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CN111968372B - Multi-vehicle type mixed traffic following behavior simulation method considering subjective factors - Google Patents

Multi-vehicle type mixed traffic following behavior simulation method considering subjective factors Download PDF

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CN111968372B
CN111968372B CN202010864385.1A CN202010864385A CN111968372B CN 111968372 B CN111968372 B CN 111968372B CN 202010864385 A CN202010864385 A CN 202010864385A CN 111968372 B CN111968372 B CN 111968372B
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CN111968372A (en
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孙棣华
赵敏
张驰
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Chongqing University
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    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract

The invention discloses a multi-vehicle type mixed traffic following behavior simulation method considering subjective factors, which is characterized in that the theoretical safe driving following distance between a leading vehicle and a following vehicle is corrected based on vehicle type differences to obtain the safe driving following distance considering vehicle type factors; based on the style of a following vehicle driver, correcting the safe driving following distance considering vehicle type factors to obtain a psychological safe driving following distance; acquiring the speed of the following vehicle in the next step based on the relative distance between the following vehicle and the leading vehicle, the psychological safety following distance and the relationship between the speed of the following vehicle and the expected speed of the driver; the styles are the sensitivity coefficient and the risk coefficient of the driver. The invention utilizes the relative distance between the front guide vehicle and the following vehicle and the psychological safety following distance to judge and calculate the longitudinal speed of the following vehicle at the next moment, thereby realizing the accurate depiction of the following behavior under the condition of mixed traffic of multiple vehicle types. The model can describe the following behaviors of different vehicle types and different driver styles, and provides reference for the management of multi-vehicle type mixed traffic.

Description

一种考虑主观因素的多车型混合交通跟驰行为仿真方法A simulation method for multi-vehicle mixed traffic following behavior considering subjective factors

技术领域technical field

本发明涉及智能交通信息技术领域，具体的，涉及一种考虑主观因素的多车型混合交通跟驰行为仿真方法。The invention relates to the technical field of intelligent traffic information, in particular to a method for simulating the following behavior of multi-vehicle mixed traffic in consideration of subjective factors.

背景技术Background technique

货运车辆由于体积大、性能差等特点，与其它快速车辆混行时，极易导致交通通行效率显著降低。随着近年来国内经济的迅猛发展，货运车辆数量的不断增加，低速货车影响快速路通行效率的现象日益严重。考虑车型差异对不同风格驾驶员的驾驶行为影响，重现多车型混合交通的跟驰行为，将有利于交通管理部门合理的进行交通管控，提高多车型混合交通的通行效率。Due to the characteristics of large size and poor performance, freight vehicles can easily lead to a significant reduction in traffic efficiency when they are mixed with other fast vehicles. With the rapid development of the domestic economy in recent years, the number of freight vehicles continues to increase, and the phenomenon of low-speed freight vehicles affecting the efficiency of expressway traffic has become increasingly serious. Considering the influence of vehicle model differences on the driving behavior of drivers of different styles, reproducing the following behavior of multi-model mixed traffic will help the traffic management department to reasonably carry out traffic control and improve the traffic efficiency of multi-model mixed traffic.

然而现有的跟驰模型并未考虑车型差异对不同风格驾驶员的影响，这使得现有跟驰模型对多车型混合交通环境下的跟驰行为刻画较差。实际数据表明，在小型客车与大型货车组成的混合交通中，前导车车型会对驾驶员造成影响，当前导车为大型货车时，驾驶员会更加考虑安全因素，扩大跟车时距；同时该影响的大小与因人而异，这种主观层面影响为刻画多车型混合交通环境下的跟驰行为增大了难度。现有的跟驰模型主要考虑前后车加速度与速度之间的关系，对跟驰行为的刻画在上述混合交通环境下与实际不符。However, the existing car-following models do not consider the influence of vehicle model differences on drivers of different styles, which makes the existing car-following models poorly describe the car-following behavior in multi-model mixed traffic environments. Actual data show that in the mixed traffic composed of small passenger cars and large trucks, the type of the leading vehicle will affect the driver. When the leading vehicle is a large truck, the driver will consider safety factors more and expand the following time distance; The magnitude of the impact varies from person to person, and this subjective impact makes it more difficult to describe the car-following behavior in a multi-vehicle mixed traffic environment. The existing car-following models mainly consider the relationship between the acceleration and speed of the front and rear vehicles, and the description of the car-following behavior is inconsistent with the actual situation in the above mixed traffic environment.

