Shuyi Wang, Yang Ma, Said M. Easa, Hao Zhou, Yuanwen Lai, Weijie Chen
{"title":"自动驾驶车辆的视距(考虑公路垂直排列)及其对速度限制的影响","authors":"Shuyi Wang, Yang Ma, Said M. Easa, Hao Zhou, Yuanwen Lai, Weijie Chen","doi":"10.1109/mits.2023.3334769","DOIUrl":null,"url":null,"abstract":"Most existing road infrastructures were constructed before the emergence of automated vehicles (AVs) without considering their operational needs. Whether and how AVs could safely adapt to as-built highway geometry are questions that remain inconclusive, and a plausible concern is a challenge from vertical alignments. To fill this gap, this study uses a virtual simulation to investigate the available sight distance (ASD) of AVs on vertical alignments subject to the current highway geometric design specification and its implications for speed limits. According to the scenario generation framework, several scenarios featuring vertical geometric elements and lidar sensors were created and tested. Moreover, the maximum speed for adequate ASD is calculated to determine the AV speed limit, considering safe sight distance and speed consistency requirements. The results indicate that crest curves are not disadvantaged in ASD compared with either sag curves or tangent grades. Only equipped with multichannel lidar and advanced perception algorithms enabling a lower detection threshold would a level 4 AV be compatible with the as-built vertical alignment with a design speed (\n<italic xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">V</i>\n<sub xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">d</sub>\n) of 100 km/h. However, a level 3 AV can only adapt to the vertical profile with <italic xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">V</i>\n<sub xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">d</sub> = 60 km/h. The findings of this study should be of interest to the road-oriented operational design domain and support road administrators in regulating AV safe speeds.","PeriodicalId":48826,"journal":{"name":"IEEE Intelligent Transportation Systems Magazine","volume":"41 1","pages":""},"PeriodicalIF":4.3000,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Sight Distance of Automated Vehicles Considering Highway Vertical Alignments and Its Implications for Speed Limits\",\"authors\":\"Shuyi Wang, Yang Ma, Said M. Easa, Hao Zhou, Yuanwen Lai, Weijie Chen\",\"doi\":\"10.1109/mits.2023.3334769\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Most existing road infrastructures were constructed before the emergence of automated vehicles (AVs) without considering their operational needs. Whether and how AVs could safely adapt to as-built highway geometry are questions that remain inconclusive, and a plausible concern is a challenge from vertical alignments. To fill this gap, this study uses a virtual simulation to investigate the available sight distance (ASD) of AVs on vertical alignments subject to the current highway geometric design specification and its implications for speed limits. According to the scenario generation framework, several scenarios featuring vertical geometric elements and lidar sensors were created and tested. Moreover, the maximum speed for adequate ASD is calculated to determine the AV speed limit, considering safe sight distance and speed consistency requirements. The results indicate that crest curves are not disadvantaged in ASD compared with either sag curves or tangent grades. Only equipped with multichannel lidar and advanced perception algorithms enabling a lower detection threshold would a level 4 AV be compatible with the as-built vertical alignment with a design speed (\\n<italic xmlns:mml=\\\"http://www.w3.org/1998/Math/MathML\\\" xmlns:xlink=\\\"http://www.w3.org/1999/xlink\\\">V</i>\\n<sub xmlns:mml=\\\"http://www.w3.org/1998/Math/MathML\\\" xmlns:xlink=\\\"http://www.w3.org/1999/xlink\\\">d</sub>\\n) of 100 km/h. However, a level 3 AV can only adapt to the vertical profile with <italic xmlns:mml=\\\"http://www.w3.org/1998/Math/MathML\\\" xmlns:xlink=\\\"http://www.w3.org/1999/xlink\\\">V</i>\\n<sub xmlns:mml=\\\"http://www.w3.org/1998/Math/MathML\\\" xmlns:xlink=\\\"http://www.w3.org/1999/xlink\\\">d</sub> = 60 km/h. 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Sight Distance of Automated Vehicles Considering Highway Vertical Alignments and Its Implications for Speed Limits
Most existing road infrastructures were constructed before the emergence of automated vehicles (AVs) without considering their operational needs. Whether and how AVs could safely adapt to as-built highway geometry are questions that remain inconclusive, and a plausible concern is a challenge from vertical alignments. To fill this gap, this study uses a virtual simulation to investigate the available sight distance (ASD) of AVs on vertical alignments subject to the current highway geometric design specification and its implications for speed limits. According to the scenario generation framework, several scenarios featuring vertical geometric elements and lidar sensors were created and tested. Moreover, the maximum speed for adequate ASD is calculated to determine the AV speed limit, considering safe sight distance and speed consistency requirements. The results indicate that crest curves are not disadvantaged in ASD compared with either sag curves or tangent grades. Only equipped with multichannel lidar and advanced perception algorithms enabling a lower detection threshold would a level 4 AV be compatible with the as-built vertical alignment with a design speed (
V
d
) of 100 km/h. However, a level 3 AV can only adapt to the vertical profile with V
d = 60 km/h. The findings of this study should be of interest to the road-oriented operational design domain and support road administrators in regulating AV safe speeds.
期刊介绍:
The IEEE Intelligent Transportation Systems Magazine (ITSM) publishes peer-reviewed articles that provide innovative research ideas and application results, report significant application case studies, and raise awareness of pressing research and application challenges in all areas of intelligent transportation systems. In contrast to the highly academic publication of the IEEE Transactions on Intelligent Transportation Systems, the ITS Magazine focuses on providing needed information to all members of IEEE ITS society, serving as a dissemination vehicle for ITS Society members and the others to learn the state of the art development and progress on ITS research and applications. High quality tutorials, surveys, successful implementations, technology reviews, lessons learned, policy and societal impacts, and ITS educational issues are published as well. The ITS Magazine also serves as an ideal media communication vehicle between the governing body of ITS society and its membership and promotes ITS community development and growth.