Research On Vehicle-vehicle Cooperative Model And Its Stability On A Spiral Road Based On T-CPS

The cooperative relationship among vehicles is enhanced with the increasing of road traffic density.This kind of vehicle-vehicle cooperation relationship will be particularly evident on a curved road,on a gradient road and on a spiral road due to the road conditions.Usually,we build a vehicle-vehicle coordination model for the moving cars,and grasp this vehicle-vehicle cooperation by analyzing the stability of the model.In addition,with the development of road transportation systems and information technology,the vehicle cooperative driving process will have the typical characteristics of the information physical system.Therefore,studying the stability problem of vehicle-vehicle cooperative system can grasp the intrinsic mechanism of traffic congestion on a spiral road traffic scene.Therefore,this thesis focuses on the stability of vehicle-vehicle cooperative driving system on the spiral road,building vehicle-vehicle cooperative model.Using stability analysis methods such as linear stability,nonlinear stability and Lyapunov function stability from the perspective of the traffic information physical system.Research the vehicles? speed uncertainty problem on a curved road,the drivers? aggressive and timid characteristics on a gradient highway and the influence of inclination angle of the spiral road on the stability of the vehicle collaborative system.The main works of this paper include the following aspects:(1)A new vehicle-vehicle cooperative driving model with considering the preceding vehicles? speed uncertainty is established on a curved road,and linear stability of the model is analyzed by using the control system theory method.In addition,the influence of the preceding vehicles? uncertainty speed on the cooperative driving stability is studied.(2)Considering the influence of drivers? timid and aggressive characteristics on traffic flow stability on a gradient highway.A new vehicle-vehicle cooperative driving model is established and linear stability of the model is studied by the control system method,the linear stability conditions and the nonlinear features of the density wave in the unstable region are studied.(3)On a spiral road,the factors of the curved road and gradient road are considered,a new vehicle-vehicle driving model is established with considering the characteristics of the spiral road.The linear stability of the model is analyzed by Lyapunov function method,and the stability conditions of the model are obtained.In conclusion,for curved road,gradient road and spiral road,this dissertation proposed some vehicle-vehicle cooperative driving models by respectively considering the uncertain velocity of preceding vehicles?,drivers? timid and aggressive characteristics and the traffic feature from the perspective of T-CPS.The stability characteristics of those models are analyzed by using linear stability method and nonlinear stability method.We studied the influences of these factors on the stability of vehicle-vehicle cooperative system.The research results not only enrich the theoretical contents of vehicle-vehicle cooperative system under complex traffic scenes,but also can provide theoretical guidance for the study of vehicle-vehicle cooperative system from the perspective of the traffic information physics system.