臺灣博碩士論文加值系統

國內以往有關大客車跟車行為模式之模擬分析，不論是刺激-反應方程式或心理-物理行為門檻模式，大多以大客車跟隨前方一輛小型車為實驗場景，然而由於大客車駕駛者駕駛座比一般小客車駕駛座高，大客車駕駛者的視線角度也與小客車駕駛者有所不同，因此當大客車前方有兩輛以上的小型車行駛時，大客車跟車時所能見到的前方車輛數即有可能包括兩輛小型車，因此在駕駛模擬的實驗場景中，有必要在大客車駕駛者所跟隨的車輛前方加入一輛小型車，使駕駛者前方共有兩輛小型車，而形成一個三車互動反應的跟車模擬實驗場景。本研究利用中華大學大客車駕駛模擬器進行實驗，實驗場景為三車道雙向的高速公路平直路段，駕駛車兩側車道服務水準為B 級車流，在大客車駕駛者進行實驗過程中，有兩輛小型車在大客車駕駛車輛前方，當第一輛小型車進行加減速或緊急煞車動作時，第二輛小型車將於反應時間1.5 秒後，也跟著進行相關的反應動作，藉以觀測大客車駕駛行為反應。實驗進行前告知大客車駕駛者進行跟車，不可變換車道。前方兩輛小型車會產出四種不同事件，且事件發生為隨機出現，促使駕駛者據以踩油門或煞車以達到加、減速動作，並針對大客車駕駛者反應行為進行資料蒐集與分析，以建立大客車駕駛者刺激-反應模式。 本研究擷取駕駛者進行實驗的資料，建立四種不同的刺激-反應模式，分別為以速差為基礎的刺激-反應模式、以第五代GM 模式為基礎的刺激-反應模式、整合第五代GM 模式與速差基礎的刺激-反應模式與整合第五代GM 模式與車間距離基礎的刺激-反應模式。在進行敏感度參數校正的過程中，發現以速差為基 礎的刺激-反應模式與以第五代GM模式為基礎的刺激-反應模式所使用的參數過於簡化，無法利用模式描述車輛的變化狀況，因此在進行累積位移量比較的部份，就將這兩個刺激-反應模式刪除，只針對整合第五代GM 模式與速差基礎的刺激-反應模式與整合第五代GM模式與車間距離基礎的刺激-反應模式兩模式與大客車兩車跟車行為模式比較，探討大客車前方車隊數量的變化對大客車跟車行為的影響，作為國內大客車跟車行為模式的發展基礎。並利用大客車累積位移量與實驗數據比較，發現整合第五代GM 模式與速差基礎的刺激-反應模式在時間延遲為0.5 秒的狀況下，代入數值後所得到的累積位移量與實際狀況相差最小，因此在本研究所建立的刺激-反應模式中，以整合第五代GM 模式與速差基礎的刺激-反應模式在時間延遲為0.5 秒下最佳。

The experimental scene of bus car following behavior simulation in the past studies was always designed to display only one small vehicle in front of the following bus. However, since a bus’s driver seat is higher than that of a small passenger car, a bus driver could see two or more vehicles in front of the bus when two or more vehicles drive in front of the bus. Therefore, two small vehicles must be designed to drive in front of a following bus to develop a three vehicles interaction experimental scene in the bus car following simulation scenario. This study used the Chung Hua University’s bus driving simulator to design a car following experiment whose traffic environment scene was the freeway straight road section with two way six lanes layout. In the designed experimental scenario, the experimental vehicle was set to drive behind two small vehicles on the middle lane. The traffic level of service on both side lanes of the experimental vehicle was B level. When the first vehicle of the two small vehicles in front of the experimental vehicle started to accelerate or decelerate or suddenly brake, the second small vehicle also had related response (accelerate, decelerate or brake) after 1.5 seconds reaction time. Before the experiment, the participants were directed to only follow the front vehicle and use the brakes to avoid a collision with the front vehicle, rather than to change lane. Four different events comprising different levels of deceleration, acceleration and suddenly brake of the two leading small vehicles happened randomly to urge the participant to respond. The responses data of all participants were collected and analyzed to develop the bus car following stimulus-response models. By using the experimental data, this study established four types of bus car following stimulus-response models include the “speed difference base”, the “fifth generation GM model base”, the “integration of the fifth generation GM model and the speed difference base”, and the “integration of the fifth generation GM model and vehicle spacing base”. Since the parameters of the model of the “speed difference base” and the model of the “fifth generation GM model base” are not significant, these two types of models could not sufficiently describe the stimulus-response relationships among the bus and the leading small vehicles. By comparing the accumulating driving distance error and the experiment’s data, the model of the “integration of the fifth generation GM model and the speed difference base” with 0.5 second time-lag have the smallest difference. We also concluded that the model of the “integration of the fifth generation GM model and the speed difference base” with 0.5 second time-lag is the best stimulus-response model for describing the bus car following behavior behind two small vehicles on the freeway straight road section.

