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

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.