论文标题

自动化车辆的基于弹簧剂的基于抑制的逻辑

A Spring-Mass-Damper-Based Platooning Logic for Automated Vehicles

论文作者

Mirbakhsh, Ardeshir, Lee, Joyoung, Besenski, Dejan

论文摘要

本文应用了基于物理的模型来控制商业交通模拟软件中的排队AVS。在弹簧质合体模型中,每辆车都被假定为质量,并带有弹簧和阻尼器的先前车辆:弹簧常数和阻尼器系数控制间距和车辆之间的速度采用。将面向排的沟通范围和每个排中的车辆数量的限制应用于模型,以反映现实世界中的情况并避免过度加长排。 SMD模型控制着平台内和平台间相互作用。对模型的初步评估表明,在严酷的减速场景中,SMD模型不会导致AVS之间的负间距误差,从而确保安全性。除此之外,SMD模型比VISSIM内置的编排模块产生的正平均间距误差较小,这防止了最大的吞吐量下降。常规高速公路部分的仿真结果表明,拟议的排成算法将最大吞吐量提高10%,29%和63%,低于10%,50%和全市渗透率,并以0.5秒的响应时间增加了AVS的全市渗透率。在主体部分和合并部分的合并部分以及AVS的不同市场渗透率上,还具有不同的量组合,以测试平台间间距政策在适应合并车辆方面的有效性。在Mainlane上的AV较低MPR和相应地合并车道下,缩短了20%和4%的行进时间。同时,在较高的AVS的MPR中,在主线和合并车道以及所有体积组合下都观察到更明显的旅行时间。

This paper applies a classical physics-based model to control platooning AVs in a commercial traffic simulation software. In Spring-Mass-Damper model, each vehicle is assumed as a mass coupled with its preceding vehicle with a spring and a damper: the spring constant and damper coefficient control spacing and speed adoption between vehicles. Limitations on platooning-oriented communication range and number of vehicles in each platoon are applied to the model to reflect real-world circumstances and avoid overlengthened platoons. The SMD model control both intra-platoon and inter-platoon interactions. Initial evaluation of the model reveals that the SMD model does not cause a negative spacing error between AVs in a harsh deceleration scenario, guaranteeing safety. Besides that, the SMD model produces a smaller positive average spacing error than VISSIM built-in platooning module, which prevents maximum throughput drop. The simulation result for a regular highway section reveals that the proposed platooning algorithm increases the maximum throughput by 10%, 29%, and 63% under 10%, 50%, and full market penetration rate of AVs with 0.5 sec response time. A merging section with different volume combinations on the main section and merging section and different market penetration rates of AVs is also modeled to test inter-platoon spacing policy effectiveness in accommodating merging vehicles. Travel time reductions of 20% and 4% are gained under low MPR of AVs on the mainlane and merging lane accordingly. Meanwhile, a more noticeable travel time reduction is observed in both mainline and merging lanes and under all volume combinations in higher AVs' MPR.

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