Microscopic Modeling For Connected Vehicles Traffic Flow

The deep integration of intelligence and connection is an important direction for the development of vehicles in the future.It also leads that the studies on connected vehicles(CVs)become the hot topic in intelligent transportation system(ITS)field.Meanwhile,how to demonstrate the evolution of CVs’ behavior is an important issue which needs to be solved immediately.This thesis focuses on the microscopic model of CVs traffic flow.On the one hand,considering that CVs can obtain the variety of information via vehicle-to-vehicle(V2V)and vehicle-to-infrastructure(V2I)communication technologies,two kinds of new traffic flow models have been developed.On the other hand,regarding the essential characteristics of connected environment,such as communication topology and communication delay,this thesis proposes a new CVs traffic flow model to describe the evolution of CVs’ behavior.Besides,the effects of the above two factors on the behavior and energy consumption of CVs traffic flow have been studied so that some theoretical basis can be provided for the development of ITS.The particular work of this thesis includes:(i)Regarding the influence of the dynamic information and non-lane-discipline road,this thesis proposes a car-following(CF)model by considering the electronic throttle opening angle and one-sided lateral gap under connected environment.The lane lines may be unclear under non-lane-discipline environment so that there is likely existing lateral gap between vehicles.Under connected environment,vehicles can not only obtain the motion state information of other vehicles via V2 V communication,but also receive the dynamic information and lateral gap from other vehicles via V2V/V2 I communication within communication range.This thesis proposes a car-following(CF)model by considering the electronic throttle opening angle and one-sided lateral gap under connected environment.Moreover,theoretical analysis and simulation experiments prove that the generality,stablity,smoothness and responsiveness of proposed model are better than those of the existing models.(ii)Related to the influence of the road geometry information and non-lanediscipline road,this thesis develops a CF model by considering the gradient and twosided lateral gaps under connected environment.Under connected environment,vehicles can obtain the gradient information via V2 I communication.Besides,considering the effects of two-sided lateral gaps,this thesis proposes a car-following(CF)model by incorporating the effects of gradient and two-sided lateral gaps under connected environment.Theoretical analysis shows a better generality for the proposed model by comparing with the existing CF models.Results from numerical experiments demonstrate that,with the increase of the slope,the stability region of the proposed model will be enlarged in uphill scenario,while it will be reduced in downhill scenario,respectively.Additionally,with the increase of the slope,the average space headway of the traffic flow will be decreased in uphill scenario,while it will be increased in downhill scenario,respectively.Meanwhile,the proposed model is effective to rapidly dissipate the effect of a perturbation such as a sudden acceleration or deceleration from the lead vehicle by incorporating the effects of two-sided lateral gaps.(iii)In the context of the effects of communication topology and communication delays,this thesis raises a new CF model under connected environment.CVs can share their information with each other by utilizing the advanced communication technology.However,it also raises some new problems,such as unstable communication connection and communication delay.Graph theory is used to characterize the communication topology between vehicles in this thesis.Then,a general CF model incorporating the heterogeneous time delays and different communication topologies is developed based on the topology characterization.The consensus condition of the proposed CF model is obtained by theoretical analysis.Extensive analyses related to time delays and communication topologies of the proposed CF model are conducted using simulation to verify the effectiveness with respect to stability,smoothness,responsiveness,and perturbation rejection.Meanwhile,this thesis proves that the communication connection and communication delay can impact the motion state of CVs traffic flow.(iv)Considering switching period of communication topologies and delays,this thesis studies the effects of these two factors on behavior and energy consumption of electric connected vehicles flow.Under connected environment,unreliable communication connections inevitably impact traffic flow.Combining current energy consumption(EC)problem,this thesis aims to assess the effects of switching period of communication topology and homogeneous/heterogeneous delay on the behavior and EC of electric vehicles(EVs)traffic flow considering the characteristics of CF theory in(iii).Simulation experiments prove that the dynamic performance with respect to the smoothness and responsiveness of the proposed model will be deteriorated,and the EVs will consume more energy in the context of the same conditions with the communication topology switching period decreasing or communication delay increasing.This thesis highlights the significance of reliable communication connection on EC of EVs with connected vehicle environment.The aforementioned Section(i)and(ii)discuss the effects of variety information on the stability performance and dynamic behavior of CVs traffic flow.While,Section(iii)and(iv)discuss the effects of communication topology,topology switching period and communication delay on the steady performance,dynamic behavior and EC of traffic flow.