基于跟车行为的双车道交通流元胞自动机模型：

结合跟车行为中车辆相对运动的影响和安全驾驶条件,引入换道规则,提出了基于跟车行为的双车道元胞自动机模型．模型可以描述系统在临界密度附近的亚稳态性质,其仿真结果与实测数据符合很好．在对车辆换道仿真数据采集处理的基础上,研究满足换道条件的车辆数和车辆密度间的关系,定义了换道函数描述标准驾驶行为下的车辆换道过程,求得函数的解析解并使用函数预测经换道达到稳定的车辆密度值,为量化和深入研究车辆的换道行为提供参考．     

有应急车辆影响的多车道交通流元胞自动机模型

在分析应急车辆对城市道路交通流影响的基础上, 引入让行状态参数、警笛影响区域和强制换道安全距离等特征变量, 修改换道规则, 建立了多车道元胞自动机模型, 并进行数值模拟. 结果表明, 车道数量和混合车辆比例系数在低密度范围内影响车辆速度及换道次数, 警笛影响区域参数改变了一定范围内车辆的换道次数, 应急车辆强制换道安全距离参数主要影响应急车辆的速度及换道次数.研究发现, 应急车辆对低密度交通流的扰动现象明显, 其与社会车辆相互作用参数的设置使得交通流元胞自动机模型更接近应急条件下实际交通运行. 关键词： 交通流 元胞自动机 应急车辆     

混入智能车的下匝道瓶颈路段交通流建模与仿真分析

以下匝道瓶颈路段为研究背景,以手动驾驶汽车和两类智能车为研究对象,包括自适应巡航(ACC)汽车和协同自适应巡航(CACC)汽车,建立了混入智能车的混合交通流模型.在车辆的纵向控制层面,分别构建了手动驾驶汽车改进舒适驾驶元胞自动机规则和智能车的跟驰模型;基于车辆下匝道行驶特性,引入车辆感知范围R、换道控制区域LLC、换道冒险因子λ等参数,建立了控制车辆横向运动的自由换道和强制换道模型.通过对混合交通流模型进行数值仿真发现,CACC车辆混入率PCACC、车辆感知范围R、换道区域长度LLC和换道冒险程度λ均对下匝道交通系统产生影响.当CACC车辆混入率低于0.5时,CACC退化为ACC的概率增大,系统稳定性下降,交通拥堵呈恶化趋势;当CACC车辆混入率大于0.5时,车辆运行速度显著提升,拥堵消散能力提高.增大车辆感知范围、加长换道区域长度、提高换道冒险程度,都能够有效缓解改善下匝道瓶颈路段主线的拥挤状况,而对匝道运行效率影响并不明显.     

考虑驾驶心理的城市双车道交通流元胞自动机模型

采用双车道元胞自动机模型,分析了考虑驾驶心理的城市道路交通流特性.针对驾驶员在城市道路行驶时在换道与减速制动方面的不同心理,分别引入了反映驾驶心理的选择换道概率P_s与安全参数λ.通过计算机模拟,给出了不同选择换道概率与安全参数条件下的车辆速度、密度与流量间的关系,并分析了不同驾驶心理对于交通系统的影响.研究发现:选择换道概率对交通流的速度影响并不明显,但选择换道概率的增大会导致速度的方差增大而降低行车安全;而安全参数的增大可以获得更快的平均车速和更大的交通 关键词： 元胞自动机 驾驶心理 选择换道概率 计算机模拟     

考虑实施过程的车辆换道模型及其应用

通过对现有换道模型进行改进,提出了一种考虑换道实施过程的模型,并对模型中的关键参数进行了标定.由于该模型考虑了换道实施过程中车辆换道对交通流的影响,新模型的模拟结果与实测值更为符合.运用新模型对不同车道数的道路交通流进行模拟,发现不同车道数的平均每车道通行能力及其交通流特性存在显著差异. 关键词： 换道模型 换道时间 车道数 道路通行能力     

