Car Following Model Based on Driving Risk Field for Vehicle Infrastructure Cooperation

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In vehicle infrastructure cooperation (VIC) systems, the position, speed, acceleration and other driving information of vehicles can interact in real time between vehicles and roads. Therefore, it is suitable to use the driving risk field theory to describe the driving risk of vehicles in these scenarios. For such scenarios, this paper constructs a car following model suitable for multi cars following based on the driving risk field theory. This model incorporates the driving information of multiple vehicles in front into the calculation of the driving state of the vehicle behind, and is highly sensitive to the acceleration change of the vehicles in front. In this paper, firstly, the distance formula is modified to make the action range of the driving risk field more in line with the real scene. And then the formula of the driving risk field is improved to enhance its sensitivity to vehicle acceleration. Finally, in the establishment of the car following model, the driving information of multiple front vehicles is brought into the driving risk field formula for calculation, so as to improve the prediction accuracy of the car following model. We conduct a comparative experiment with IDM (Intelligent Driver Model) as the comparison object, the results show that the car following model established in this paper is better than IDM in terms of fitting effect and fitting error, so it can better adapt to the multi cars following scene in the vehicle infrastructure cooperation environment.