道路几何设计对IDM模型跟驰行为的影响

考虑道路几何设计参数转弯半径、超高、坡度对车辆跟驰行为的影响,对车辆跟驰智能驾驶员模型(IDM)进行了改进.结合二自由度车辆动力学模型,利用Matlab/Simulink建立改进后的跟驰模型并进行仿真.仿真分析发现:在具有转弯、超高和坡度的道路上,改进后的模型,其跟驰车辆车头时距增大,行驶速度减小,保证了车辆行驶的安全性;车辆横摆角速度和侧向速度随半径和超高的增加而减小,保证了汽车操纵稳定性.结果表明,改进后的模型能够更准确地描述道路几何设计对车辆跟驰行为的影响.

Influence of Road Geometrics on Car-following of the Intelligent Driver Model

An improvement of Intelligent Drive Model (IDM) considering the influence of road geometrics (slope, curve and superelevation) on car-following is established. Combining the two degree freedom vehicle dynamics model, the car-following simulation of the improved IDM is carried out by using Matlab/Simulink. The simulation results show that the improved IDM following car’s headway increases and speed decreases in the road with turning, super-elevation and some certain downhill or uphill gradient, which ensures the carfollowing safety. It is also found that the yaw rate and lateral velocity decrease with superelevation and radius increasing at certain gradients, which ensures the handling stability of the following car. The research results indicate that the modified IDM can more precisely response to the influence of gradients, radius and super-elevation than non-modified IDM.