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Harmony-with-traffic refers to the ability of autonomous vehicles to maximize the driving benefits such as comfort, efficiency, and energy consumption of themselves and the surrounding traffic during interactive driving under traffic rules. In the test of harmony-with-traffic, one or more background vehicles that can respond to the driving behavior of the vehicle under test are required. For this purpose, the functional requirements of car-following model for harmony-with-traffic evaluation are analyzed from the dimensions of test conditions, constraints, steady state and dynamic response. Based on them, an interactive car-following model (ICFM) is developed. In this model, the concept of equivalent distance is proposed to transfer lateral influence to longitudinal. The calculation methods of expected speed are designed according to the different car-following modes divided by interaction object, reaction distance and equivalent distance.

In this paper, a novel method is proposed to establish the vehicle yaw stability criterion based on the sideslip angle-yaw rate (β-r) phase plane method. First, nonlinear two degrees of freedom vehicle analysis model is established by adopting the Magic Formula of nonlinear tire model. Then, according to the model in the Matlab/Simulink environment, the β-r phase plane is gained. Emphatically, the effects of different driving conditions (front wheels steering angle, road adhesion coefficient and speed) on the stability boundaries of the phase plane are analyzed. Through a large number of simulation analysis, results show that there are two types of phase plane: curve stability region and diamond stability region, and the judgment method of the vehicle stability domain type under different driving conditions is solved.