考虑自适应巡航车辆影响的上匝道系统混合交通流模型

在考虑自适应巡航(adaptive cruise control, ACC)车辆的交通流模型的基础上, 建立了考虑ACC车辆影响的上匝道系统混合交通流模型, 研究ACC车辆引入对上匝道交通系统交通流的影响. 为了描述ACC车辆和手动驾驶车辆在交通流运行中的差异, 分别构建了基于常车头时距原则的ACC 车辆跟驰子模型和手动驾驶车辆MCD元胞自动机子模型; 基于上匝道车辆合流驶入主线的需求, 建立了换道子模型, 引入了表征驾驶员换道心理的参数λ. 通过对混合交通流模型进行数值模拟发现, ACC车辆的混入可以有效改善上匝道系统交通流的运行, 降低合流等事件对于交通流运行的影响, 抑制交通拥堵的时空范围及拥堵强度, 提高交通流的平均速度和流量. 此外在混合交通流模型中, ACC车辆期望车头时距H_d的减小与换道心理参数λ 的增大均可以提高混合交通流运行的速度和流量, 而合流区长度l_w对混合交通流影响则因上匝道车辆驶入概率的不同而存在差异.     

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     

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

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.     

交叉口进口道换道行为研究及建模

为了对信号交叉口上游车辆换道行为进行分析,以元胞自动机交通流理论为基础,结合自由换道模型及强制换道模型提出了进口道附近路段的综合换道模型,并对原有强制换道模型进行改进.通过对综合换道模型进行模拟,得出进口道附近交通流的时空关系及密度关系图.模拟结果表明,车流密度在[0,0.2]及[0.4,0.6]范围时,进口道换道率变化率较高;同时在中低密度下,随着换道率的增加,平均车速逐渐降低,但在高密度下,车速随换道率变化并不显著.     

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     

高速公路入匝控制的一个元胞自动机模型

采用元胞自动机模型研究高速公路入匝控制问题. 利用主路上测定区域内的车辆数设计了一种新型入匝信号控制方法,模拟分析了各种参数对主路和匝道交通的影响. 结果表明,设置匝道信号灯可以保证主路交通畅通,尤其是匝道处的车辆到达率比较高时效果非常明显. 测定区域位置、抑制入匝车流量以及并道区长度的不同组合可以导致不同的主路和匝道交通流,合理搭配这三个参数可以兼顾主路和匝道的流量和通行时间.测定区域应该设置在并道段前或并道段上游的适当位置. 关键词： 交通流 元胞自动机 入匝控制 并道规则     

城市快速路系统的元胞自动机模型与分析

使用元胞自动机模型研究包含出入匝、主路和辅路的城市快速路系统的交通问题,为不同类型的路段定义了三种不同的换道规则.模拟结果表明,高入匝流量容易导致主路、匝道及其上游出现拥堵,高出匝流量容易使匝道出口车流与辅路内侧道车流发生冲突.入匝流量比较高时,主辅路为双车道的系统可以延缓交通拥堵和减少通行时间;当入匝流量较低时,双车道改善了单车道下辅路的通行状况. 关键词： 交通流 元胞自动机 换道规则 匝道     

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     

自动巡航混合交通系统的研究

基于自动驾驶原理,建立了单车道上由两种长度、可分别以不同的最大速度行驶、具有自动巡航驾驶功能的车辆构成的混合交通流模型.通过计算机数值模拟,得到了混合车流在不同参数下交通流模型的基本图,并借助平均场理论对其进行解析.得到的理论结果与实验模拟相一致. 关键词： 元胞自动机 自动巡航控制系统 临界占用率 临界密度     

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     

Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp

Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Simulations of merging from an on-ramp onto a freeway reported in the literature have not thus far demonstrated a substantial positive impact of ACC. In this paper cooperative merging for ACC vehicles is proposed to improve throughput and increase distance traveled in a fixed time. In such a system an ACC vehicle senses not only the preceding vehicle in the same lane but also the vehicle immediately in front in the other lane. Prior to reaching the merge region, the ACC vehicle adjusts its velocity to ensure that a safe gap for merging is obtained. If on-ramp demand is moderate, cooperative merging produces significant improvement in throughput (20%) and increases up to 3.6 km in distance traveled in 600 s for 50% ACC mixed flow relative to the flow of all-manual vehicles. For large demand, it is shown that autonomous merging with cooperation in the flow of all ACC vehicles leads to throughput limited only by the downstream capacity, which is determined by speed limit and headway time.     

A new traffic model on compulsive lane-changing caused by off-ramp

In the field of traffic flow studies, compulsive lane-changing refers to lane-changing(LC) behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster or less crowded lane. LC studies based on differential equation models accurately reveal LC influence on traffic environment. This paper presents a second-order partial differential equation(PDE) model that simulates both compulsive LC behavior and free LC behavior,with lane-changing source terms in the continuity equation and a lane-changing viscosity term in the momentum equation.A specific form of this model focusing on a typical compulsive LC behavior, the ‘off-ramp problem', is derived. Numerical simulations are given in several cases, which are consistent with real traffic phenomenon.     

