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The stability for CACC system with time delays and reconstitution information of vehicles for compensating delays based on Bi-LSTM

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VEHICULAR COMMUNICATIONS 2025年 51卷

作者： Zhang, Chenmin Liu, Yonggui Li, Zeming South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Peoples R China

The vehicle platoon using the cooperative adaptive cruise control (CACC) transmits information between vehicles via communication networks to increase the control performance. However, time delays are inevitable during the network transmission of information, which influence the stability of the CACC vehicle system. This paper proposes a method for compensating information affected by time delays based on a Bi-LSTM model. First, the third-order dynamics of the CACC vehicle systems are established, and the control strategies are proposed with the leading, preceding and following vehicles. The conditions of local stability and string stability for the CACC vehicle systems without time delays are derived based on the Routh-Hurwitz stability criterion and the frequency domain methods, which reveal the relationship between the model parameters and the controller parameters. For the CACC vehicle systems with time delays, the maximum time delays that ensure the local stability and string stability are achieved using the similar methods accordingly. However, the stability of the CACC vehicle systems is destroyed, when the time delay exceeds the maximum value. To deal with the impact of time delays, the bidirectional long short term memory (Bi-LSTM) model is adopted to predict and reconstitute the information affected by time delays. Furthermore, the relevant parameters are set and the real vehicle data is used for calculation and simulation. The simulation results confirm the local and string stability can be ensured, and further show the boundary of the maximum time delay may reach 0.45s for the CACC vehicle systems in this paper. In order to highlight superiority of Bi-LSTM, by comparing LSTM and KF with BiLSTM, the simulation results show Bi-LSTM has the highest correlation coefficient and the smallest root mean square error, which verify that Bi-LSTM reconstructing information affected by time delays is more effective than KF and LSTM.

关键词： CACC vehicle system local and string stability Time delays Bi-LSTM model

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INFLUENCE OF REACTION TIMES AND ANTICIPATION ON THE stability OF VEHICULAR TRAFFIC FLOW

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IFAC Proceedings Volumes 2006年第10期39卷 205-210页

作者： Arne Kesting Martin Treiber Technische Universität Dresden Institute for Transport & Economics Andreas-Schubert-Strasse 23 D-01062 Dresden Germany

We investigate two causes for the instability of traffic flow: The time lag caused by finite accelerations of the vehicles, and the delay caused by the finite reaction times of the drivers. Furthermore, we simulate to which degree drivers may compensate for these delays by looking several vehicles ahead and anticipate future traffic situations. Since vehicular traffic flow is a multi-particle system with many degrees of freedom, two concepts of linear stability have to be considered: local stability of a car following a leader that drives at constant velocity, and string (chain) stability of a “platoon” of several vehicles following each other. Typically, string stability is a much more restrictive criterion than local stability. We simulate both types of stability with the human driver model (HDM)[M. Treiber et al. , Physica A, Vol. 360 (1), 71–88 (2006)], which includes all the features above. We found several remarkable results: (i) with a suitable anticipation, we obtained string stability for reaction times exceeding the “safe time headway”, which, to date, has not yet been obtained for any other car-following model; (ii) parameter changes that destabilize the model variant with zero reaction time may stabilize the model with finite reaction times and vice versa, (iii) distributed reaction times (every driver has a different reaction time) can stabilize the system compared to drivers with identical reaction times that are equal to the mean.

关键词： Car-following model microscopic traffic simulation human reaction time time-delayed system local and string stability

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