Time-Delay following Model for Connected and Automated Vehicles with Collision Conflicts and Forced Deceleration

The connected and automated car-following model can provide a model reference for the queue control algorithm of connected and automated driving and has become a hot research topic in the field of connected vehicles and intelligent transportation. A queue of fast-moving vehicles on urban roads can cause traffic congestion when forced to slow down and, in serious cases, can cause rear-impact accidents. Therefore, this paper introduces information on the time delay of information reception and processing, a collision risk quantification factor reflecting the speed characteristics of the front vehicle, and the speed limit and proposes an improved intelligent driver collision quantification model that considers drastic changes in the speed of the front vehicle. Additionally, the model parameters are calibrated using real vehicle data from urban roads combined with an improved salp swarm algorithm. Finally, the evolution rule of disturbance in the traffic flow under different states is analyzed using a time-space diagram, and the DIDM-CSCL model is compared with the classical IDM. The results show that the improved IDM can better describe the following behavior at the microscopic level, which provides a basis for research related to connected and automated driving.