| With the increase of the number of vehicles,driving efficiency and safety issues of vehicles have become increasingly important.As an important part of the intelligent transportation,multi-car following can effectively alleviate traffic congestion and improve traffic efficiency and safety.With the vigorous development of communication technology,the Internet of Vehicles(IoV),as a new information sensing method in intelligent connected vehicles,can make up for the shortcomings of sensors such as the radar or vision.It has the advantages of the perspective ability,not affected by weather,and the large transmission distance.It is applied to a variety of vehicle-related safety controls,including multi-car following,and brings hope for solving current traffic problems.However,the deployment of IoV and the actual vehicle testing based on the related safety applications of IoV require a lot of manpower,material and financial resources.Therefore,in order to promote the development of intelligent connected cars more efficiently and safely,the simulation technology of IoV and its related safety application research is particularly important.This article focuses on the simulation technology of the IoV and its application on multi-car following.The simulation platform basing on the IoV is built,which focuses on the communication performance of the IoV and its effects on the multi-car following.The study aims to obtain the characteristics of multi-car following under the influence of communication.Basing on the influence of communication performance,an improved control algorithm for multi-car following is proposed to improve the stability,safety and following accuracy of multi-car following.Its main contents are as follows:(1)Build a multi-car following simulation platform based on the IoV.The secondary development of the VANET ToolBox is finished,including the establishment of a car following model based on the MATLAB DES discrete event system,and the integration of the classic car following model at the APP layer of the on board module(OBU).The MAC layer of OBU and PHY layer of communication channel are simulated.The transmission of information between vehicles at the bit level is realized.The process of information transmission in reality is realistically simulated,and the construction of a multi-car following simulation platform based on the IoV is completed.(2)Analyze and study the impact of vehicle-to-vehicle communication on multi-car following.First,the communication performance of the IoV is tested basing on the IoV simulation platform.End-to-end delay and packet loss rate are tested.The results prove that the number of vehicles,the distance between vehicles,and the speed of vehicles have certain effects on end-to-end delay and packet loss rate.Next,take the end-to-end delay as an experimental element,and focus on the analysis of the impact of end-to-end delay on multi-car following.The impact of vehicle-to-vehicle communication on the effects of multi-car following from: traffic efficiency,safety performance,following accuracy and comfort is analyzed.Characteristics of multi-car following under the influence of communications are obtained,references for the research and development of multi-car following are provided.(3)Propose an improved follow-up control algorithm for the communication impact.Aiming at the characteristics of multi-car following under communication impact,a follow-up error feedback control strategy is adopted based on a variable safety distance model,and the feedforward control of the acceleration of the preceding vehicle is added.The rationality of the algorithm has been verified in the car networking simulation platform,the algorithm can fully guarantee the stability and safety compared with the traditional car-following model,and the following accuracy is significantly improved.The practicability of the algorithm has been verified in PanoSim intelligent driving simulation platform to ensure its follow-up effect on actual vehicles. |
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