针对变道行为的ACC系统上层速度控制模型仿真

通过汽车制动性能测试仿真试验验证了ACC系统上层速度IDM控制模型的不足,对比分析了改进的IDM控制模型(IIDM)的优点。针对变道插入行为引起后车不必要的紧急刹车行为,基于CAH模型的假设,建立结合IIDM模型和CAH模型的ACC系统上层速度控制模型并进行特定工况下的仿真试验。仿真结果表明：建立的ACC系统上层速度控制模型不仅保留了IIDM和CAH模型的优点,还具有自身的特点。当不切实际的制动减速行为发生时,ACC系统IIDM模型和CAH模型的制动减速度应在aCAH-b和aCAH之间；对于较小的车间距离,制动减速度则会适当增大,可以避免危险的发生。

Establishment and Simulation of Upper Speed Control Model of ACC System for Diversion Behavior

: The deficiency of IDM control model for upper speed of ACC system was verified by simulation test of vehicle braking performance, and the advantages of improved IDM control model (IIDM) were compared and analyzed. Aiming at the unnecessary emergency braking behavior caused by diversion insertion, based on the hypothesis of CAH model, the upper speed control model of ACC system, which combines IIDM model and CAH model, was established and simulated under specific conditions. The simulation results show that the upper speed control model of ACC system not only retains the advantages of IIDM and CAH models, but also has its own characteristics. When unrealistic braking deceleration occurs, the braking deceleration of the IIDM and CAH models of ACC system should be between aCAH-b and aCAH; for smaller distance between vehicles, the braking deceleration will increase appropriately, which can avoid dangerous occurrence.