面向隧道入口区域车车协同行驶的信息物理系统建模研究

Due to the particularity of driving environment and condition in the tunnel entrance zone, there are serious traffic problems mainly resulted from poor performance of cooperative driving. Exploring the mechanism of cooperative driving can not only help to reveal the essence of typical traffic problems in the tunnel entrance zone, but also provide the basis for the optimization of cooperative driving, which is the foundation for enhancing driving safety and improving traffic efficiency..The cooperative driving in the tunnel entrance zone is a typical cyber physical system, which has its own unique environment and information condition that makes the depicting of the mechanism harder. Therefore, this project proposes to take perspective of cyber physical system and consistency of driving behavior as breakthrough points, via adopting the continuous-discrete hybrid modeling method and introducing the uncertainty from robustness and feedforward-feedback control. The cooperative driving models in cyber physical system are established under ideal and uncertainty conditions, and the cooperative driving mechanism can be revealed. Then, the methods for depicting and analyzing the driving consensus are investigated to uncover the mechanism of the typical unmodeled dynamics on cooperative driving system and verify the corresponding adaptive conditions for cooperative driving..It is expected that the research results will put forth a novel theory to describe and analyze the mechanism of cooperative driving in the tunnel entrance zone. It will not only provide the theoretical basis for cooperative driving, but also afford some new exploration for the development of transportation cyber physical system.

因行驶环境和条件特殊，隧道入口区域交通问题突出，车与车之间的协同不足是其产生的主要原因。探明该区域的车车协同机理有助于揭示其交通问题的本质，进而为车车协同行驶优化提供依据，对保障行驶安全和提高通行效率殊为基础和必要。.隧道入口区域车车协同行驶是典型的信息物理系统，其特有的环境和信息条件加大了对其机理刻画的难度。为此，项目以车辆行驶行为的一致性为牵引，以信息物理融合为切入点，基于连续离散混成建模方法，引入鲁棒控制中的不确定性方法和前馈-反馈机制，建立理想及不确定性条件下的车车协同信息物理系统模型，刻画该区域车车协同行驶机理。进而研究该系统的一致性描述及分析方法，揭示典型未建模动态对车车协同的影响机制，以探明车车协同的适应条件。.研究成果将形成支撑隧道入口区域车车协同行驶机理刻画与分析的新方法，为该区域车辆协同行驶控制提供理论基础，也为交通CPS理论发展提供新的探索。

因行车环境和交通规则特殊，隧道入口区域车车协同问题突出。探明该区域的车车协同机理有助于揭示其交通问题的本质，进而为车车协同行驶优化提供依据，对保障行驶安全和提高通行效率殊为基础和必要。.隧道入口区域车车协同行驶是典型的信息物理系统，其特有的环境和信息条件加大了对其机理刻画的难度。项目针对隧道入口区域这一典型特殊交通场景，首先基于改进人工势场模型，提出了能够准确刻画出隧道环境对车辆行驶影响的隧道势场模型，进而建立了考虑隧道入口环境影响的单车行驶信息物理系统模型；在此基础上，为描述车辆间的相互影响机制，引入换道规则及隧道限速条件因素对车辆势场进行改进，进而建立了综合考虑隧道入口环境影响及车辆影响的多车协同行驶的信息物理系统模型，揭示了隧道入口区域车车协同行驶时空演化规律；同时考虑不确定性因素的影响，分别建立了随机因素、通信时延、通信范围等因素影响下的隧道入口区域车车协同行驶信息物理系统模型，获得了典型不确定性因素对隧道入口区域车车协同行驶的影响机制。最后，项目建立了车车协同信息物理系统一致性的定性、定量描述方法和分析方法，分析了稳定性、鲁棒性与协同行驶一致性的关系，并揭示了车车协同行驶一致性动态演化过程。.项目的研究成果形成了隧道入口区域车车协同行驶机理刻画与分析的新方法，为该区域车辆协同行驶控制和优化车车协同行驶性能提供了理论基础和支撑，也为交通信息物理系统理论的发展提供了新的探索。