人类自然驾驶状态下车辆轨迹摆动特性与车道宽度  

Vehicle trajectory oscillation characteristics and lane width control under human natural driving conditions

作　　者：徐进[1,2] 张玉[1] 戴振华 李飞 陈坚[1] XU Jin;ZHANG Yu;DAI Zhenhua;LI Fei;CHEN Jian(School of transportation,Chongqing Jiaotong University,Chongqing 400074,China;Chongqing Key Laboratory of“human-Vehicle-Road”Cooperation and Safety for Mountain Complex Environment,Chongqing Jiaotong University,Chongqing 400074,China;Chongqing City Integrated Transportation Hub(Group)Co.LTD,Chongqing 401121,China)

机构地区：[1]重庆交通大学交通运输学院,重庆400074 [2]重庆交通大学,山区复杂道路环境“人-车-路”协同与安全重庆重点实验室,重庆400074 [3]重庆城市综合交通枢纽(集团)有限公司,重庆401121

出　　处：《汽车安全与节能学报》2022年第4期718-728,共11页Journal of Automotive Safety and Energy

基　　金：重庆市高校创新研究群体项目(CXQT21022);重庆市技术创新与应用发展项目(cstc2021ycjhbgzxm0338);重庆东站交通枢纽站前片区科研项目(E1210268)。

摘　　要：研究了车辆在城市干路上的轨迹摆动特性,开展了实车驾驶试验。以重庆市菜园坝长江大桥和长江滨江路为研究对象,用车载仪器采集自然驾驶状态下的行驶速度、车辆位置和车辆形心与车道线的横向距离数据。结果表明:大多数车辆会向左偏离车道中心线行驶;在路面悬空的行驶环境下驾驶人更倾向于将车辆靠向道路中央;女性驾驶人较男性驾驶人更注意车辆轨迹控制;熟练驾驶人在地面路段上对于车辆轨迹的控制优于非熟练驾驶人;相比于人类驾驶,无人驾驶车辆能够实现更精确的轨迹控制,轨迹横向摆动将显著减小,2.75~3.00 m的车道宽度可满足无人驾驶小客车的行驶需求。A real-vehicle driving test was carried out in order to study the vehicle trajectory oscillation characteristics on an urban main road. The Caiyuanba Yangtze River Bridge and the Binjiang Road on the Yangtze River in the Chongqing city were chosen as research objects. Onboard instruments collected data on driving speed, vehicle position, and lateral distance between the vehicle centroid and the lane under natural driving conditions. The results show that most vehicles tend to deviate from the center of the lane and drive to the left. The vehicle is more inclined to move towards the road center on the bridge section. Female drivers pay more attention to controlling vehicle trajectory than male drivers. Skilled drivers have better control over vehicle trajectory than unskilled drivers on the road surface. Compared with human driving, the autonomous vehicle can control its trajectory more accurately with the trajectory lateral oscillation will be significantly reduced. The lane width of 2.75~3.00 m can meet the driving requirements of an autonomous vehicle.

关 键 词：人类自然驾驶 无人驾驶车辆 行驶轨迹 轨迹摆动 城市机动车道宽度 

分 类 号：U412.3[交通运输工程—道路与铁道工程]