A Driver Car-Following Model Considering Reaction 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's car-following
Active Publication Date: 2021-04-20
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, in particular to a car-following model of a driver considering reaction lag time. The purpose of the present invention is to realize the control of the longitudinal speed of the car through the driver model, and truly reflect the following characteristics and reaction hysteresis characteristics of the driver in the process of following the car. In the present invention, the distance between vehicles, the speed of the vehicle in front, and the speed of the vehicle in front are used as model input variables, and the expected acceleration after a certain time delay is used as the output of the model. A time-varying parameter, the model is used in real-life or traffic simulations for longitudinal velocity control during car following. The driver model established by the invention has a simple structure, can not only reflect the following characteristics of the driver in the process of following the car, but also can reflect the lagging characteristics of the driver's response, and has higher authenticity compared with the existing traditional models.
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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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