专利CN 106407563 A提供了一种基于驾驶类型和前车加速度信息的跟驰模型生成方法，利用聚类数据挖掘的方法，根据实际数据进行司机驾驶风格的划分，在全速度差模型的基础上引入个人预期效应，并进一步考虑了前车加速度信息对跟驰行为的影响，得到车辆跟驰模型。但是该方法未考虑前导车车型对后车驾驶员造成的影响，对多车型混合交通条件下的跟驰行为描述效果不佳。在其余的文献研究中也没有考虑前导车车型对后车驾驶员跟驰行为的影响，而仅考虑驾驶员风格导致的跟驰行为变化，对多车型混合交通条件下的跟驰行为描述效果较差。Patent CN 106407563 A provides a method for generating a car-following model based on driving type and acceleration information of the preceding vehicle. The method of clustering data mining is used to divide the driver's driving style according to actual data. Personal expectation effect, and further consider the impact of the acceleration information of the preceding vehicle on the following behavior, the vehicle following model is obtained. However, this method does not consider the influence of the leading vehicle type on the driver of the following vehicle, and is not effective in describing the car-following behavior under mixed traffic conditions of multiple vehicles. In the rest of the literature studies, the influence of the leading vehicle type on the following driver's car-following behavior was not considered, but only the change of the car-following behavior caused by the driver's style was considered, which was more effective in describing the car-following behavior under mixed traffic conditions of multiple vehicles. Difference.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明的目的是提供一种考虑主观因素的多车型混合交通跟驰行为仿真方法，可描述不同车型以及不同驾驶员风格下的跟驰行为，为多车型混合交通的管理提供参考。In view of this, the purpose of the present invention is to provide a multi-model mixed traffic-following behavior simulation method considering subjective factors, which can describe the car-following behavior of different models and different driver styles, and provide a reference for the management of multi-model mixed traffic. .

本发明的目的是通过以下技术方案实现的：The purpose of this invention is to realize through the following technical solutions:

一种考虑主观因素的多车型混合交通跟驰行为仿真方法，A simulation method for multi-vehicle mixed traffic following behavior considering subjective factors,

基于车型差异，修正前导车与跟驰车的理论安全行驶跟驰距离，得到考虑车型因素的安全行驶跟驰距离；Based on the difference of vehicle types, correct the theoretical safe driving following distance between the leading car and the following vehicle, and obtain the safe driving following distance considering the factors of the vehicle type;

基于跟驰车驾驶员的风格，修正考虑车型因素的安全行驶跟驰距离，得到心理安全行驶跟驰距离；Based on the style of the car-following driver, correct the safe driving-following distance considering the factors of the vehicle type, and obtain the psychologically-safe driving-following distance;

基于跟驰车和先导车的相对距离与心理安全跟驰距离，以及跟驰车车速与驾驶员期望车速的大小关系，获取下一步跟驰车速度；Obtain the next following speed based on the relative distance between the following car and the leading car and the psychological safety following distance, as well as the relationship between the speed of the following car and the driver's expected speed;

所述风格为驾驶员的敏感系数和冒险系数。The style is the driver's sensitivity factor and risk factor.

