智能驾驶员模型及稳定性分析IntelligentDriverModelandItsLinear.PDF

智能驾驶员模型及稳定性分析 陈喜群，杨新苗，史其信，秦旭彦 （清华大学交通研究所，北京，100084） 摘要：本文在智能驾驶员模型 (Intelligent Diver Model, IDM) 的基础上，提出了一种考虑前方多车影响的一般化车辆 跟驰模型，利用多辆前车信息以提高交通流的稳定性，考虑 辆前车与本车的速度差、 辆前车相邻两车的间距信息， 并加入了非线性权重指标的影响，通过线性稳定性理论分析，得到了新模型的一般化稳定条件。结果表明，交通流 的稳定区域随着驾驶员反应延迟的减小以及多车信息的作用而明显增大，说明多辆前车的速度差和间距信息在交通 流的演化过程可以起到致稳的作用，模型能有效地抑制交通堵塞。 关键词：交通流，跟车模型，智能驾驶员模型，线性稳定性 Intelligent Driver Model and Its Linear Stability Analysis Chen Xiqun, Yang Xinmiao, Qin Xuyan, Shi Qixin Institute of Transportation Engineering, Tsinghua University, Beijing, 100084 Abstract: This paper proposes an extended multi-anticipative car-following model based on the intelligent driver model (IDM), it increases the traffic flow stability by utilizing the information of several preceding vehicles, including the velocity differences of P preceding vehicles with the subject vehicle, and the distance gaps of Q preceding vehicles with the subject vehicle. The model takes into account the influence of the nonlinear weighted parameters, and thus obtains the general stable criteria by linear stability theory. The theoretical results indicate that the stable region increases obviously with the reduction of drivers’reaction delays and more information of multi-anticipative behaviors, which accounts for the increasing effects of stability induced by the velocity differences and the distance gaps of multi preceding vehicles in the process of traffic flow evolution, this model is further capable of suppressing traffic congestion. Keywords: traffic flow, car-following, intelligent driver model (IDM), linear stability 1 1 前言 目前，随着城市经济的发展，交通拥堵的影响日益加剧，在交通安全、城市环境等方面都造成 了极大的负面作用，因而交通拥堵问题已成为交通领域研究的热点问题。交通拥堵问题可以看作是 一种交通相变和交通流不稳定的现象，交通流稳定性的分析是研究交通拥堵现象的重要理论工具之 一。稳定性可分为局部稳定 (local sta