1/TTC is smaller,and the driving behavior at the traffic lights is milder and the driving environment is safer.Predicting the following behavior of connected autonomous vehicles based on driving risk field can improve the following efficiency and operation safety of connected vehicle platoon.

关 键 词:驾驶风险场 网联自主车辆 跟驰模型 SUMO仿真 

分 类 号:U491[交通运输工程—交通运输规划与管理]

 

参考文献:

正在载入数据...

 

二级参考文献:

正在载入数据...

 

耦合文献:

正在载入数据...

 

引证文献:

正在载入数据...

 

二级引证文献:

正在载入数据...

 

同被引文献:

正在载入数据...

 

相关期刊文献:

正在载入数据...

相关的主题
相关的作者对象
相关的机构对象