Abstract:

How to assess the impact of external conditions such as road environment on the safety of Cooperative Adaptive Cruise Control（CACC） platoon driving is particularly important to ensure road traffic safety. So the vehicle-environment and co-simulation platform are established by combining Matlab/Simulink and CarSim in order to evaluate these impacts. The US NGSIM vehicle trajectory data are used to verify the controller of adjusted previewed driver model, acceleration control model, throttle control model and brake control model. The platform is used to simulate the impact of the three road environments of red-light state, tunnel driving and ramp driving on the driving status of cooperative adaptive cruise control vehicles. The results show that the platoon can smoothly pass the traffic lights at the intersection; the direction of the platoon is good when entering and leaving the tunnel in the safe speed range; the slope of the ramp mainly affects the acceleration and the distance between the vehicles. When the slope is 3% and 5% respectively, the platoon maintains stable vehicle gaps and still can drive safely.

Key words: traffic engineering, Cooperative Adaptive Cruise Control（CACC）, vehicle dynamics, Intelligent Driver Model（IDM）

摘要：

如何评估道路环境等外部条件变化对协同自适应巡航控制（Cooperative Adaptive Cruise Control，CACC）车队行驶安全性的影响，对于保障道路交通安全尤为重要。为此，结合Matlab/Simulink和CarSim搭建车辆-环境仿真平台研究道路环境对车队行驶安全性的影响。利用美国NGSIM车辆轨迹数据对平台采用的校正的预瞄驾驶员模型、加速度控制模型、节气门控制模型和制动器控制模型的控制器进行验证；利用平台开展红灯状态、隧道行驶和匝道行驶三种道路环境对车队行驶状态影响的仿真实验。仿真结果表明：车队可以顺利通过路口红绿灯；在安全车速范围内车队进出隧道口时方向控制良好；匝道坡度主要影响车辆加速度和车间距，坡度分别为3%和5%时，车队均保持稳定车间距安全行驶。

关键词: 交通工程, 协同自适应巡航控制（CACC）, 车辆动力学, 智能驾驶员模型（IDM）