进一步，所述理论安全行驶跟驰距离的获取方式具体为：Further, the method for obtaining the theoretical safe driving following distance is as follows:

Figure BDA0002649244320000021
Figure BDA0002649244320000021

其中：v0为跟驰车在当前时刻的速度；Among them: v 0 is the speed of the following car at the current moment;

t0为跟驰车驾驶员的反应时间；t 0 is the reaction time of the following driver;

amax为跟驰车的最大减速度；a max is the maximum deceleration of the car following;

t1为跟驰车减速度变化过程的行驶时间；t 1 is the travel time of the car following the deceleration change process;

t2为跟驰车减速度恒定过程的行驶时间；t 2 is the running time of the car-following vehicle with constant deceleration;

v1为前导车当前时刻的速度；v 1 is the current speed of the leading vehicle;

l1为前导车车长；l 1 is the captain of the lead vehicle;

d3为两车间的最小安全距离；d 3 is the minimum safety distance between the two workshops;

am为前导车的最大减速度。a m is the maximum deceleration of the leading vehicle.

进一步，所述考虑车型因素的安全行驶跟驰距离具体为：Further, the safe driving following distance considering the factors of the vehicle type is specifically:

Figure BDA0002649244320000022
Figure BDA0002649244320000022

其中：f为车型影响参数。Among them: f is the model influencing parameter.

进一步，所述车型影响参数的获取方法为：Further, the acquisition method of the vehicle model influence parameter is:

Figure BDA0002649244320000023
Figure BDA0002649244320000023

其中：Ttype为前车车型影响因子；Among them: T type is the influence factor of the preceding vehicle model;

Figure BDA0002649244320000024
表示前车车型，若为客车则为0，货车则为1；
Figure BDA0002649244320000024
Indicates the model of the preceding vehicle, 0 if it is a passenger car, and 1 if it is a truck;

Figure BDA0002649244320000025
表示后车车型，若为客车则为0，货车则为1；
Figure BDA0002649244320000025
Indicates the model of the rear car, 0 if it is a passenger car, and 1 if it is a truck;

α1、α2、α3为不同跟车类型下的校正系数。α 1 , α 2 , and α 3 are correction coefficients under different vehicle following types.

进一步，所述心理安全跟驰距离具体为：Further, the psychological safety following distance is specifically:

Figure BDA0002649244320000031
Figure BDA0002649244320000031

其中：G为第一校正系数，；Where: G is the first correction coefficient,;

γ为所述敏感系数；γ is the sensitivity coefficient;

M为第二校正系数。M is the second correction coefficient.

进一步，所述敏感系数的获取方法为：Further, the method for obtaining the sensitivity coefficient is:

γ＝(t1+t2)/(mt1)γ=(t 1 +t 2 )/(mt 1 )

其中：t1为跟驰车减速度变化过程的行驶时间，

Figure BDA0002649244320000032
Among them: t 1 is the travel time of the car following the deceleration change process,
Figure BDA0002649244320000032

t2为跟驰车减速度恒定过程的行驶时间。t 2 is the travel time during the constant process of deceleration of the car following.

进一步，所述第一校正系数的获取方式为：Further, the acquisition method of the first correction coefficient is:

G＝a0+a1cos(A·W)+b1sin(A·W) G=a 0 +a 1 cos (A·W) +b 1 sin (A·W)

其中，A为所述冒险系数；Wherein, A is the risk factor;

W、a0、a1、b1均为待定系数。W, a 0 , a 1 , and b 1 are all undetermined coefficients.

进一步，所述下一步驰车速度的获取方式具体为：Further, the method for obtaining the speed of driving in the next step is specifically:

Figure BDA0002649244320000033
Figure BDA0002649244320000033

其中：hreal为跟驰车与前导车的相对距离，ve为驾驶员期望车速，aA为跟驰车加速度，aD为跟驰车减速度。Among them: h real is the relative distance between the car following and the leading car, ve is the driver's expected speed, a A is the acceleration of the car following, and a D is the deceleration of the car following.

