合流区竞争与协作换道判定方法与特性研究

为提高换道模型的精确性，基于接受间距、车头时距和碰撞时间三指标构建了竞争与协作换道行为的定量判定方法。首先，系统阐述了该方法的实施过程；然后，基于快速路合流区的车辆运行轨迹数据，通过实验验证了该方法的适用性；最后，对道路资源有限条件下的竞争与协作换道行为特性进行了统计分析，着重探讨了接受间距与相对速度关系、换道时间、后随车最大速度变化和加加速度等外显特征，并得到了不同接受间距下的竞争与协作换道概率。研究表明：所提竞争与协作行为的判定方法，能有效识别复杂环境中的换道行为类型；竞争与协作换道的接受间距均服从正态分布，在间距小于8m时，竞争换道发生概率随间距增大而增大，之后则随间距增大而减小；间距大于20m时，协作换道概率达到92.4%，竞争换道概率小于10%。

Identification Method and Behavior Characteristics of Competitive/Cooperative Lane Changing in Expressway Weaving Area

In order to improve the accuracy of lane changing model, a quantitative method of identifying competitive/cooperative (C/C) lane changing behaviors was proposed according to acceptance gap, headway time and time-to-collision (TTC). Firstly, the process of this method was described systematically; Secondly, the application of the method was verified by experiment based on vehicle trajectory data at expressway weaving area; Finally, explicit characteristics of C/C behaviors, such as the relationship between acceptance gap and relative velocity, trans-line ride(TLR) time, maximum velocity variation and jerk of lag vehicle were analyzed, and C/C lane changing probabilities under different acceptance gaps were also obtained. The research results show that the proposed method can effectively identify C/C lane changing behaviors in complex environment. Acceptance gaps of C/C lane changing behaviors follow normal distribution. The probability of competitive lane changing increases with the increase of gap when it is less than 8 meters. When the gap is over 8 meters, it decreases with the increase of gap. When the gap is more than 20 meters, the probability of cooperative lane changing reaches to 92.4% while the probability of competitive lane changing is less than 10%.