Curve car-following model of connected vehicle considering velocity difference characteristics
Previous research on the car-following model mostly focuses on building the manual vehicles car-following model on straight roads while few has built the connected vehicles car-following model for the curve.To study the car-following characteristics and stability condition of connected vehicles on curves, this paper builds a car-following model of connected vehicles in curves based on longitudinal control model, taking into account the effects of velocity difference, curve radius and minimum turning radius.Based on linear Fourier-mode expansion, linear stability of the proposed model is analyzed, and the stability conditions of the model are obtained.Then, according to the stable condition of the proposed model, the impact of each key parameter on the model stability is analyzed.Finally, the model is compared with LCM, IDM and IDM improved model in the car-following scenarios.Our results show when the velocity difference weight λ>0.9 and the curve radius R>200 m, the stability of traffic flow is in a stable region and the stability increases with the addition of λ and R;the improved curve following model of the connected vehicle has smaller headspace and performs fairly well in car-following scenarios.
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