本发明的有益效果是：The beneficial effects of the present invention are:

本发明基于安全距离跟驰模型，考虑车型因素以及驾驶员风格的影响，通过前导车和跟驰车的速度来计算心理安全跟驰距离，计算结果更贴近实际。同时利用前导车与跟驰车的相对距离以及心理安全跟驰距离进行判断，计算下一时刻的跟驰车纵向速度，实现了对多车型混合交通条件下的跟驰行为的准确刻画。该模型可描述不同车型以及不同驾驶员风格下的跟驰行为，为多车型混合交通的管理提供参考。Based on the safety distance following model, the invention takes into account the influence of vehicle type factors and driver style, and calculates the psychological safety following distance through the speed of the leading vehicle and the following vehicle, and the calculation result is closer to reality. At the same time, the relative distance between the leading car and the following car and the psychological safety following distance are used to judge, and the longitudinal speed of the following car at the next moment is calculated, which realizes the accurate description of the car following behavior under mixed traffic conditions of multiple vehicles. The model can describe the car-following behavior of different models and different driver styles, and provide a reference for the management of multi-model mixed traffic.

本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述，并且在某种程度上，基于对下文的考察研究对本领域技术人员而言将是显而易见的，或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。Other advantages, objects, and features of the present invention will be set forth in the description that follows, and will be apparent to those skilled in the art based on a study of the following, to the extent that is taught in the practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the following description.

附图说明Description of drawings

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步的详细描述，其中：In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein:

图1为本发明流程图；Fig. 1 is the flow chart of the present invention;

图2为本发明的描述场景分示意图；FIG. 2 is a schematic diagram of a description scene of the present invention;

图3为本发明的理论安全距离计算时减速度随时间变化示意图。FIG. 3 is a schematic diagram of the change of deceleration with time during the calculation of the theoretical safety distance according to the present invention.

具体实施方式Detailed ways

以下将参照附图，对本发明的优选实施例进行详细的描述。应当理解，优选实施例仅为了说明本发明，而不是为了限制本发明的保护范围。The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.

本实施例提出了一种考虑主观因素的多车型混合交通跟驰行为仿真方法，场景描述如图1和2所示，具体为：This embodiment proposes a multi-vehicle hybrid traffic-following behavior simulation method that considers subjective factors. The scene description is shown in Figures 1 and 2, specifically:

基于车型差异，修正前导车与跟驰车的理论安全行驶跟驰距离，得到考虑车型因素的安全行驶跟驰距离。Based on the difference of vehicle models, the theoretical safe driving following distance between the leading car and the following vehicle is corrected, and the safe driving following distance considering the factors of the vehicle type is obtained.

前导车与跟驰车的理论安全行驶跟驰距离是基于Kometani安全距离跟驰模型计算得到，具体的：假设前车突然以最大减速度am刹车，后车驾驶员意识到前车变化，经过t0的反应时间，迅速刹车，减速度经过t1增大至最大值amax，经过时间t3，车辆停止，与前车保持最小安全距离。The theoretical safe driving following distance between the leading car and the following car is calculated based on the Kometani safe distance following model. Specifically: Suppose that the preceding car suddenly brakes at the maximum deceleration a m , the driver of the following car realizes the change of the preceding car, and passes The reaction time t 0 , brakes quickly, the deceleration increases to the maximum value a max after t 1 , and after time t 3 , the vehicle stops and maintains a minimum safe distance from the preceding vehicle.

首先，根据图2，计算跟驰车在反应时间t0内的行驶距离d1，公式如下：First, according to Fig. 2, calculate the travel distance d 1 of the following car within the reaction time t 0 , the formula is as follows:

d1＝v0t0 d 1 =v 0 t 0

其中：in:

v0为跟驰车在当前时刻的速度；v 0 is the speed of the following car at the current moment;

t0为跟驰车驾驶员的反应时间。t 0 is the reaction time of the following driver.