敏感换道对下匝道系统交通流的影响

在NaSh模型基础上,充分考虑驾驶员在匝口指示牌的诱导作用下驾驶方式的变化,定义了车辆在匝口上游的换道、直行驾驶规则,提出了敏感换道的元胞自动机下匝道交通流模型. 通过计算机数值模拟,结果表明：敏感换道过程能减少直行车道上的转出车辆比例,对非必要的换道行为有明显的抑制作用,且随敏感换道区长度增加,该作用越明显;匝口提示位置并非越长越好,系统转出车辆比例越小,系统所需的最佳敏感换道区长度越短. 工程设计中根据转出车辆比例选取一个适宜距离安放匝口指示牌,能有效增加系统流量和临界加入概率. 关键词： 交通流 元胞自动机 驾驶方式 计算机数值模拟     

变曲率弯路车辆换道虚拟轨迹模型

研究自动化公路系统车辆换道虚拟轨迹规划方法,建立基于奇次多项式的变曲率弯路换道轨迹模型.假设车辆起始车道和目标车道具有相同的瞬时中心,把车辆在弯曲路段换道时的运动分解为向道路瞬心的直线运动和绕道路瞬心的圆周转动.假设向心运动位移和转动角位移满足奇次多项式约束,由换道时间、位置要求以及车辆在换道开始时刻和结束时刻的期望状态确定两种运动满足的边界条件,利用边界条件确定多项式系数.根据向心运动位移和转动角位移多项式模型,建立换道虚拟轨迹数学模型.与现有弯路换道轨迹规划方法相比,取消道路曲率为常数的假定,得到的换道轨迹模型更具一般性.仿真结果验证了文中提出的变曲率弯路换到轨迹规划方法的可行性.     

基于动态地场和元胞自动机的自行车流建模

针对现有自行车流模型对车辆间作用考虑不足的问题,在原多车道元胞自动机模型的基础上引入动态地场,在模型中纳入了排斥力,并充分考虑了前车速度对后车行驶的影响,体现了自行车的灵活性等特征,提出了换道成本的概念并建立了新的基于比较交通环境的换道规则. 数值仿真结果表明：1）该模型能更准确地描述自行车流,反映自行车流的特征,得到的数据符合实际;2）单位车道宽度的通行能力随着车道数的增加有小幅下降;3）激进的驾驶风格使得换道次数大幅增加,通行能力下降. 关键词： 自行车流 元胞自动机 动态地场 仿真     

雨天高速公路车辆换道模型研究

降雨使得路面附着系数和驾驶员视距降低, 容易造成交通事故, 影响道路通行效率. 为了研究雨天天气下车辆的换道行为, 引入反映降雨对换道行为影响的路面附着系数参数和驾驶员反应时间参数, 并进行量化分析, 由此使得安全距离随降雨强度和车辆速度的变化而变化, 在考虑前车和后车速度差对换道行为影响的基础上, 建立了雨天高速公路车辆换道模型. 仿真分析表明, 在中密度区雨天换道率与晴天相比有明显下降, 最大降幅约为25%; 且改进模型再现了自由流、自由流在无外因影响下形成动态拥堵流以及阻塞流下车辆时走时停的现象; 在中密度和高密度交通流中, 雨天更易引起交通拥堵, 其道路时空图中拥堵出现的频率和持续时间均相应增大, 且车辆以低速度行驶的时间较晴天天气下高许多.     

基于支持向量机的外骨骼机器人灵敏度放大控制

为了准确控制外骨骼机器人跟随人体运动,需要建立其动态、精确的数学模型;人体下肢外骨骼是一个多自由度、强耦合以及非线性的多连杆系统,难以建立准确的运动学和动力学模型;文章使用三维运动捕捉与空间定位系统,获取实际人体运动参数(运动学与动力学),应用支持向量机(SVM)学习人体下肢外骨骼的数学模型;基于该模型构造基于支持向量机模型的灵敏度放大控制方法;文章使用MATLAB和LIBSVM建立外骨骼下肢机器人的数学模型,并进行仿真分析;仿真结果表明基于SVM的模型学习方法,能够准确计算出人体下肢外骨骼的动力学模型,并简化建模过程;基于SVM的灵敏度放大控制,能够有效计算出人体下肢外骨骼各关节(髋关节、膝关节、踝关节)的输出力矩,并控制外骨骼机器人跟随人体运动。     

