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Emission Simulation of Car-Following Models Based on Vehicle Specific Power Distribution Error Minimization Calibration
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Zhilei Ma1, 2, Chao He1, Jiaqiang Li1, 2
Automobile Technology | 2026, (3) : 28 - 37
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Automobile Technology | 2026, (3): 28-37
• Special Topic on Dynamic Trajectory Prediction, Planning, and Tracking Control Technology of Intelligent Vehicle •
Emission Simulation of Car-Following Models Based on Vehicle Specific Power Distribution Error Minimization Calibration
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Zhilei Ma1, 2, Chao He1, Jiaqiang Li1, 2
Affiliations
  • 1.School of Machinery and Transportation, Southwest Forestry University, Kunming 650224
  • 2.Key Laboratory of Motor Vehicle Environmental Protection and Safety in Plateau Mountainous Areas of Yunnan Province, Kunming 650224
Published: 2026-03-24 doi: 10.19620/j.cnki.1000-3703.20250207
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To achieve accurate emission simulation for car-following vehicles, this paper proposes a calibration and optimization method based on minimizing the error between the Vehicle Specific Power (VSP) distribution of car-following models and the measured lead vehicle. By constructing an objective function to minimize VSP distribution error, the parameters of the car-following models are calibrated to enhance the model's realism. Using measured emission data of the lead vehicle, the emission characteristics of various car-following models are fitted and compared. The results show that Gipps, IDM, OVM, GFM, and FVDM models all demonstrate favourable VSP distributions and effective fitting of following vehicle emission; The Gipps model demonstrated optimal performance in VSP distribution fitting accuracy (mean Root Mean Square Error (RMSE) of 0.003 7) and emission factor fitting for CO2, NOx, CO, and Partical Number (PN) emission factors (mean relative error to the reference vehicle of 0.93%). In multi-vehicle platooning emission simulations, the Gipps model exhibits the smallest emission fluctuations. The mean relative errors for CO2, NOx, CO, and PN emission factors are 0.48%, 0.52%, 0.87%, and 1.89% respectively. The model demonstrates optimal consistency in fitting emissions across all platooning vehicles.

Car-following model  /  Traffic simulation  /  Emission  /  VSP distribution  /  Model optimization
马志磊, 何超, 李加强. 基于最小化车辆比功率分布误差标定的车辆跟驰模型排放仿真. 汽车技术, 2026 , (3) : 28 -37 . DOI: 10.19620/j.cnki.1000-3703.20250207
Zhilei Ma, Chao He, Jiaqiang Li. Emission Simulation of Car-Following Models Based on Vehicle Specific Power Distribution Error Minimization Calibration[J]. Automobile Technology, 2026 , (3) : 28 -37 . DOI: 10.19620/j.cnki.1000-3703.20250207
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Year 2026 volume Issue 3
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doi: 10.19620/j.cnki.1000-3703.20250207
  • Online Date：2026-09-23
  • Published：2026-03-24
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  • Revised：2025-06-03
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    1.School of Machinery and Transportation, Southwest Forestry University, Kunming 650224
    2.Key Laboratory of Motor Vehicle Environmental Protection and Safety in Plateau Mountainous Areas of Yunnan Province, Kunming 650224
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