Multi-vehicle Interactive Lane-changing Model Of Urban Arterial Road Based On Cellular Automata

With the development of economy and the increase of vehicle ownership rate,the number of vehicles on the road is increasing faster than the speed of road construction,and the interference between vehicles is increasing.The traffic congestion and frequent accidents caused by this increase are becoming more and more serious.Car-following and lane-changing are two basic behaviors of vehicles.There are many factors affecting lane-changing,and the process of lane-changing is complex.It is easy to cause congestion and local turbulence in traffic flow during the execution process,thus reducing the operation efficiency of traffic system.Therefore,it is necessary to study the mechanism of vehicle lane-changing and the interactive characteristics of multi-vehicles in the process of lane-changing,to grasp the interaction between multi-vehicles in the process of lane-changing theoretically,and to provide the basis for driver’s decision-making and traffic control,so as to reduce the mutual interference between multi-vehicles and improve the operational efficiency of traffic system.Firstly,this paper introduces the classification of vehicle lane-changing and the influencing factors of lane-changing,and describes the process of lane-changing intention generation of free lane-changing and forced lane-changing respectively.Traffic volume and traffic density are acquired by video data.The influence of lane density difference and average speed of traffic flow on lane-changing times is analyzed from the macro-factor point of view.The lane-changing experiment is designed by using P3-DT BeiDou high-precision orientation direction finder,and the instantaneous speed and position coordinate data of the experimental vehicle are obtained.From the micro-factor point of view,the influence of headway time distance and speed difference on lane-changing time is analyzed.Influence.Then,when the vehicle is driving on the road,the interaction and game between multi-vehicles,the principle of potential energy field are analogized.The concept of multi-vehicle interaction area is proposed.The decision-making of vehicle lane-changing and the change of vehicle speed when changing lanes and interacting with surrounding vehicles are reduced to the function of overlapping area of multi-vehicle interaction area.Combined with the refresh rules of cellular automata,a multi-vehicle interactive lane-changing model based on cellular automata is established.The speed change of interactive vehicles is correlated with the overlap area of the interactive area,and the speed change of interactive vehicles is quantitatively described.Finally,under the environment of MATLAB R2014 a,the relationship between lane change times and simulation time is simulated under different initial speed and number of vehicles.The simulation results are compared with the measured data to verify the validity of the model.Through the this paper,the change of speed between lane-changing vehicle and surrounding interactive vehicle during lane-changing process is obtained,and the probability of deceleration or lane-changing avoidance after lane-changing is given.Some parameters of the model are calibrated according to the video data of urban arterial road,which is also useful for other urban roads of the same grade.The theoretical method of this paper can provide support for traffic management departments to formulate relevant measures,and also provide technical support for the development of vehicle assisted driving,automatic driving system and multi vehicle driving simulator.