Car-following behavior characteristics of adaptive cruise control vehicles based on empirical experiments
Car-following behavior characteristics of adaptive cruise control vehicles based on empirical experiments
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DOI：
10.1016/j.trb.2021.03.003
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发表时间：
2021-05
影响因子：
6.8
通讯作者：
Tienan Li;Danjue Chen;Hao Zhou;Jorge A. Laval;Yuanchang Xie
中科院分区：
文献类型：
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作者：
Tienan Li;Danjue Chen;Hao Zhou;Jorge A. Laval;Yuanchang Xie
新兴的自动驾驶汽车（AV）技术在全球范围内得到越来越多的应用，交通运输格局发生巨大变化只是时间问题。不幸的是，由于缺乏经验数据，这些变化无法很好地预测。但自适应巡航控制（ACC）车辆在市场上很常见，可以用来填补这一空白。本文旨在表征商用ACC系统的经验跟车行为，了解ACC在不同条件下的行为及其潜在的影响机制。研究发现，对于单个ACC：(1) ACC响应时间与人类驾驶员相当，但远大于ACC控制器的时间间隔，且方差较小；(2)ACC响应可以放大或抑制振荡；(3)振荡后，稳定化过程可能出现过冲或过冲；(4)这些CF行为主要取决于ACC车头距设置、速度水平和前导刺激。通过早期ACC行为的中介直接和/或间接产生影响。对于三辆车的队列，我们的主要发现是从一辆ACC车辆到下一辆的变化对于振荡增长是渐进的，对于减速、加速和超冲是递减的。这意味着，在长队列中，振荡幅度往往会非常迅速地加剧，这迫使ACC车辆在更远的上游应用非常强的制动，然后是强烈的加速。这可能会导致严重的超调和安全隐患。
Emerging automated vehicle (AV) technologies are increasingly being deployed around the world and it is only a matter of time before the transportation landscape changes dramatically. Unfortunately, those changes cannot be well predicted due to the lack of empirical data. But adaptive cruise control (ACC) vehicles are common in the market and can be used to fill this gap. In this paper, we aim to characterize the empirical car-following behaviors of a commercial ACC system and understand how ACC behaves in different conditions and the underlying impact mechanism. It is found that for a single ACC: (i) the ACC response time is comparable to human drivers but much larger than the ACC controller time gap and it exhibits small variance, (ii) the ACC response can amplify or dampen an oscillation, (iii) after the oscillation, the stabilization process can exhibit overshooting or undershooting, and (iv) these CF behaviors depend largely on the ACC headway setting, speed level, and leader stimulus, which produce the impacts directly and/or indirectly through the mediation of earlier ACC behaviors. For a three-vehicle platoon, our main finding is that the change from one ACC vehicle to the next is progressive for oscillation growth, and regressive for deceleration, acceleration, and overshooting. This implies that in long platoons, oscillation amplitude tends to exacerbate very quickly, which forces ACC vehicles further upstream to apply very strong braking followed by a strong acceleration. This can cause significant overshooting and safety hazards.