第二，计算跟驰车刹车期间行驶距离d2，公式如下：Second, calculate the travel distance d 2 during the following braking period, the formula is as follows:

Figure BDA0002649244320000041
Figure BDA0002649244320000041

其中：in:

Figure BDA0002649244320000051
为跟驰车在减速度变化期间的行驶距离；
Figure BDA0002649244320000051
is the distance traveled by the car-follower during the deceleration change;

Figure BDA0002649244320000052
为跟驰车载减速度恒定期间的行驶距离；
Figure BDA0002649244320000052
is the driving distance during the constant deceleration of the car-following vehicle;

t1为跟驰车减速度变化过程的行驶时间；t 1 is the travel time of the car following the deceleration change process;

t2为跟驰车减速度恒定过程的行驶时间；t 2 is the running time of the car-following vehicle with constant deceleration;

amax为跟驰车的最大减速度。a max is the maximum deceleration of the car following.

第三，计算前导车刹车期间的行驶距离d4，公式如下Third, calculate the driving distance d 4 during the braking period of the leading vehicle, the formula is as follows

Figure BDA0002649244320000053
Figure BDA0002649244320000053

其中：in:

v1为前导车当前时刻的速度；v 1 is the current speed of the leading vehicle;

am为前导车的最大减速度。a m is the maximum deceleration of the leading vehicle.

步骤14：计算理论安全跟驰距离h，公式如下Step 14: Calculate the theoretical safe following distance h, the formula is as follows

Figure BDA0002649244320000054
Figure BDA0002649244320000054

其中：in:

l1为前导车车长；l 1 is the captain of the lead vehicle;

d3为两车间的最小安全距离。d 3 is the minimum safety distance between the two workshops.

基于跟驰车驾驶员的风格，修正考虑车型因素的安全行驶跟驰距离，得到心理安全行驶跟驰距离，其中，风格为驾驶员的敏感系数和冒险系数，即根据驾驶员的自身心理素质决定的，具有很大的主观因素。具体为：Based on the style of the car-following driver, correct the safe driving following distance considering the factors of the vehicle type, and obtain the psychologically safe driving following distance. The style is the driver's sensitivity coefficient and risk coefficient, which is determined according to the driver's own psychological quality. , with a large subjective factor. Specifically:

第一，确定车型影响参数，具体可根据下式进行计算：First, determine the influence parameters of the model, which can be calculated according to the following formula:

Figure BDA0002649244320000055
Figure BDA0002649244320000055

其中：Ttype为前车车型影响因子；Among them: T type is the influence factor of the preceding vehicle model;

Figure BDA0002649244320000056
表示前车车型，若为客车则为0，货车则为1；
Figure BDA0002649244320000056
Indicates the model of the preceding vehicle, 0 if it is a passenger car, and 1 if it is a truck;

Figure BDA0002649244320000057
表示后车车型，若为客车则为0，货车则为1；
Figure BDA0002649244320000057
Indicates the model of the rear car, 0 if it is a passenger car, and 1 if it is a truck;

α1、α2、α3为不同跟车类型下的校正系数。α 1 , α 2 , and α 3 are correction coefficients under different vehicle following types.

第二，基于车型影响参数，得到考虑车型因素的安全行驶跟驰距离，具体如下：Second, based on the influence parameters of the model, the safe driving following distance considering the factors of the model is obtained, as follows:

Figure BDA0002649244320000061
Figure BDA0002649244320000061

其中：f为车型影响参数。Among them: f is the model influencing parameter.

基于跟驰车和先导车的相对距离与心理安全跟驰距离，以及跟驰车车速与驾驶员期望车速的大小关系，获取下一步驰车速度，具体为：Based on the relative distance between the car-following car and the leading car and the psychologically safe car-following distance, as well as the relationship between the speed of the car-following car and the expected speed of the driver, the next speed of driving is obtained, specifically:

第一，引入驾驶员冒险系数A，计算第一校正系数G,公式如下：First, introduce the driver's risk coefficient A, and calculate the first correction coefficient G. The formula is as follows:

G＝a0+a1cos(A·W)+b1sin(A·W) G=a 0 +a 1 cos (A·W) +b 1 sin (A·W)

其中，A为冒险系数；Among them, A is the risk factor;

W、a0、a1、b1均为待定系数。W, a 0 , a 1 , and b 1 are all undetermined coefficients.