Traffic flow characteristics in a mixed traffic system consisting of ACC vehicles and manual vehicles: A hybrid modelling approach

In this paper, we have investigated traffic flow characteristics in a traffic system consisting of a mixture of adaptive cruise control (ACC) vehicles and manual-controlled (manual) vehicles, by using a hybrid modelling approach. In the hybrid approach, (i) the manual vehicles are described by a cellular automaton (CA) model, which can reproduce different traffic states (i.e., free flow, synchronised flow, and jam) as well as probabilistic traffic breakdown phenomena; (ii) the ACC vehicles are simulated by using a car-following model, which removes artificial velocity fluctuations due to intrinsic randomisation in the CA model. We have studied the traffic breakdown probability from free flow to congested flow, the phase transition probability from synchronised flow to jam in the mixed traffic system. The results are compared with that, where both ACC vehicles and manual vehicles are simulated by CA models. The qualitative and quantitative differences are indicated.     

基于智能交通系统的耦合映射跟驰模型和交通拥堵控制

基于智能交通诱导信息，提出一种改进的耦合映射跟驰模型，用于描述单车道的交通流动力学特性及其拥堵控制.利用反馈控制理论，给出了在头车速度发生变化时交通流保持稳定的条件.分析结果表明，考虑前方更多车辆的信息对交通流有致稳作用，亦即稳定性条件明显减弱.数值模拟证实了理论分析的正确性，通过与他人相关工作的比较得知，考虑智能交通诱导信息能够更有效地抑制交通拥堵. 关键词： 交通流 智能交通系统 耦合映射跟驰模型 交通拥堵控制     

Stability analysis of traffic flow with extended CACC control models

To further investigate car-following behaviors in the cooperative adaptive cruise control(CACC) strategy,a comprehensive control system which can handle three traffic conditions to guarantee driving efficiency and safety is designed by using three CACC models.In this control system,some vital comprehensive information,such as multiple preceding cars' speed differences and headway,variable safety distance(VSD) and time-delay effect on the traffic current and the jamming transition have been investigated via analytical or numerical methods.Local and string stability criterion for the velocity control(VC) model and gap control(GC) model are derived via linear stability theory.Numerical simulations are conducted to study the performance of the simulated traffic flow.The simulation results show that the VC model and GC model can improve driving efficiency and suppress traffic congestion.     

Dynamic characteristics of traffic flow with consideration of pedestrians’ road-crossing behavior

Pedestrians’ road-crossing behavior can often interrupt traffic flow and cause vehicle queueing. In this paper, we propose some moving rules for modeling the interaction of vehicles and pedestrians. The modified visual angle car-following model is presented for the movement of vehicles with consideration of the lateral effect of waiting pedestrians. The pedestrians’ behavior is summarized as consisting of three steps: pedestrian arrival, gap acceptance, and pedestrian crossing. Some characteristic parameters of pedestrians are introduced to characterize pedestrians’ behavior. Simulation results show that the interaction of vehicles and pedestrians lowers the traffic capacity and increases delays to both vehicles and pedestrians.     

Modeling and analysis of car-following behavior considering backward-looking effect

The car-following behavior can be influenced by its driver’s backward-looking effect.Especially in traffic congestion,if vehicles adjust the headway by considering backward-looking effect,the stability of traffic flow can be enhanced.A model of car-following behavior considering backward-looking effect was built using visual information as a stimulus.The critical stability conditions were derived by linear and nonlinear stability analyses.The results of parameter sensitivity analysis indicate that the stability of traffic flow was enhanced by considering the backward-looking effect.The spatiotemporal evolution of traffic flow of different truck ratios and varying degrees of backward-looking effect was determined by numerical simulation.This study lays a foundation for exploring the complex feature of car-following behavior and making the intelligent network vehicles control rules more consistent with human driver habits.     

The effect of ACC vehicles to mixed traffic flow consisting of manual and ACC vehicles

This paper studies the effect of adaptive cruise control （ACC） system on traffic flow by using simulations. The multiple headway and velocity difference （MHVD） model is used to depict the motion of ACC vehicles, and the simulation results are compared with the optimal velocity （OV） model which is used to depict the motion of manual vehicles. Compared the cases between the manual and the ACC vehicle flow, the fundamental diagram can be classified into four regions： I, II, III, IV. In low and high density the flux of the two models is the same; in region II the free flow region of the MHVD model is enlarged, and the flux of the MHVD model is larger than that of the OV model; in region III serious jams occur in the OV model while the ACC system suppresses the jams in the MHVD model and the traffic flow is in order, but the flux of the OV model is larger than that of the MHVD model. Similar phenomena also appeared in mixed traffic flow which consists of manual and ACC vehicles. The results indicate that ACC vehicles have significant effect on traffic flow. The improvement induced by ACC vehicles decreases with the increasing proportion of ACC vehicles.