Modeling And Dynamic Characteristics Of Connected And Automated Traffic Flow Based On Multi-Agent

With the process of urbanization and the rapid growth of vehicle ownership,urban congestion and the shortage of road resources have become increasingly serious social problems.The connected and automated vehicles(CAVs)in the intelligent network environment can effectively improve the transportation condition,and even completely change the traffic state,through their own high-precision detection and positioning,efficient control decision and rapid underlying response system.This paper starts with the simulation design of CAVs based on partial modularization.Through theoretical analysis,experimental data and simulation verification,the multi-agent model of CAVs is established,and the stability analyses method of CAVs under different states are proposed.In this paper,starting with the design of local modules of CAVs,different topology logic designs of CAV platoon under communicating environment based on consensus algorithm are proposed,and the communication schemes of multiple-predecessorleader-following mode and multiple-predecessor-leader-following mode are established.Then based on the classical control theory of linear time-invariant systems analysis of transfer function method,adaptive cruise control(ACC)system and cooperative adaptive cruise control(CACC)system are modeled,and then give the underlying response delay model,established the method of building CAV model based on multi-agent and four kinds of mode conversion process.Then,the local stability and string stability of CAVs of the four modes(MPLF、MPF、PF(CACC)and ACC control system)are analyzed theoretically,and the time delay parameters were verified by the real vehicle experiments.Finally,the stability results of theoretical analysis are verified by linear simulation model and nonlinear simulation model respectively,and the stability consistency between analysis and simulation is compared.