第二，引入驾驶员敏感系数γ，公式如下Second, the driver sensitivity coefficient γ is introduced, and the formula is as follows

γ＝(t1+t2)/(mt1)γ=(t 1 +t 2 )/(mt 1 )

其中：in:

t2为跟驰车减速度恒定过程的行驶时间。t 2 is the travel time during the constant process of deceleration of the car following.

m为第二校正系数。m is the second correction coefficient.

第三，根据图3，计算跟驰车减速度变化过程的行驶时间t1。Third, according to FIG. 3 , the travel time t 1 of the change process of the deceleration of the following vehicle is calculated.

v0＝amaxt2+0.5amaxt1 v 0 =a max t 2 +0.5a max t 1

Figure BDA0002649244320000062
Figure BDA0002649244320000062

第四，根据上述步骤，获取心里安全跟驰距离，具体为：Fourth, according to the above steps, obtain the mental safety following distance, specifically:

Figure BDA0002649244320000063
Figure BDA0002649244320000063

基于跟驰车和先导车的相对距离与心理安全跟驰距离，以及跟驰车车速与驾驶员期望车速的大小关系，获取下一步驰车速度，具体为：Based on the relative distance between the car-following car and the leading car and the psychologically safe car-following distance, as well as the relationship between the speed of the car-following car and the expected speed of the driver, the next speed of driving is obtained, specifically:

Figure BDA0002649244320000064
Figure BDA0002649244320000064

其中：hreal为跟驰车与前导车的相对距离，ve为驾驶员期望车速，aA为跟驰车加速度，aD为跟驰车减速度。Among them: h real is the relative distance between the car following and the leading car, ve is the driver's expected speed, a A is the acceleration of the car following, and a D is the deceleration of the car following.

最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should all be included in the scope of the claims of the present invention.

Claims (6)