A viscous continuum traffic flow model with consideration of the coupling effect for two-lane freeways

In this paper, the viscous continuum traffic flow model for a single lane is extended to the traffic flow for two-lane freeways. The proposed model is a higher-order continuum model considering the coupling and lane changing effects of the vehicles on two adjacent lanes. It results from integrating the Taylor series expansion of the viscous continuum traffic flow model proposed by Ge (2006 Physica A 371 667) into the multi-lane model presented by Daganzo (1997 Transpn. Res. B 31 83). Our proposed model may be used to describe non-anisotropic behaviour because of lane changing in multi-lane traffic. A linear stability analysis is given and the neutral stability condition is obtained. Also, issues related to lane changing, shock waves and rarefaction waves, local clustering and phase transition are investigated through a simulation experiment. The simulation results show that the proposed model is capable of explaining some particular traffic phenomena commonly observable in real world traffic flow.     

A new traffic model with the consideration of coupling effect with two lanes

This paper introduces a new two-lane high-order continuum model by embedding the two delay time scales continuum traffic model presented by Xue (2003 Phys. Rev. E 68 066123) into the multi-lane model proposed by Daganzo (1997 Transpn. Res. B 31 83) with the consideration of the coupling effect between the vehicles of two lanes in instantaneous traffic situation and lane-change effect. In the novel model, the coupling effect of two lanes and phenomena of lane change, which were not discussed in Daganzo's model and Xue's model, are taken into account. Numerical simulation shows that it is in accordance with real traffic flow. This obviously indicates that the new phenomenon and behaviour are analogous results as single lane presented by Xue, and the proposed model is more reasonable on two lanes. Furthermore, the generation rate between two lanes is also investigated. The results show that the formation and diffusion of traffic shock wave can be better simulated on two lanes.     

A Two-Lane Cellular Automata Model with Influence of Next-Nearest Neighbor Vehicle

In this paper, we propose a new two-lane cellular automata model in which the influence of the next-nearest neighbor vehicle is considered. The attributes of the traffic system composed of fast-lane and slow-lane are investigated by the new traffic model. The simulation results show that the proposed two-lane traffic model can reproduce some traffic phenomena observed in real traffic, and that maximum flux and critical density are close to the field measurements.Moreover, the initial density distribution of the fast-lane and slow-lane has much influence on the traffic flow states.With the ratio between the densities of slow lane and fast lane increasing the lane changing frequency increases, but maximum flux decreases. Finally, the influence of the sensitivity coefficients is discussed.     

两车道交通流耦合格子模型与数值仿真

考虑两车道耦合效应的影响和换道效应,提出了改进的两车道交通流耦合格子模型.同时,改进了换道时的流量转移率,这样更符合实际交通情况.通过线性稳定性分析,得到了改进模型的稳定性条件.数值模拟结果也表明,模型通过考虑耦合作用信息,更好地再现了换道情况,同时也表明两车道间的耦合效应对两车道交通流存在不可忽视的影响.     

Effect of driver over-acceleration on traffic breakdown in three-phase cellular automaton traffic flow models

Based on simulations with cellular automaton (CA) traffic flow models, a generic physical feature of the three-phase models studied in the paper is disclosed. The generic feature is a discontinuous character of driver over-acceleration caused by a combination of two qualitatively different mechanisms of over-acceleration: (i) Over-acceleration through lane changing to a faster lane, (ii) over-acceleration occurring in car-following without lane changing. Based on this generic feature a new three-phase CA traffic flow model is developed. This CA model explains the set of the fundamental empirical features of traffic breakdown in real heterogeneous traffic flow consisting of passenger vehicles and trucks. The model simulates also quantitative traffic pattern characteristics as measured in real heterogeneous flow.     

Fundamental diagram in traffic flow of mixed vehicles on multi-lane highway

We study the fundamental diagram for traffic flow of vehicular mixture on a multi-lane highway. We present the car-following model of multi-lane traffic in which slow and fast vehicles flow with changing lanes. We investigate the traffic states of the vehicular mixture under the periodic boundary. Two values of the current appear at a density and two current curves are obtained. Vehicles move with changing lanes in the traffic state of high current, while vehicles move without changing lanes in the traffic state of low current. They depend on the density, the fraction of slow vehicles, and the initial condition. In the high-current curve, the jamming transition between the free flow and the jammed state occurs at a low density. The fundamental diagrams (current-density diagrams) are shown for the single-lane, two-lane, three-lane, and four-lane traffics.     

