基于自然驾驶试验的山区公路汽车行驶轨迹特性研究  

Investigation on Characteristics of Vehicle Travelling Tracks on Mountain Highways Based on Natural Driving Tests

作　　者：徐进[1] 罗骁[1] 张凯[1] 鲁工圆[2] 邵毅明[1] 

机构地区：[1]重庆交通大学山地城市交通系统与安全重庆市重点实验室,重庆400074 [2]西南交通大学交通运输与物流学院,四川成都610031

出　　处：《中国公路学报》2016年第7期38-51,共14页China Journal of Highway and Transport

基　　金："十二五"国家科技支撑计划项目(2014BAG01B01);交通运输部应用基础研究项目(2015 319 814 050);重庆市科技计划项目(cstc2014jcyjA30024)

摘　　要：为掌握汽车行驶轨迹与公路几何线形之间的拓扑关系,在7条山区双车道公路上开展实车试验,采集了自然驾驶状态下的汽车运行参数并从中提取了行驶轨迹,得到了轨迹横向偏移率的连续变化曲线,分析了行驶轨迹的形态特征及其受公路几何参数的影响规律。结果表明:汽车进入左转弯后先是切向弯道内侧,之后驶向外侧,再驶回本车道,右转弯的轨迹变化规律基本类似,但切弯点和侵入对向车道的位置有所差别;对于中小转角的弯道,真实轨迹的切弯点要早于理想轨迹,并且真实轨迹要更靠向曲线外侧;弯道行驶时间越长、驾驶人越倾向于侵占对向车道,并且会出现二次切弯现象;切弯后由于惯性,汽车可能会过于靠拢弯道外侧,驾驶人需对轨迹进行矫正但矫正过度会导致车辆再次侵入对向车道;平曲线半径越小、汽车轨迹侵占对向车道的程度越严重,左转弯的转角中等大小时的轨迹偏移率最大,右转弯转角越大轨迹偏移率波动幅度越大;回头曲线会发生严重侵占对向车道的行为并且右转时的侵占程度更高。To obtain the topological relation between vehicle travelling track and the highway geometric alignment,real vehicle on-road tests were carried out on seven mountainous two-lane highways;vehicle operation parameters under natural driving state were collected and travelling tracks were extracted.Continuous change curves of lateral offset rate of track（LORT）were obtained.Then the morphological features of vehicle tracks as well as the influence rules subjecting to road geometrical parameters were analyzed.The results show that when a car enters a left curve,it firstly veers to the inside of the curve,then moves towards the outside,and then drives back to its original lane.The track on right curve has a similar changing trends.However the positions of curve cutting and the positions car occupying the opposite lane are different;forcurves with small or medium deflection angle,position of curve cutting of actual track appears earlier than the one of ideal track,and actual track is more close to the outside of curve;the longer the time of handling curves,the more likely the driver occupies the opposite lane,and this can lead to a greater probability of the secondary curve cutting;the car experiences a cutting may be too close to the outside of the curve because of its inertia,and its track needs to be corrected,however overcorrection may lead to the phenomenon that the car invades the opposite lane again;the smaller the curve radius,the wider encroachment into the opposite lane,and a left curve with a medium deflection angle has the greatest LORT,while for right curves LORT increases with the increase of deflection angle.Serious encroachment on opposite lane appears in switch-back curve and the largest degree of encroachment occurs in the right turn.

关 键 词：道路工程 山区公路 自然驾驶 行驶轨迹 轨迹特性 切弯 占用对向车道 道路安全 

分 类 号：U412.3[交通运输工程—道路与铁道工程]