Research On Car Following Behavior Modeling And Longitudinal Coordinated Control In Intelligent Connected Environment

The rapid development of technologies such as intelligent connection and autonomous driving has promoted the multi-dimensional integration between human-vehicle-road-environment,and the interaction between drivers,vehicles and vehicle groups has undergone a fundamental transformation,and Connected Autonomous Vehicles and Human-driven Vehicles will show a mixed coexistence.The following behavior of vehicles and their longitudinal control in the connected environment are related to the safe operation of road traffic and the overall stability of traffic flow.Therefore,it is of great theoretical value and practical significance to conduct in-depth research on modeling and longitudinal coordination control of vehicle following behavior in the connected environment.First,considering the characteristics of the driver’s response time delay,a car following model based on the driver’s response time delay is established.The parameters of the model are calibrated through the NGSIM data set and compared with other car following models.The stability of the model is analyzed by using the Lyapunov stability analysis method,and the stability domain of the model is obtained.Numerical simulation is carried out through MATLAB to analyze the influence of the car following model on the stability of traffic flow.Secondly,the car following model based on the front vehicle information feedback is established,considering that the driver’s response time lag is avoided during the following process of connected autonomous vehicle,and the front vehicle operation information can be obtained to control the operation.The stability of the model is analyzed by using the transfer function,and the stable solution of the car-following model under the front vehicle information feedback is obtained.Numerical simulation is carried out by MATLAB to analyze the influence of the model on the stability of traffic flow.Then,considering the problem of communication delay or packet loss between connected vehicles and connected vehicles in the connected environment,a decision-making model of connected vehicles based on Stackelberg game is constructed.By designing the speed benefit,safe distance benefit and driving style benefit,the objective benefit function in the car-following game is explicitly constructed.The stability of the car-following decision model is verified by proving the existence of the equilibrium solution of the Stackelberg game model,and the solution method and the car-following decision-making process of the car-following decision model are further given.Finally,according to the different car-following characteristics of the built model,a longitudinal coordinated control strategy of connected vehicle clusters based on model predictive control is proposed.This strategy designs an MPC controller based on the car following characteristics of HV and CAV,CAV and CAV in the built car following model,and simulates and analyzes the acceleration,speed and position of the vehicle cluster.The results show that the longitudinal coordinated control strategy of the connected vehicle cluster designed considering different vehicle characteristics can realize the flexible following of the connected vehicle cluster.