设置自动驾驶小客车专用车道的六车道高速公路交通流特性

doi:10.13229/j.cnki.jdxbgxb.20211007

摘要/Abstract

摘要：

为解决未来高速公路上自动驾驶小客车（AC）、人类驾驶小客车和人类驾驶大货车混行所带来的安全和效率问题，研究了在六车道高速公路上设置AC专用车道的方法及其对交通流的影响。提出了内侧式AC专用车道的隔离方式和出入口布设方法。基于VISSIM建立了包含入口和出口匝道的高速公路模型、车辆模型和驾驶行为模型，高速公路设计速度取120 km/h，货车混入率取0.2。通过模拟实验，研究了设置内侧式AC专用车道后AC渗透率和AC安全车头时距对交通流特性的影响，探讨了AC专用车道对各车型和各车道运行的影响。结果表明：AC渗透率对交通流特性的影响是显著的和非线性的，存在一个最优AC渗透率，使设置了AC专用车道的高速公路具有最大的通行能力、临界密度和平均速度；AC安全车头时距对交通流特性的影响是非线性的，AC安全车头时距越小，对高速公路通行能力的改善效果越显著；AC渗透率对各车型和各车道的流量和平均速度都有显著影响，对AC流量和内侧车道流量的影响最大。

关键词: 道路工程, 高速公路, 自动驾驶小客车, 专用车道, 交通流, 渗透率, 安全车头时距

Abstract:

In order to solve the safety and efficiency problems caused by the mixed operation of automatic cars （AC）， human-driving cars and human-driving trucks on freeways in the future， the method of setting an AC dedicated lane on six-lane freeways and its impact on traffic flow are studied. The separation mode and the entrances and exits layout method for inside AC dedicated lane are proposed. The models of vehicles， driving behaviors and freeway sections with entrance and exit ramps are established based on VISSIM. Through simulation experiments in which the freeway design speed is 120 km/h and the truck ratio is 0.2， the effects of AC penetration rate and AC safe headway on traffic flow characteristics after setting an AC dedicated lane are studied， and the effects of the AC dedicated lane on the operation of each vehicle type and each lane are discussed. The results show that the influence of AC penetration rate on traffic flow characteristics is significant and nonlinear； There is an optimal AC penetration rate， which can maximize the capacity， critical density and average speed of the freeway with an AC dedicated lane； The influence of AC safe headway on traffic flow characteristics is nonlinear； The smaller the AC safe headway， the more significant the improvement effect on freeway capacity； The AC penetration rate has significant impacts on the flow rate and average speed of each vehicle type and each lane， especially on the flow rate of AC and inside lane.

Key words: road engineering, freeway, automatic car, dedicated lane, traffic flow, penetration rate, safe headway

中图分类号:

U412

杨柳,王创业,王梦言,程阳. 设置自动驾驶小客车专用车道的六车道高速公路交通流特性[J]. 吉林大学学报(工学版), 2023, 53(7): 2043-2052.

Liu YANG,Chuang-ye WANG,Meng-yan WANG,Yang CHENG. Traffic flow characteristics of six⁃lane freeways with a dedicated lane for automatic cars[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(7): 2043-2052.

图/表 12

图1

图2

图3

表1

表2

AC专用车道跟驰模型参数取值"

参数	数值	参数	数值
$s 0 (α) / m$	2.0	$α (α) / (m ? s - 2)$	4.00
$s 1 (α) / m$	0.0	$v 0 ? / (m ? s - 1)$	33.33
$T / s$	1.5	$b (α) / (m ? s - 2)$	2.00

表2

表3

HV车道跟驰模型参数说明和标定"

参数	名称	合理区间	标定值
$C C 0$ /m	停车时的平均期望车辆间距	0.5~2.5	2
$C C 1$ /s	期望保持的车头时距	0.7~2	1.5
$C C 2$ /m	跟车变量	2~8	4
$C C 3$	进入跟驰状态的阈值	-10~-2	-4
$C C 4$	跟车状态的阈值1	0.05~2	0.35
$C C 5$	跟车状态的阈值2	0.05~2	2
$C C 6$	车速震动	0~20	11.44
$C C 7$ /（m·s^-2）	震动加速度	0~2	0.25
$C C 8$ /（m·s^-2）	停车加速度	2~3.5	3.5
$C C 9$ /（m·s^-2）	80 km/h时的加速度	0.5~2	1.5

表3

表4

表5

图4

图5

图6

图7

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车辆类型	车辆尺寸（长×宽）/ （m×m）	最大速度/ （km·h^-1）	加速度/（m·s^-2）		减速度/（m·s^-2）
车辆类型	车辆尺寸（长×宽）/ （m×m）	最大速度/ （km·h^-1）	最大	期望	最大	期望
AC	6×1.8	120	3.0	1.0	4.5	2.5
HC	6×1.8	120	3.0	1.0	4.5	2.5
HT	18.1×2.55	80	0.6	0.3	3.0	1.0

车道变换参数	前车	后车
最大减速度/（m·s^-2）	-4	-3
增加-1 m/s²加速度需要的距离/m	300	200
可接受的减速度/（m·s^-2）	-1	-0.5
消散前的等待时间/s	9999
最小车头距离（前/后）/m	0.5
在慢速车道上超车所需的最小时间间隔/s	0
安全距离折减系数	0.6
协调刹车的最大减速度/（m·s^-2）	-3