Driver car-following model considering response lag time
A technology of lag time and car-following model, applied in the direction of adaptive control, instrument, control/regulation system, etc., can solve the problem of not being able to truly reflect the driving process of the driver following the car, and achieve the effect of smooth change of the speed of the self-vehicle.
Active Publication Date: 2018-11-20
JILIN UNIV
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Problems solved by technology
The invention fully considers the variability of the driver's reaction lag when calculating the longitudinal acceleration, can more truly reflect the driver's actual driving behavior, and solves the problem in the prior art that cannot truly reflect the driver's car-following process, especially is the variability of the reaction lag time
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[0044] The driver-following model proposed by the present invention takes inter-vehicle distance, the speed of the vehicle in front, and the speed of the vehicle as model input variables, and expects the acceleration as the output variable of the model. The difference between the vehicle speed and the driver's reaction lag time is used to calculate the expected acceleration after a certain time delay. The calculation formula is as follows:
[0045]
[0046] Among them, v f (t) and v l (t) are the speeds of the current vehicle and the vehicle in front, respectively, in m / s; V opt (t) is the optimal expected speed at the current moment, the unit is m / s; T d (t), T v (t) are respectively the reaction lag time of the driver relative to the change of the inter-vehicle distance and the speed of the preceding vehicle at the current moment, and the unit is s; T a (t) is the response lag adjustment coefficient of the driver's car-following model at the current moment, and the un...
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The invention belongs to the field of automobile intelligent control and traffic simulation, specifically to a driver car-following model considering response lag time. The invention aims to realize the control of the longitudinal speed of an automobile through a driver model, and truly reflect the following characteristic and the response lag characteristic of a driver in the car-following driving process. Inter-vehicle distance, front vehicle speed and vehicle speed are used as model input variables, expected acceleration after delay of a certain time is used as a model output, driver response lag time is divided into two time-varying parameters changing relative to the inter-vehicle distance and the vehicle speed, and the model is used for the longitudinal speed control in the automobile following process in real life or traffic simulation. The established driver model is simple in structure, can not only reflect the following characteristic in the car-following driving process of the driver, but also reflect the response lag characteristic, and has higher authenticity compared with an existing traditional model.
Description
technical field [0001] The invention belongs to the field of automobile intelligent control and traffic simulation, in particular to a car-following model of a driver considering reaction lag time. Background technique [0002] With the increasing number of motor vehicles and drivers, frequent traffic accidents bring huge casualties and property losses every year. In order to effectively reduce the driver's driving burden, improve his driving ability, and reduce the occurrence of traffic accidents, researchers have developed a series of intelligent driving assistance systems such as adaptive cruise systems based on knowledge in multiple fields such as vehicle dynamics characteristics, control theory, and computer technology. system. [0003] The intelligent assisted driving system provides support and assistance for the driver, and has a close relationship with the driver. It should not only ensure reliability and safety, but its decision-making and control characteristics ...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 田彦涛陈华卢辉遒隋振洪伟赵凤凯
Owner JILIN UNIV