School of Transportation and Vehicle Engineering, Shandong University of Technology
The National Natural Science Foundation of China (General Program，Grant No. 61573009)；Natural Science Foundation of Shandong province, China (Grant No. ZR2018LF009，ZR2018PEE016)
The uncertainty of the following vehicle control is caused by the uncertainty of vehicle dynamic behavior. However, traditional vehicle following control methods can only formulate the uncertainty of specific dynamic of vehicle and be impossible to traverse all the possible system inputs with finite operations. These methods are insufficient to provide all the viable control decision according to the following strategy at once, and unable to ensure the reliability of safety detection of strategy in theory. Therefore, a modeling and verifiction method of state reachable set for vehicle following control strategy is proposed in this work. Based on the transformation of control strategy into the corresponding multi-level safety judgment events that can be calculated and represented by reachable set, the stochastic reachable set is applied to characterize the uncertain control input of vehicle given its ergodicity in this method. According to the judgment of the intersection of state reachable sets for related vehicles, both dangerous behaviors and safety behaviors can be detected refering to the control strategy. The whole alternative control schemes are provided to the drivers of following vehicles. The stochastic reachable sets of vehicles are abstracted to Markov chains that can be used to express the states change of system, and verify the safety of the following control strategy statistically based on the drivers behavior habits. Therefore, an effective modeling and analysis of the control strategy can be realized. The experiment results show that the proposed modeling and verfication method not only characterizes the uncertain behavior process of vehicle completely, provides the integrated control decision schemes according to the follwing strategy under the traffic situation, but also verifies the safety of control strategy accurately.