A Discrete Car Following Model Based on Velocity Delayed Effect and its Emissions Measurement

With the development of autonomous driving technology, the research of car-following theory has been deepened, but most of the research is on the continuous-time car-following model while discrete-time car-following models have been studied less. To better improve the operation efficiency of the car-following model, this paper proposes a discrete-time car-following model that considers the instantaneous velocity delay effect of the front vehicle. Based on the discrete control theory, the continuous car-following model is discretized into differential equations. Meanwhile, the model with the velocity delay strategy can suppress traffic congestion to a greater extent compared with the model without the velocity delay strategy. In addition, the extra emission consumption of the model is also investigated in this paper, and the results show that the model can reduce the emission while laying the foundation for improving the stability of the traffic flow.