面向自动驾驶的公路圆曲线半径研究

Research on Radius of Highway Circular Curves for Autonomous Driving

摘要:

随着自动驾驶技术的发展和相关国家政策的扶持，我国交通系统逐渐趋向智能化，公路上自动驾驶汽车占比将不断增大。为适应自动驾驶车辆的行驶特点，首先通过分析国内外有关不限速高速公路的设计经验，确定了面向自动驾驶技术的公路最高设计速度并进行了等级划分，然后分别从通视性、横向稳定性和ACC系统可探测范围3个角度研究了圆曲线最小半径取值。结果表明，对于低等级公路，ACC系统可探测范围是圆曲线最小半径的主要控制量；对于高等级公路，横向稳定性是圆曲线最小半径的主要控制量。最后通过对3种控制因素所得结果进行比较，提出了不同设计速度下圆曲线最小半径的建议值。

Abstract:

With the development of autonomous driving technology and the support from relevant national policies, the transportation system is gradually becoming intelligent in China, and the proportion of autonomous vehicles on highways will continue to increase. To adapt the driving characteristics of autonomous vehicles, firstly, by analyzing the design experience of unspeed-limited expressways at home and abroad, the maximum design speed of highways for autonomous driving technology is determined and classified into different grades. And then, the minimum radius of circular curves is studied from three perspectives of visibility, lateral stability and detectable range of the adaptive cruise control (ACC) system. The results show that for low-grade highways, the detectable range of the ACC system is the main control variable for the minimum radius of circular curves, and for high-grade highways, the lateral stability is the primary control variable. Finally, by comparing the results derived from the three control factors, the recommended values of the minimum circular curve radius under different design speeds are proposed.