全自动驾驶环境下高速公路纵断面线形参数设计

Design of longitudinal profile parameters for motorways in a fully autonomous driving environment

关键词:  自动驾驶  高速公路  竖曲线半径  行车视距  仿真模拟  参数设计

Key words:  self-driving  freeway  vertical curve radius  driving sight distance  analogue simulation  parameter design

摘要:

为了保证自动驾驶车辆在高速公路上的安全舒适行驶,开展了适应自动驾驶车辆的高速公路纵断面线形设计参数研究。改进了适应自动驾驶车辆的高速公路竖曲线半径和长度理论值计算方法,并基于PreScan和MATLAB/Simulink软件,通过LiDAR传感器从行车视距的角度提出了自动驾驶车辆道路一体化的仿真测试方法,依据安全行驶速度分析了设计速度为80~140 km/h的高速公路对自动驾驶车辆的适应性,确定了适应自动驾驶车辆的高速公路竖曲线最小长度和半径。研究结果表明:140 km/h的高速公路不足以满足现阶段自动驾驶车辆的安全性需求,可将其设计速度降至130 km/h,待技术成熟再进行提速。由于自动驾驶车辆更低的系统反应时间和更高的传感器高度,高速公路设计速度为80、100、120、130 km/h时,其对应凸形竖曲线半径可分别降低至1 800、2 800、5 600、10 600 m,凹形竖曲线半径可分别降低至2 000、3 000、4 000、5 500 m。研究结果可为未来完全自动驾驶高速公路设计提供理论支持。

Abstract:

In order to ensure the safety and comfort of self-driving vehicles on expressways, research has been conducted on the design parameters for the longitudinal profile of highway sections suitable for autonomous vehicles, improves the calculation method of vertical curve radius and length of expressways suitable for self-driving vehicles, and puts forward a simulation test method of self-driving vehicle-road integration from the point of view of driving sight distance through LiDAR sensor based on PreScan and MATLAB/Simulink software. According to the safe driving speed, the adaptability of the highway with the design speed of 80140 km/h to the self-driving vehicle is analyzed, and the minimum length and radius of the highway vertical curve suitable for the self-driving vehicle are determined. The results show that the highway of 140 km/h is not enough to meet the safety requirements of self-driving vehicles at the present stage, and its design speed can be reduced to 130 km/h, and the speed can be increased when the technology is mature. Due to the lower system response time and higher sensor height of self-driving vehicles, the corresponding convex vertical curve radius can be reduced to 1 800 m, 2800 m, 5 600 m and 10 600 m when the design speed of expressway is 80 km/h, 100 km/h, 120 km/h and 130 km/h respectively. The radius of concave Symbol`@@vertical curve can be reduced to 2 000 m, 3 000 m, 4 000 m and 5 500 m. The research results of this paper can provide theoretical support for the design of fully automatic driving expressway in the future.