1.一种考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：1. a multi-vehicle hybrid traffic-following behavior simulation method considering subjective factors, is characterized in that: 基于车型差异，修正前导车与跟驰车的理论安全行驶跟驰距离，得到考虑车型因素的安全行驶跟驰距离,Based on the difference of the model, the theoretical safe driving following distance between the leading car and the following car is corrected, and the safe driving following distance considering the model factor is obtained, 所述考虑车型因素的安全行驶跟驰距离具体为：The safe driving following distance considering the factors of the vehicle type is as follows:
Figure FDA0003663684220000011
Figure FDA0003663684220000011
 其中：v0为跟驰车在当前时刻的速度,Among them: v 0 is the speed of the following car at the current moment, t0为跟驰车驾驶员的反应时间,t 0 is the reaction time of the following driver, amax为跟驰车的最大减速度,a max is the maximum deceleration of the following car, t1为跟驰车减速度变化过程的行驶时间,t 1 is the travel time of the car following the deceleration change process, t2为跟驰车减速度恒定过程的行驶时间,t 2 is the travel time of the car following the constant deceleration process, v1为前导车当前时刻的速度,v 1 is the current speed of the leading vehicle, l1为前导车车长,l 1 is the captain of the lead vehicle, d3为两车间的最小安全距离, d3 is the minimum safety distance between the two workshops, am为前导车的最大减速度,a m is the maximum deceleration of the leading vehicle, f为车型影响参数；f is the model influencing parameter; 基于跟驰车驾驶员的敏感系数和冒险系数，修正考虑车型因素的安全行驶跟驰距离，得到心理安全行驶跟驰距离,Based on the sensitivity coefficient and risk coefficient of the car-following driver, the safe driving-following distance considering the vehicle type factor is corrected, and the psychologically safe driving-following distance is obtained. 所述心理安全行驶跟驰距离具体为：The psychological safety driving following distance is specifically:
Figure FDA0003663684220000012
Figure FDA0003663684220000012
 其中：G为第一校正系数,Among them: G is the first correction coefficient, γ为所述敏感系数,γ is the sensitivity coefficient, m为第二校正系数；m is the second correction coefficient; 基于跟驰车和先导车的相对距离与心理安全行驶跟驰距离，以及跟驰车车速与驾驶员期望车速的大小关系，获取下一步跟驰车速度。Based on the relative distance between the car-following car and the leading car, the psychologically safe driving-following distance, and the relationship between the car-following car's speed and the driver's expected speed, the next car-following speed is obtained. 2.根据权利要求1所述的考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：所述理论安全行驶跟驰距离的获取方式具体为：2. the multi-vehicle hybrid traffic following behavior simulation method considering subjective factors according to claim 1, is characterized in that: the acquisition mode of described theoretical safe driving following distance is specifically:
Figure FDA0003663684220000021
Figure FDA0003663684220000021
 3.根据权利要求1所述的考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：所述车型影响参数的获取方法为：3. the multi-vehicle hybrid traffic following behavior simulation method considering subjective factors according to claim 1, is characterized in that: the acquisition method of described vehicle type influence parameter is:
Figure FDA0003663684220000022
Figure FDA0003663684220000022
 其中：Ttype为前车车型影响因子；Among them: T type is the influence factor of the preceding vehicle model;
Figure FDA0003663684220000023
表示前车车型，若为客车则为0，货车则为1；
Figure FDA0003663684220000023
Indicates the model of the preceding vehicle, 0 if it is a passenger car, and 1 if it is a truck;
Figure FDA0003663684220000024
表示后车车型，若为客车则为0，货车则为1；
Figure FDA0003663684220000024
Indicates the model of the rear car, 0 if it is a passenger car, and 1 if it is a truck; α1、α2、α3为不同跟车类型下的校正系数。α 1 , α 2 , and α 3 are correction coefficients under different vehicle following types. 4.根据权利要求1所述的考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：所述敏感系数的获取方法为：4. the multi-vehicle mixed traffic following behavior simulation method considering subjective factors according to claim 1, is characterized in that: the acquisition method of described sensitivity coefficient is: γ＝(t1+t2)/(mt1)γ=(t 1 +t 2 )/(mt 1 ) 其中：t1为跟驰车减速度变化过程的行驶时间，
Figure FDA0003663684220000025
Among them: t 1 is the travel time of the car following the deceleration change process,
Figure FDA0003663684220000025
 5.根据权利要求1所述的考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：所述第一校正系数的获取方式为：5. The method for simulating multi-vehicle mixed traffic following behavior considering subjective factors according to claim 1, wherein the method for obtaining the first correction coefficient is: G＝a0+a1cos(A·W)+b1sin(A·W)G=a 0 +a 1 cos (A·W) +b 1 sin (A·W ) 其中，A为所述冒险系数；Wherein, A is the risk factor; W、a0、a1、b1均为待定系数。W, a 0 , a 1 , and b 1 are all undetermined coefficients. 6.根据权利要求1所述的考虑主观因素的多车型混合交通跟驰行为仿真方法，其特征在于：所述下一步驰车速度的获取方式具体为：6. The multi-vehicle hybrid traffic-following behavior simulation method considering subjective factors according to claim 1, is characterized in that: the acquisition mode of described next step speed is specifically:
Figure FDA0003663684220000026
Figure FDA0003663684220000026
 其中：hreal为跟驰车与前导车的相对距离，ve为驾驶员期望车速，aA为跟驰车加速度，aD为跟驰车减速度。Among them: h real is the relative distance between the car following and the leading car, ve is the driver's expected speed, a A is the acceleration of the car following, and a D is the deceleration of the car following.
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