r-安全余量与自适应运动平滑用于跟车过渡
The r-Safety Reserve and Adaptive Kinematic Smoothing for Car-Following Transitions
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中文总结 AI 辅助
本文提出r-安全余量与自适应运动平滑（AKS）框架，将速度-间距关系转化为解析有限过渡轨迹，实验表明AKS可降低21-47%加速度努力和73-81%加加速度，为纵向控制提供参考。
中文摘要 AI 辅助
纵向间距模型描述了车辆维持的速度-间距状态，而纵向控制器通过间距和速度误差来调节车辆运动。较少明确的是，一个间距状态应如何通过有限的、物理上可行的车辆过渡连接到另一个状态。本文通过r-安全（r-Safety）和自适应运动平滑（AKS）建立了这种连接。r-安全关系通过制动归一化余量表示速度相关的间距，其变化连同前车运动决定了过渡期间所需的跟车位移。AKS随后将该位移转换为具有一致位置、速度、间距和加速度的低维解析轨迹。使用受控车队和NGSIM轨迹的实验分别确定了r-安全值为0.307和0.249-0.281，并表明AKS既能表示观测到的过渡，也能在规定的端点状态、过渡视界和前车运动下生成前瞻参考。在同控制器消融实验中，添加AKS在受控和自然驾驶数据集上将积分加速度努力降低了21-47%，将积分平方加加速度降低了73-81%。FHWA ACC/CACC轨迹进一步提供了自动跟车下有限视界执行的实证说明，展示了间距调整如何在规定的速度过渡之外继续进行。因此，该框架提供了从速度-间距关系到解析有限过渡及其作为纵向控制参考的直接路径。
英文摘要
Longitudinal spacing models describe the speed--spacing states that vehicles maintain, while longitudinal controllers regulate vehicle motion through spacing and speed errors. Less explicit is how one spacing state should be connected to another through a finite, physically meaningful vehicle transition. This paper develops such a connection through r-Safety and Adaptive Kinematic Smoothing (AKS). The r-Safety relation represents speed-dependent spacing through a braking-normalized reserve, whose change, together with leader motion, determines the follower displacement required during a transition. AKS then converts this displacement into a low-dimensional analytical trajectory with consistent position, speed, spacing, and acceleration. Experiments using controlled platoons and NGSIM trajectories identify r-Safety values of 0.307 and 0.249--0.281, respectively, and show that AKS can both represent observed transitions and generate prospective references under prescribed endpoint states, transition horizons, and leader motion. In same-controller ablations, adding AKS reduces integrated acceleration effort by 21--47% and integrated squared jerk by 73--81% across the controlled and naturalistic datasets. FHWA ACC/CACC trajectories further provide an empirical illustration of finite-horizon execution under automated following, showing how spacing adjustment can continue beyond the prescribed speed transition. The framework therefore provides a direct path from a speed--spacing relation to an analytical finite transition and its use as a longitudinal control reference.
发表机构
- School of Sustainable Engineering and the Built Environment, Arizona State University（亚利桑那州立大学可持续工程与建成环境学院）
机构由 AI 辅助整理，请以论文原文为准。
