Technical Paper
Two-Dimensional Intelligent Driver Model with Vehicular Dynamics
2022-12-22
2022-01-7088
With the rapid rise of intelligent and connected vehicles (CVs), the traffic flow becomes more complex, and the accurate description of the microscopic behavior of the vehicle is crucial for studying the mixed traffic flow. This study firstly analyzes and explores the vehicle’s front-wheel dynamics, and a front-wheel steering model (FWSM) is proposed to describe the vehicle’s lateral motion. In addition, a two-dimensional kinematic intelligent driver model (2D-KIDM) is developed to predict the vehicle’s two-dimensional movement considering the intelligent driver model (IDM) characteristics, vehicular dynamics, and the FWSM. The effectiveness of the proposed 2D-KIDM is evaluated with various simulations in realistic scenarios from the highD dataset. Dynamic time warping (DTW) and some common indexes are also used to analyze the error.