智能网联混合交通流稳定性解析方法综述

蒋阳升; 顾秋凡; 姚志洪

doi:10.3969/j.issn.0258-2724.20210560

智能网联混合交通流稳定性解析方法综述

doi: 10.3969/j.issn.0258-2724.20210560

蒋阳升^{1, 2, 3,},
顾秋凡^{1, 2,},
姚志洪^{1, 2, 3,}

1.
西南交通大学交通运输与物流学院，四川成都 610031
2.
西南交通大学综合交通大数据应用技术国家工程实验室，四川成都 611756
3.
西南交通大学综合交通运输智能化国家地方联合工程实验室，四川成都 611756

基金项目: 国家自然科学基金（52002339）；四川省科技计划（2022YFG0152，2021YJ0535，2020YFH0026 ）；广西科技计划（2021AA01007AA）；中央高校基本科研业务费专项资金（2682021CX058）

详细信息

作者简介:
蒋阳升（1975—），男，教授，博士生导师，研究方向为交通系统建模与优化，E-mail：jiangyangsheng@swjtu.cn

中图分类号: U495
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- 被引次数: 0
出版历程
- 收稿日期: 2021-07-09
- 修回日期: 2022-01-22
- 网络出版日期: 2022-09-01
- 刊出日期: 2022-03-31

Review of Stability Analysis Method for Mixed Traffic Flow with Connected Automated Vehicles

JIANG Yangsheng^{1, 2, 3
,},
GU Qiufan^{1, 2
,},
YAO Zhihong^{1, 2, 3
,}

1.
School of Transportation and Logistics, Southwest Jiaotong University, Chengdu 610031, China
2.
National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu 611756, China
3.
National United Engineering Laboratory of Integrated and Intelligent Transportation, Southwest Jiaotong University, Chengdu 611756, China

摘要

摘要:
交通流稳定性分析是研究交通拥堵形成机理、车队队列控制的基础，面向智能网联环境下的混合交通流队列线性稳定性分析已成为近年来的研究热点. 根据受到的扰动大小和范围，介绍了线性稳定性、非线性稳定性、局部稳定性和队列稳定性的相关概念，并指出了交通流队列稳定性的基本判别准则. 基于控制理论，回顾了交通流车队队列线性稳定性条件的经典解析方法，其中，特征方程法评估了交通流内部扰动的增长速度，传递函数法依托于拉普拉斯变换构建了扰动的传递关系. 从经典跟驰模型、考虑时延的跟驰模型和考虑多前车驾驶信息反馈的跟驰模型出发，系统分析并总结了国内外学者对于混合交通流稳定性问题的研究现状，同时回顾了交通流稳定性理论研究在车队队列控制等方面的实验和工程应用. 最后，展望了混合交通流稳定性分析领域的研究前景，指出了在后车跟驰行为、智能网联汽车的交互协同、复杂混合交通流等几个方面是今后需要重点研究的领域.
- 智能网联汽车 /
- 混合交通流 /
- 队列稳定性 /
- 跟驰模型 /
- 控制理论
Abstract:
Traffic flow stability analysis is the basis for studying the formation mechanism of congestion and platoon control. Linear string stability analysis on mixed traffic flow in connected automated vehicle environment has become a research hotspot in recent years. According to the size and scope of the perturbation, the concepts of linear stability, nonlinear stability, local stability and string stability are introduced respectively. The basic criterion for judging string stability of traffic flow is noted. Based on control theory, the classical analytical methods for the linear string stability condition of traffic flow are reviewed: eigenvalue equation method, which evaluates the growth rate of perturbation in the traffic flow, and the transfer function method, which builds the perturbation transfer relation based on Laplace transform. Then the basic car-following model, the time-delayed car-following model and the multi-anticipative car-following model are introduced. The research on mixed traffic flow stability in China and abroad is systematically analyzed and summarized. The experiments and engineering applications of stability theory in platoon control and other aspects are reviewed. The research prospects are proposed for rear car-following behavior, interaction of connected automated vehicles and complex mixed traffic flow.
- connected automated vehicle /
- mixed traffic flow /
- string stability /
- car-following model /
- control theory

HTML全文

图 1 车辆跟驰运动示意

Figure 1. Schematic of car-following motion

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图 2 速度扰动传递函数

Figure 2. Transfer function of velocity disturbance

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图 3 经典跟驰模型下的稳定性

Figure 3. Stability of basic car-following model

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图 4 多车交互跟驰运动示意

Figure 4. Schematic of multivehicle interactive car-following motion

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表 1 智能网联环境下的混合交通流稳定性分析文献总结

Table 1. Literature review on stability analysis for mixed traffic flow with connected automated vehicles

跟驰模型	文献	车辆类型	主要研究方法
经典跟驰模型	[43]	ACC + HDV	李雅普诺夫稳定性条件
	[44]	低带宽 + 中带宽 + 高带宽车辆	传递函数法
	[45]	ACC + CACC	特征方程法
	[46]	CACC + ACC + HDV	Ward混合交通流稳定性条件转化为一元二次方程，研究其特性
	[47]	CACC + ACC + HDV	传递函数法
	[48]	CAV + HDV	特征方程法
	[49]	CAV + HDV	特征方程法
考虑时延的跟驰模型	[50]	常规车辆 + 半自动车辆	传递函数法
	[51]	HDV + AV	特征方程法
	[34]	CAV + HDV	特征方程法
	[52]	CAV + HDV	特征方程法
	[53]	CAV + DCAV + HDV	特征方程法
	[54]	CAV + HDV	传递函数法
	[55]	CAV + HDV	传递函数法
	[56]	CACC + ACC + HDV	传递函数法
考虑多前车驾驶信息反馈的跟驰模型	[57]	CAV + HDV	特征方程法
	[58]	CV + HDV	特征方程法
	[59]	CCC + HDV	传递函数法
	[60]	CCC + HDV	传递函数法
	[61]	CAV + HDV	特征方程法
	[62]	CAV + HDV	传递函数法
	[63]	CAV + HDV	传递函数法
	[64]	CAV + HDV	传递函数法
	[65]	CAV + HDV	传递函数法
	[66]	CAV + HDV	队列稳定性定义
注：AV (autonomous vehicle)为自动驾驶车辆；CV (connected vehicle)为网联人工驾驶车辆；CCC (connected cruise control)为连通巡航控制车辆.

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