交通运输研究2023，Vol.9Issue(6)：44-54,11.DOI:10.16503/j.cnki.2095-9931.2023.06.005
基于高速公路自然驾驶数据的自动驾驶车辆跟驰智能性评价模型
An Evaluation Model of Autonomous Vehicle Car-Following Intelligence Based on Expressway Natural Driving Data
摘要
Abstract
In order to solve the problems of subjective evaluation and lack of micro driving behavior data support in the current evaluation of autonomous vehicles for car-following intelligence,this paper con-structed a car-following intelligence evaluation model for autonomous vehicles based on natural driv-ing data on expressways,and considering the similarity in driving behavior between autonomous and manual vehicles.Firstly,the high-precision vehicle trajectories on some expressways in 18 provinces of China were obtained through drone photography and image processing,and K-means clustering method was used to extract 15 446 sets of stable car-following data.Then,descriptive statistical meth-od was used to analyze the indicators of speed,acceleration,following distance,and following time distance.Afterwards,the following distance at different speeds was fitted using a Gamma distribution.Taking the mode of following distance at different speeds as the center,based on 70%,20%,and 10%of the sample size,the following distance was divided into three categories:good consistency,moder-ate consistency,and poor consistency with manual driving behavior.Finally,a car-following evalua-tion model for autonomous vehicles was established,and empirical analysis was conducted through car-following experiments on autonomous vehicles.The results showed that the model was suitable for evaluating the following performance intelligence of autonomous vehicles;compared to previous re-search findings,the model's feature is providing a comprehensive quantitative evaluation of autono-mous vehicles based on the entire process and microscopic car-following behavior data.It indicates that the model constructed based on the consistency between natural driving data and driving behavior can objectively and quantitatively evaluate the following behavior of autonomous vehicles,and can be used for research on following behavior of autonomous vehicles and the development of technical pa-rameters.关键词
自动驾驶/交通工程/跟驰行为评价/自然驾驶/驾驶行为一致性/K-means聚类Key words
autonomous driving/traffic engineering/evaluation of car-following/natural driving/consistency of driving behavior/K-means clustering分类
交通工程引用本文复制引用
于鹏,任贵超,林强,赵晓华,党利冈..基于高速公路自然驾驶数据的自动驾驶车辆跟驰智能性评价模型[J].交通运输研究,2023,9(6):44-54,11.基金项目
北京市科技计划项目(Z211100004221009) （Z211100004221009）
