考虑多前车反馈的智能网联车辆跟驰模型

基于智能网联车辆(Connected Autonomous Vehicle, CAV)跟驰特性，本文研究CAV跟驰模型.考虑多前车电子节气门角度反馈，构建CAV跟驰模型，并应用稳定性分析方法，推导所提模型稳定性判别条件.以考虑3辆前导车的CAV跟驰模型为例，设计数值仿真实验，分析不同CAV比例时混合交通流的安全性.模型稳定性分析表明：所提模型相比已有模型(CAV的T-FVD模型及常规车辆FVD模型)具备更优的稳定域，且考虑前车数量越多、多前车反馈权重系数越大，所提模型的稳定性越好；相同取值条件下，距离越远处的前车反馈权重系数对所提模型稳定性的影响越大.数值仿真表明，CAV有利于降低交通流的车辆尾部碰撞安全风险.

Car-following Model of Connected and Autonomous Vehicles Considering Multiple Feedbacks

Based on the car-following characteristic of connected autonomous vehicles (CAV), the CAV carfollowing model is studied. By considering electronic throttle angle feedbacks from multiple preceding vehicles, this paper proposes CAV’s car-following model. Then, stability analysis method is used to derive stability condition for the proposed model. Taking three-head vehicles into consideration, the numerical simulations are performed to study the safety of mixed traffic flow under different CAV rates. Stability analysis shows that the presented CAV model has better stability regions than the previous models (T-FVD model of CAV and FVD model of regular vehicles). In addition, the proposed CAV car-following model is more stable, with the increase of the number of preceding vehicles and the corresponding feedback weight coefficients. Moreover, the feedback weight coefficient of a preceding vehicle has greater effect on stability, if this vehicle is farther away. Besides, simulations indicate that CAV can reduce rear-end collision risks of traffic flow.