摘要................................................................................................................................ I Abstract .........................................................................................................................II 誌 謝..........................................................................................................................III 目 錄圖目錄............................................................................................................. IV 圖目錄......................................................................................................................... VI 表目錄.......................................................................................................................VIII 表目錄.......................................................................................................................VIII 第一章 緒論................................................................................................................. 1 1.1 研究動機........................................................................................................... 1 1.2 研究目的........................................................................................................... 2 1.3 研究範圍與限制............................................................................................... 2 1.4 研究內容........................................................................................................... 2 1.5 研究流程........................................................................................................... 4 第二章 文獻回顧......................................................................................................... 5 2.1 刺激-反應模式.................................................................................................. 5 2.2 模式校估......................................................................................................... 10 2.3 其它................................................................................................................. 24 2.4 小結................................................................................................................. 24 第三章 駕駛模擬實驗設計....................................................................................... 25 3.1 大客車駕駛模擬器之建置與說明................................................................. 25 3.2 大客車跟車實驗規劃..................................................................................... 26 3.3 跟車實驗計畫.................................................................................................. 30 3.3.1 實驗程序................................................................................................... 30 3.3.2 每人次實驗時間....................................................................................... 32 3.4 跟車實驗問題與解決方案.............................................................................. 32 第四章 資料擷取與處理........................................................................................... 35 4.1 受測者反應時間資料擷取說明..................................................................... 35 4.2 刺激-反應模式實驗資料擷取說明................................................................ 35 4.3 刺激-反應模式擷取資料後的篩選................................................................ 38 第五章 大客車刺激-反應模式建立.......................................................................... 39 5.1 場景事件觸發後駕駛者的反應時間分析..................................................... 39 5.2 大客車跟車駕駛刺激-反應模式建立............................................................ 40 5.2.1 SAS 擷取資料.......................................................................................... 40 5.2.2 SPSS 非線性分析.................................................................................... 41 5.2.3 大客車駕駛者刺激-反應模式建立........................................................ 41 第六章 模式比較分析............................................................................................... 46 6.1 時間延遲0.5 秒的後車累積位移量.............................................................. 