山区公路上驾驶人的车速控制行为分析

邵毅明; 毛嘉川; 刘胜川; 徐进

doi:10.19818/j.cnki.1671-1637.2011.01.014

山区公路上驾驶人的车速控制行为分析

doi: 10.19818/j.cnki.1671-1637.2011.01.014

1.
重庆交通大学重庆市交通运输工程重点实验室，重庆 400074
2.
中铁二院工程集团有限责任公司交通设计研究院，四川成都 610031

基金项目:

重庆市交通科技项目 2007EA6014

重庆市交通运输工程重点实验室开放基金项目 2008CQJY001

详细信息

作者简介:
：邵毅明（1955-），男，四川资阳人，重庆交通大学教授，工学博士，从事车辆节能与道路交通安全研究

中图分类号: U471.15
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出版历程
- 收稿日期: 2010-09-28
- 刊出日期: 2011-02-25

Analysis of speed control behavior for driver on mountain highway

1.
Chongqing Key Laboratory of Traffic and Transportation Engineering, Chongqing Jiaotong University, Chongqing 400074, China
2.
Traffic Design Institute, China Railway Eryuan Engineering Group Co., Ltd., Chengdu 610031, Sichuan, China

More Information

Author Bio:
SHAO Y-iming(1955-), male, professor, PhD, +86-23-62652287, sym@cquc.edu.cn

Article Text (Baidu Translation)

摘要

摘要: 根据大量的路上行驶试验和断面速度观测数据, 分析了道路几何线形与驾驶人速度选择行为之间的关系, 建立了能够描述弯道行驶、驶进与驶离弯道、直线行驶时的速度选择模型和加、减速度模型, 从而生成沿道路里程变化的期望速度曲线。用机械动力学分析软件ADAMS建立汽车的动力学模型, 用VB6.0编制道路模块, 用VC++7.0编制驾驶人模型, 仿真开始阶段生成期望轨迹和期望速度, 然后采用前视预瞄的策略进行跟随, 实现了车辆的自主驾驶。模拟结果表明: 汽车期望速度和行驶路线与汽车实际行驶速度和行驶路线变化趋势相同, 以期望速度作为汽车跟随的目标速度, 符合汽车的动力学特性要求, 能够引领汽车在复杂山区道路上的安全行驶。
- 交通安全 /
- 驾驶行为 /
- 期望速度 /
- 运行速度 /
- 公路线形 /
- 自主驾驶
Abstract: The relationship between road geometric characteristic and driving speed was analyzed based on driving experiments and observation data on highways. The mathematic models of acceleration, deceleration and driver's speed control behavior on curve, entering or leaving curve, driving on tangent were obtained, and desired speed profiles along road were generated by the models. A car dynamics model was created by using mechanical dynamics analysis software ADAMS, roadway module was developed by using VB6.0, driver module was developed by using VC++7.0. At the simulation beginning, desired speed and desired path were generated, the car followed them in preview strategy, and the autonomous driving of car was achieved. Simulation result shows that desire speed and desired path change in a same trend with actual driving speed and path. Desired speed can be as the objective for car to follow, it adapts car dynamics characteristics, and can guide the driving of car on complex mountain highways safely.
- road safety /
- driving behavior /
- desired speed /
- operating speed /
- highway alignment /
- autonomous driving

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图 1 小客车在山区公路上的侧向加速度

Figure 1. Lateral accelerations of passeinger cars on mountain highways

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图 2 小客车进/出弯道时的减速度和加速度

Figure 2. Decelerations and accelerations of passenger cars while entering and departing curves

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图 3 车辆轨迹的切角效应

Figure 3. Curve segment cut effect of car track

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图 4 最高速度与路面状况之间的关系

Figure 4. Relationship between maximum driving speed and pavement condition index

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图 5 期望速度的生成

Figure 5. Generation of desired speed

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图 6 试验路段

Figure 6. Test road segments

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图 7 路段1、3的期望速度

Figure 7. Desired speeds on road segments 1, 3

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图 8 路段2、4的期望速度

Figure 8. Desired speeds on road segments 2, 4

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图 9 自主行驶的虚拟试验结果

Figure 9. Simulation results of automatical driving

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表 1 a_y1模型参数标定

Table 1. Calibration coefficients of model a_y1

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表 2 a_b和a_x模型参数的标定

Table 2. Calibration coefficients of a_band a_x

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表 3 长直线上的速度观测结果

Table 3. Observed results of driving speeds on long tangents

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表 4 V_1a的模型参数标定

Table 4. Calibration coefficients of model V_1a

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