Exploration on relation between vehicle oscillation type and platoon oscillation evolution based on multi-scenario field experiment

Abstract

In order to explore the categorization of vehicle oscillation and the relationship between individual vehicle oscillation and platoon oscillation in traffic flow, this paper conducts field experiments with both human driving vehicles(HDVs) and autonomous vehicles(AVs). The objective is to utilize experimental data to categorize and quantify traffic oscillation, delve into the impact of different degrees of vehicle oscillation on platoon oscillation, identify patterns between vehicle oscillation types and platoon oscillation evolution, and study the influence of AVs on platoon oscillation. The paper commences with car-following experiments involving HDVs and AVs, sets the platoon into three scenarios of HDV’s platoon, AV’s platoon, and mixed platoon experimental datasets. Subsequently, nine oscillation features reflecting the oscillation characteristics of vehicle traveling, such as volatility and trend, etc., are extracted from the experimental datasets. Then the CLS deep clustering model is constructed, trained, and outputs high-dimensional features. The model's effectiveness is assessed using both clustering error and deep learning error simultaneously. Finally, the paper analyzes the classification results of the experimental dataset and explores the relationship between vehicle oscillation type and platoon oscillation. The research finding indicates that the oscillation classification effectiveness of the CLS model is significantly superior to other algorithms. Using the CLS model, vehicle oscillations are categorized into four most suitable types: I, II, III, and IV, representing slight oscillation, general oscillation, relatively serious oscillation, and severe oscillation respectively. In HDVs’ platoon, as the vehicle oscillation type increases, the following vehicle does not fully adhere to the front vehicle, the amplitude trend of the vehicle changes, leading to oscillation in the following vehicle platoon. In the AVs’ platoon, AVs suppress the backward propagation of oscillations in the platoon, and the oscillation types are all type I, indicating mild oscillation. In the mixed platoon, it is observed that AVs, through swift perception of the state of preceding vehicle, promptly respond to adjust their own driving condition to alleviate platoon oscillation. The higher the proportion of AVs in the platoon, the stronger the inhibitory effect on platoon oscillation.