考虑多辆自动驾驶车平均速度和自时滞反馈的离散时间时滞跟驰模型

康成俊; 苗卉

doi:10.21656/1000-0887.450223

考虑多辆自动驾驶车平均速度和自时滞反馈的离散时间时滞跟驰模型

doi: 10.21656/1000-0887.450223

康成俊¹,
苗卉^2, ,

1. 山西工程科技职业大学计算机工程学院，山西晋中 030600;
2. 山西财经大学应用数学学院，太原 030000

基金项目:

山西省基础研究计划(202403021221218)

详细信息

作者简介:
康成俊（1987—），男，讲师，博士(E-mail: chengjun0102@126.com)；苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

通讯作者:
苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

中图分类号: U491
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- 文章访问数: 24
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- PDF下载量: 2
- 被引次数: 0
出版历程
- 收稿日期: 2024-08-01
- 修回日期: 2024-09-23
- 网络出版日期: 2025-11-13

A Discrete-Time Delayed Car-Following Model Considering the Average Velocity of Multiple Autonomous Vehicles and Self-Delayed Feedback

KANG Chengjun¹,
MIAO Hui^{2
, ,}

1. School of Computer Engineering, Shanxi Vocational University of EngineeringScience and Technology, Jinzhong，Shanxi 030600, P.R.China;
2. School of Applied Mathematics, Shanxi University of Finance and Economics, Taiyuan 030000, P.R.China

摘要

摘要: 为了更好地探究自动驾驶车辆的跟驰特征和车流稳定性特性，在最优速度跟驰模型的基础上，结合自动驾驶车辆，通过车辆之间相互通讯共享收集到的交通信息，提出一种改进的离散时间时滞跟驰模型，该模型考虑了前方自动驾驶车辆与当前自动驾驶车辆的交互信息，前方多辆自动驾驶车辆的平均速度. 此外，还考虑了自时滞速度和车头间距控制策略.通过控制理论方法和Lyapunov稳定性理论，建立了自动驾驶车流的稳定性条件.进而,在扰动影响下，通过数值模拟直观地展示了自动驾驶车流的时空演化模式，进一步验证了理论分析，揭示了自动驾驶车辆通过车辆之间的信息交互、前方多车辆平均速度、速度信息和车头间距信息传感过程中的时滞因素以及自时滞速度和车头间距控制策略对自动驾驶车流稳定性的影响.结果表明：车辆之间的信息交互、前方多车辆平均速度的获取均可提高自动驾驶车流的稳定性；自时滞速度和车头间距控制策略可以有效地提高自动驾驶车流的稳定性，抑制交通拥堵；然而，速度信息和车头间距信息传感过程中的时滞因素不利于自动驾驶车流的稳定性.
- 跟驰模型 /
- 平均速度 /
- 自时滞控制 /
- 稳定性
Abstract: Based on the optimal velocity car-following model and combined with the traffic information collected by autonomous vehicles through mutual communication, an improved discrete-time time-delayed car-following model was proposed to better explore the car-following performances and stability characteristics of autonomous vehicles, with the interaction information between the front autonomous vehicle and the current autonomous vehicle, and the average velocity of multiple front autonomous vehicles considered. In addition, the self-delayed velocity and the space headway control strategy was analyzed. With the control theory method and the Lyapunov stability theory, the stability condition for traffic flow was established. Furthermore, under disturbance, the spatio-temporal evolution of the autonomous vehicle flow was intuitively demonstrated through numerical simulation, to further validate the theoretical analysis and reveal the effects of the autonomous vehicles on the traffic flow stability through the information interaction between vehicles, the average velocity of multiple front vehicles, the time delay factors in the sensing process of velocity and space headway information, and the self-delayed velocity and space headway control strategy. The results show that, the information exchange between vehicles and the acquisition of the average velocity of multiple front vehicles can improve the traffic flow stability. At the same time, the self-delayed velocity and space headway control strategy can effectively improve the traffic flow stability and restrain traffic congestion. However, the time delay factor in the sensing process of velocity and space headway information is not conducive to the traffic flow stability.
- car-following model /
- average velocity /
- self-delayed control /
- stability

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参考文献(21)

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考虑多辆自动驾驶车平均速度和自时滞反馈的离散时间时滞跟驰模型

doi: 10.21656/1000-0887.450223

作者简介:
康成俊（1987—），男，讲师，博士(E-mail: chengjun0102@126.com)；苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

通讯作者:
苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

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A Discrete-Time Delayed Car-Following Model Considering the Average Velocity of Multiple Autonomous Vehicles and Self-Delayed Feedback

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留言板

考虑多辆自动驾驶车平均速度和自时滞反馈的离散时间时滞跟驰模型

doi: 10.21656/1000-0887.450223

作者简介: 康成俊（1987—），男，讲师，博士(E-mail: chengjun0102@126.com)；苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

通讯作者: 苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

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出版历程

A Discrete-Time Delayed Car-Following Model Considering the Average Velocity of Multiple Autonomous Vehicles and Self-Delayed Feedback

计量

出版历程

目录

作者简介:
康成俊（1987—），男，讲师，博士(E-mail: chengjun0102@126.com)；苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).

通讯作者:
苗卉（1987—），女，副教授，博士(通讯作者. E-mail: miaohuixju@163.com).