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1800、2800、5600、10600 m,凹形竖曲线半径可分别降低至2000、3000、4000、5500 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。
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 80-140 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 1800 m,2800 m,5600 m and 10600 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 0x0E䥺Symbol`@@0x0Fvertical curve can be reduced to 2000 m,3000 m,4000 m and 5500 m.The research results of this paper can provide theoretical support for the design of fully automatic driving expressway in the future.
作者
程国柱
张禧龙
徐亮
CHENG Guozhu;ZHANG Xilong;XU Liang(College of Civil Engineering and Transportation,Northeast Forestry University,Harbin 150040,China;College of Civil Engineering,Changchun Institute of Technology,Changchun 130012,China)
出处
《哈尔滨工业大学学报》
北大核心
2025年第11期105-114,共10页
Journal of Harbin Institute of Technology
基金
国家自然科学基金(52378433)
中央高校基本科研业务费专项资金(2572023CT21)。
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
self-driving
freeway
vertical curve radius
driving sight distance
analogue simulation
parameter design
