Transport automation research Transport automation research Автоматика на транспорте 2412-9186 89054 10.20295/2412-9186-2024-10-03-269-281 Электронное моделирование Electronic simulation Электронное моделирование Continuous traffic flow model of unmanned Vehicles travelling on a serpentine road with curves, taking into account the average speed of the vehicles ahead of them speed of vehicles ahead МОДЕЛЬ НЕПРЕРЫВНОГО ТРАНСПОРТНОГО ПОТОКА БЕСПИЛОТНЫХ АВТОМОБИЛЕЙ ПРИ ДВИЖЕНИИ НА СЕРПАНТИНЕ С ВИРАЖАМИ С УЧЕТОМ СРЕДНЕЙ СКОРОСТИ ДВИЖУЩИХСЯ ВПЕРЕДИ АВТОМОБИЛЕЙ Куверин Игорь Юрьевич Kuverin Igor' Yur'evich igorkuv@mail.ru

кандидат технических наук;

candidate of technical sciences;

 Гусев Сергей Александрович Gusev Sergey Aleksandrovich o051nm@yandex.ru

доктор экономических наук;

doctor of economic sciences;

 Блинов Дмитрий Геннадьевич Blinov Dmitriy Gennad'evich bdg@rusptk.com Гусева Инна Андреевна Guseva Inna Andreevna guseva11.ia@yandex.ru Саратовский государственный технический университет им. Ю. А. Гагарина Саратов Россия Yuri Gagarin State Technical University of Saratov Saratov Russian Federation Саратовский государственный технический университет им. Ю. А. Гагарина Саратов Россия Yuri Gagarin State Technical University of Saratov Saratov Russian Federation Саратовский государственный технический университет им. Ю. А. Гагарина Саратов Россия Yuri Gagarin State Technical University of Saratov Saratov Russian Federation Саратовский государственный технический университет им. Ю. А. Гагарина Саратов Россия Yuri Gagarin State Technical University of Saratov Saratov Russian Federation 29 09 2024 29 09 2024 10 3 269 281 29 09 2024 https://atjournal.ru/en/nauka/article/89054/view

В статье предлагается новая модель непрерывного транспортного потока беспилотных автомобилей при движении на серпантине с виражами, учитывающая среднюю скорость движущихся впереди автомобилей. Проведен обзор существующих моделей транспортных потоков, в частности моделей следования за лидером, таких как модель оптимальной скорости, обобщенная модель движения, модель полной разности скоростей. Отмечено, что эти модели не учитывают особенности движения на серпантинах с виражами. На основе существующих моделей разработана новая модель непрерывного транспортного потока, принципиальным отличием которой является учет поперечного уклона дороги (виража) при движении на серпантине. Модель учитывает действие сил на транспортное средство, включая силу тяжести, движущую силу и центростремительную силу. Показаны перспективы использования разработанной модели в условиях использования интеллектуальных транспортных систем, когда информация о средней скорости движущихся впереди автомобилей передается по сети. Предложенная модель позволяет при расчете скоростных режимов движения учитывать поперечный уклон дороги на криволинейных участках серпантина, адекватно оценивать пропускную способность и выявлять потенциально опасные участки для оптимизации проектных решений при создании беспилотного транспорта.

The paper proposes a new model of continuous traffic flow of unmanned autonomous cars when travelling on a serpentine with curves, taking into accountthe average speed of the cars ahead. The review of existing traffic flow models, in particular, the models of following the leader, such as the optimal speed model, generalised traffic model, model of total velocity difference is carried out. It is noted that these models do not take into account the peculiarities of traffic on serpentines with turns. On the basis of the existing models, a new model of continuous traffic flow has been developed, the principal difference of which is the consideration of the transverse slope of the road (turn) when travelling on a serpentine. The model takes into account the action of forces on the vehicle, including gravity, driving force and centripetal force. The prospects of using the developed model in the conditions of using intelligent transport systems, when the information about the average speed of vehicles moving ahead is transmitted over the network, are shown. Th proposed model allows to take into account the transverse slope of the road on curvilinear serpentine sections when calculating speed modes, to adequately assess the carrying capacity and identify potentially dangerous sections for optimisation of design decisions when creating unmanned transport.

 беспилотные автотранспортные средства моделирование транспортного потока серпантин вираж моделирование движения на серпантине дорога модель безопасность дорожного движения unmanned vehicles traffic flow modelling serpentine curve serpentine traffic modelling road model road safety

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