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

IF 4.3 3区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC IEEE Intelligent Transportation Systems Magazine Pub Date : 2023-12-08 DOI:10.1109/mits.2023.3334769
Shuyi Wang, Yang Ma, Said M. Easa, Hao Zhou, Yuanwen Lai, Weijie Chen
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引用次数: 0

摘要

大多数现有的道路基础设施都是在自动驾驶汽车(AV)出现之前建造的,没有考虑到自动驾驶汽车的运行需求。自动驾驶汽车能否以及如何安全地适应现有公路的几何形状,这些问题仍无定论,其中一个合理的担忧是垂直排列带来的挑战。为了填补这一空白,本研究采用虚拟仿真技术,研究了在当前公路几何设计规范下,垂直排列的自动驾驶汽车的可用视距(ASD)及其对速度限制的影响。根据情景生成框架,创建并测试了几种具有垂直几何元素和激光雷达传感器的情景。此外,考虑到安全视距和速度一致性要求,还计算了足够的 ASD 的最大速度,以确定视距限速。结果表明,与下垂曲线或切线坡度相比,坡顶曲线在自动减速方面并不处于劣势。只有配备了多通道激光雷达和先进的感知算法,使检测阈值降低,4 级反车辆雷达才能与设计速度(Vd)为 100 公里/小时的竣工纵向线形相匹配。然而,3 级反车辆地雷只能适应 Vd = 60 公里/小时的垂直剖面。这项研究的结果对面向道路的运行设计领域很有意义,有助于道路管理者规范自动驾驶汽车的安全速度。
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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.
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来源期刊
IEEE Intelligent Transportation Systems Magazine
IEEE Intelligent Transportation Systems Magazine ENGINEERING, ELECTRICAL & ELECTRONIC-TRANSPORTATION SCIENCE & TECHNOLOGY
CiteScore
8.00
自引率
8.30%
发文量
147
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.
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