46 6.1.1 後車速率n 2 V 計算方式.......................................................................... 47 6.1.2 後車加速率n 2 a 計算方式...................................................................... 47 6.1.3 前兩事件車累積位移量n X 與n 1 X 計算方式....................................... 48 6.2 時間延遲1 秒的後車累積位移量................................................................. 49 6.2.1 後車速率n 2 V 計算方式.......................................................................... 50 6.2.2 後車加速率n 2 a 計算方式...................................................................... 50 6.2.3 前兩事件車累積位移量n X 與n 1 X 計算方式....................................... 51 6.3 時間延遲1.5 秒的後車累積位移量............................................................... 52 6.3.1 後車速率n 2 V 計算方式.......................................................................... 53 6.3.2 後車加速率n 2 a 計算方式...................................................................... 53 6.3.3 前兩事件車累積位移量n X 與n 1 X 計算方式....................................... 54 6.4 時間延遲2 秒的後車累積位移量.................................................................. 55 6.4.1 後車速率n 2 V 計算方式.......................................................................... 56 6.4.2 後車加速率n 2 a 計算方式...................................................................... 56 6.4.3 前兩事件車累積位移量n X 與n 1 X 計算方式....................................... 57 6.5 模式應用分析與比較..................................................................................... 58 第七章 結論與建議................................................................................................... 76 7.1 結論................................................................................................................. 76 7.2 建議................................................................................................................. 78 參考文獻..................................................................................................................... 79 附錄一 真實度問卷........................................................................................... 附1-1 附錄二 受測者實驗過程之速度變化圖............................................................. 附2-1

1. 陳精微(1996)，「高速公路設計」，科技圖書股份有限公司。 2. 曾雅瑜(2005)，「大客車跟車駕駛刺激反應行為之模擬與模式建立」，中華大學 運輸與物流管理學系碩士班碩士論文。 3. 黃俊仁等人(2005)，「應用駕駛模擬器開發智慧型運輸系統實驗平臺之軟硬體 規劃設計(1/4)」，交通部運輸研究所。 4. 黃俊仁等人(2005)，「汽車駕駛模擬系統軟硬體之擴充與測試駕駛行為實例應 用之研究」，交通部運輸研究所。 5. 張建彥等人(2006)，「整合心理-物理行為門檻與刺激-反應行為之大客車跟車 模擬與模式建立」， 運輸計畫季刊(投稿審查中)。 6. 劉英標(1996)，「汽車駕駛人行車控制指示系統之模式構建研究」，成功大學交 通管理科學研究所博士論文。 7. Ali Touran, Mark A. Brackstone, Mike McDonald (1999), “A collision model for safety evaluation of autonomous intelligent cruise control”, Accident Analysis and Prevention, Vol. 31, pp. 567–578. 8. David L. Smith, Wassim G. Najm and Andy H. Lan (2003), “Analysis of Braking and Streering Performance in Car-Following Scenarios”, Society of Automotive Engineers, Inc. 9. Errol R. Hoffmann and Rudolf G. Mortimer (1996), “Scaling of Relative Velocity Between Vehicles”, Accid. Anal. And Prev., Vol. 28, No. 4, pp. 415-421. 10. G. F. Newell(2002), “A simplified car-following theory: a lower order model”, Transportation Research, Part B, Vol. 36, pp. 195-205. 11. H.M. Zhang, T. Kim (2005), “A Car-following theory for multiphase vehicle traffic flow”, Transportation Research, Part B, Vol. 39, pp. 385-399. 12. L. Burgett, A. Carter, R. J. Miller, W. G. Najm, D. L. Smith (1998), “A collision warning algorithm for rear-end collisions”, NHTSA United States, paper number 98-S2-P-31. 13. L.C. Davis (2003), “Modifications of the optimal velocity traffic model to include delay due to driver reaction time”, Physica A, Vol. 319, pp. 557-567. 14. Mark Brackstone, Mike McDonald (1999), “Car-following: a historical review”, Transportation Research, Part F, Vol. 2, pp. 181-196. 15. Peter G. Martin, August L. Burgett (2001), “Rear-end Collision Events: Characterization of Impending Crashes”, 1st Human-Centered Transportation Simulation Conference. 16. R. Herman and R.W. Rothery (1963), “Car following and steady state flow”, Research Laboratories General Motors Corporation Warren, Michigan, U.S.A. 17. Wassim G. Najm and David L. Smith (2004), “Modeling Driver Response to Lead Vehicle Decelerating”, Society of Automotive Engineers, Inc.