基于实车数据的高速公路行驶轨迹偏移和车道侧向余宽  

Investigation on Trajectory Deviation and Lane Lateral Margin of Passenger Cars on Freeways Based on Field Driving Data

作　　者：吴少峰 陈智威 张高峰 陈钦 徐进[2,3] WU Shao-feng;CHEN Zhi-wei;ZHANG Gao-feng;CHEN Qin;XU Jin(Fujian Expressway Science and Technology Innovation Research Institute Co.Ltd.,Fuzhou 350001,Fujian,China;College of Traffic and 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)

机构地区：[1]福建省高速公路科技创新研究院有限公司,福建福州350001 [2]重庆交通大学交通运输学院,重庆400074 [3]重庆交通大学山区复杂道路环境人车路协同与安全重庆市重点实验室,重庆400074

出　　处：《中国公路学报》2023年第5期197-209,共13页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(52172340);重庆市高校创新研究群体项目(CXQT21022);福建高速公路科技创新项目(E1220458)。

摘　　要：为明确高速公路行驶环境下车辆在车道保持阶段的行驶轨迹特征,给车道宽度值确定提供参考,在重庆市主城区2段高速公路上开展了38名驾驶人的实车驾驶试验。使用车载设备采集自然驾驶状态下的车辆行驶速度、行驶轨迹和“车辆中心点-车道线”横向距离。基于以上数据,计算轨迹横向偏移值和“车身轮廓-车道线”侧向余宽等参数,分析高速公路直线/曲线路段的车辆轨迹横向偏移和侧向余宽变化特征及其影响因素。结果表明:曲线路段和直线路段的期望轨迹横向偏移存在差异,曲线路段行驶轨迹的本质特征是轨迹往曲线内侧偏移,而直线路段的车辆轨迹是倾向于往车道左侧偏移,但曲线路段紧贴车道线行驶的车辆占比要低于直线路段。直线路段车道左侧余宽最小值、期望值分别集中于[0.2 m,0.6 m]和[0.3 m,0.9 m],曲线路段车道左侧余宽的最小值和期望值主要分布在[0.2 m,0.7 m]和[0.5 m,0.9 m]范围内;车道位置对期望轨迹横向偏移和车道侧向余宽均有影响,左转弯路段的左侧余宽要低于直线路段和右转弯路段;在左转弯路段内侧车道行驶时车辆与中分带的距离更近,因此左转弯的事故风险更高;行驶速度增加时,内侧车道的车辆有远离中央分隔带的趋势,但总体上速度对轨迹横向偏移和车道侧向余宽的影响不显著。建议高速公路设计速度为80~120 km·h^(-1)、车道数为双向6条以上时,小客车道的宽度可取3.25 m。To clarify the trajectory behavior of vehicles in the lane-keeping stage while driving on freeways and provide a reference for lane width determination,a field driving test of 38 drivers was performed on two freeways in Chongqing,China.Using on-board equipment,the speed,trajectory,and lateral distance of“car body-lane marking”under natural driving conditions were collected.Based on natural driving data,the lateral offset of trajectory and the lateral margin of“car center-lane marking”were calculated,and the characteristics of these two parameters in straight/curved sections of freeways and their influencing factors were analyzed.The results show that there is a difference in the lateral offset of the desired trajectory between curved and straight sections.The characteristics of the vehicle trajectory in curved sections shift to the inside of the curve,whereas the vehicles driving in straight sections tend to shift to the left side of the lane.However,the proportion of vehicle tires close to the lane markings in the curved sections is lower than that in the tangents.The minimum and expected values of the left residual width between the bodywork and lane markings on the tangent are concentrated in[0.2 m,0.6 m]and[0.3 m,0.9 m],respectively,while these two indicators measured from the curved section range in[0.2 m,0.7 m]and[0.5 m,0.9 m],respectively.The lane position has an impact on the trajectory lateral offset and left lateral margin;the left residual width of the left-hand curves is lower than that of the straight section and right-hand curves.When driving in the left-hand curves of the inner lane,the distance between the car and dividing median is closer.Thus,the crash risk of the left-hand curves is higher.When the speed increases,the vehicles in the inner lane tend to move away from the dividing median.However,in general,the speed has no significant effect on the left lateral margin and trajectory lateral offset.According to the findings of this study,for freeways with a designed speed of 80-120 km·h^

关 键 词：交通工程 车道侧向余宽 自然驾驶 轨迹偏移 行驶轨迹 高速公路 横断面 行车道 

分 类 号：U491.25[交通运输工程—交通运输规划与管理]