A new lattice model of traffic flow with the anticipation effect of potential lane changing

A new lattice model of traffic flow is presented by taking into account the anticipation of potential lane changing on front site on single lane. The stability condition of the extended model is obtained by using the linear stability theory. The modified KdV equation near the critical point is constructed and solved through nonlinear analysis. And the phase space of traffic flow in the density-sensitivity space could be divided into three regions: stable, metastable and unstable ones, respectively. Numerical simulation also shows that the consideration of lane changing probability in lattice model can stabilize traffic flow, which implies that the new consideration has an important effect on traffic flow in lattice models.     

An Integrated Fuzzy Analytic Hierarchy Process (AHP) Model for Studying Significant Factors Associated with Frequent Lane Changing

Frequent lane changes cause serious traffic safety concerns, which involve fatalities and serious injuries. This phenomenon is affected by several significant factors related to road safety. The detection and classification of significant factors affecting lane changing could help reduce frequent lane changing risk. The principal objective of this research is to estimate and prioritize the nominated crucial criteria and sub-criteria based on participants’ answers on a designated questionnaire survey. In doing so, this paper constructs a hierarchical lane-change model based on the concept of the analytic hierarchy process (AHP) with two levels of the most concerning attributes. Accordingly, the fuzzy analytic hierarchy process (FAHP) procedure was applied utilizing fuzzy scale to evaluate precisely the most influential factors affecting lane changing, which will decrease uncertainty in the evaluation process. Based on the final measured weights for level 1, FAHP model estimation results revealed that the most influential variable affecting lane-changing is ‘traffic characteristics’. In contrast, compared to other specified factors, ‘light conditions’ was found to be the least critical factor related to driver lane-change maneuvers. For level 2, the FAHP model results showed ‘traffic volume’ as the most critical factor influencing the lane changes operations, followed by ‘speed’. The objectivity of the model was supported by sensitivity analyses that examined a range for weights’ values and those corresponding to alternative values. Based on the evaluated results, stakeholders can determine strategic policy by considering and placing more emphasis on the highlighted risk factors associated with lane changing to improve road safety. In conclusion, the finding provides the usefulness of the fuzzy analytic hierarchy process to review lane-changing risks for road safety.     

Traffic flow through multi-lane tollbooths on a toll highway

We study the traffic states and queuing occurring in traffic flow on a toll highway with multi-lane tollgates. The traffic states change with increasing density and varying number of tollgates. When the manual-collection vehicles sort themselves into the tollgates, the queues occur just in front of the tollgates if the vehicular density is higher than a critical value. The queuing in front of tollgates is induced by the competition between the lane expansion and slowdown effects. When the lane expansion effect is superior to the slowdown effect, no queuing occurs. We derive the fundamental diagrams (current-density diagrams) for the traffic flow on the toll highway. The current saturates at the nearest tollgate at a low density and the saturation extends to the next-nearest tollgate with increasing density.     

Stochastic Description of Traffic Flow

We propose a traffic model based on microscopic stochastic dynamics. We built a Markov chain equipped with an Arrhenius interaction law. The resulting stochastic process is comprised of both spin-flip and spin-exchange dynamics which models vehicles exiting, entering and interacting in a two-dimensional lattice environment corresponding to a multi-lane highway. The process is further equipped with a novel look-ahead type, anisotropic interaction potential which allows drivers/vehicles to ascertain local fluctuations and advance to new cells forward or sideways. The resulting vehicular traffic model is simulated via kinetic Monte Carlo and examined under both, typical and extreme traffic flow scenarios. The model is shown to correctly predict both qualitative as well as quantitative traffic observables for any highway geometry. Furthermore it also captures interesting multi-scale phenomena in traffic flows after a simulated accident which lead to oscillatory, dissipating, traffic waves with different periods per lane.