Data-driven analysis for disturbance amplification in car-following behavior of automated vehicles
Data-driven analysis for disturbance amplification in car-following behavior of automated vehicles
复制标题
自动车辆跟车行为干扰放大的数据驱动分析
DOI：
10.1016/j.trb.2023.05.005
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Jafarsalehi, Ghazaleh
中科院分区：
文献类型：
--
作者：
Zhou, Yang;Zhong, Xinzhi;Chen, Qian;Ahn, Soyoung;Jiang, Jiwan;Jafarsalehi, Ghazaleh
本文提出了一个数据驱动的框架，定量分析的干扰放大行为的自动车辆跟驰（CF）。基于经验频率响应函数（FRF）的概念，数据驱动的框架可以应用于未知的CF控制器。具体而言，一个众所周知的信号处理方法，韦尔奇的方法，连同一个短时间傅立叶变换的开发提取经验传递函数从车辆轨迹。该方法首先假设具有时不变CF控制特征（例如，控制增益），后来扩展到捕捉时变特征。所提出的方法进行评估，估计consistenciesvidethetic数据为基础的模拟。评估包括线性时不变控制器，非线性控制器和线性时变控制器的线性逼近精度的性能。结果表明，我们的框架可以提供合理的一致性的结果作为理论方面的扰动放大。此外，它可以执行比线性理论分析的干扰放大，特别是当CF行为的非线性存在。该方法适用于现有的现场数据收集的车辆与自适应巡航控制（ACC）在市场上。研究结果表明，所有测试车辆都倾向于放大干扰，特别是在低频（<0.5 Hz）。此外，结果表明，这些ACC车辆表现出随时间变化的功能，在扰动放大率取决于领先的车辆轨迹。
This paper presents a data-driven framework to quantitatively analyze the disturbance amplification behavior of automated vehicles in car-following (CF). The data-driven framework can be applied to unknown CF controllers based on the concept of empirical frequency response function (FRF). Specifically, a well-known signal processing method, Welch's method, together with a short time Fourier transformation is developed to extract the empirical transfer functions from vehicle trajectories. The method is first developed assuming a generic linear controller with time-invariantCF control features (e.g., control gains) and later extended to capture time-variantfeatures. The proposed methods are evaluated for estimation consistenciesviasynthetic data-based simulations. The evaluation includes the performances of the linear approximation accuracy for a linear time-invariant controller, a nonlinear controller, and a linear time-variant controller. Results indicate that our framework can provide reasonably consistent results as theoretical ones in terms of disturbance amplification. Further it can perform better than a linear theoretical analysis of disturbance amplification, particularly when nonlinearity in CF behavior is present. The methods are applied to existing field data collected from vehicles with adaptive cruise control (ACC) on the market. Findings reveal that all tested vehicles tend to amplify disturbances, particularly in low frequency (< 0.5 Hz). Further, the results demonstrate that these ACC vehicles exhibit time-varying features in terms of disturbance amplification ratio depending on the leading vehicle trajectories.