Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads

CHEN Ying; WANG Xiao-hui; ZHANG Xiao-bo; CHEN Hai-yuan; XU Jin; DU Zhi-gang

doi:10.19818/j.cnki.1671-1637.2022.04.029

Volume 22 Issue 4

Aug. 2022

Turn off MathJax

Article Contents

Article Navigation > Journal of Traffic and Transportation Engineering > 2022 > 22(4): 382-395

CHEN Ying, WANG Xiao-hui, ZHANG Xiao-bo, CHEN Hai-yuan, XU Jin, DU Zhi-gang. Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads[J]. Journal of Traffic and Transportation Engineering, 2022, 22(4): 382-395. doi: 10.19818/j.cnki.1671-1637.2022.04.029

Citation:

CHEN Ying, WANG Xiao-hui, ZHANG Xiao-bo, CHEN Hai-yuan, XU Jin, DU Zhi-gang. Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads[J]. Journal of Traffic and Transportation Engineering, 2022, 22(4): 382-395. doi: 10.19818/j.cnki.1671-1637.2022.04.029

Citation:

PDF( 23506 KB)

Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads

doi: 10.19818/j.cnki.1671-1637.2022.04.029

1.
School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China
2.
China Railway Siyuan Survey and Design Group Co., Ltd., Wuhan 430063, Hubei, China
3.
Chongqing Key Laboratory of "Human-Vehicle-Road" Cooperation and Safety for Mountain Complex Environment, Chongqing Jiaotong University, Chongqing 400074, China

Funds:

National Key Research and Development Program of China 2018YFB1600500

Scientific and Technological Research Project of China Railway Siyuan Survey and Design Group Co., Ltd. 2019K091-1

More Information

Author Bio:
CHEN Ying(1996-), female, doctoral student, yingchen1108@qq.com

XU Jin(1977-), male, professor, PhD, yhnl_996699@163.com
Received Date: 2022-02-26
Available Online: 2022-10-08
Publish Date: 2022-08-25

Abstract

Abstract

A free driving track model was built to reveal the behavior of lane offset and the characteristics of vehicle tracks in hairpin curves of mountain roads. A real vehicle driving test was carried out on a complex mountainous linear road, and high-precision onboard equipment was used to collect vehicle track, speed, and offset data under natural driving conditions. By the relative position curves of the tracks, the free driving track patterns of left- and right-turning vehicles in the hairpin curves were defined. With the curve angle of 180° as the boundary, the fitting model of the relative position of a vehicle in a hairpin curve was constructed, and the calculation method of the free driving track based on the offset was designed. The model was verified by the examples of hairpin curves on other roads. Research results show that the left-turning vehicles in the hairpin curves have four track patterns, while the right-turning vehicles have three track patterns. The vehicle track has large offsets in the entrance, middle part, and exit of the hairpin curves, with an offset of more than 40%. As the opposite lane is occupied by vehicles, different offset features are presented for different track patterns. The distributions of speed and offset corresponding to different positions are discrete, and when the speed compensation is less than 6.5 km·h^-1, the driver can reduce speed loss in the hairpin curve by occupying the opposite lane. Among the track fitting models built on the basis of the lateral offset under different curve angles, the highest accuracy of the models can be achieved when the hairpin curve angle is about 180°, with the fitting precision for left-turning vehicles between 0.90-0.97 and that for right-turning vehicles between 0.65-0.97. When the hairpin curve angle is greater than 180°, the maximum fitting precision of the fitting models is 0.97, and can be observed in the case of right-turning vehicles. When the hairpin curve angle is less than 180°, the maximum fitting precision of the fitting models is 0.89, and can be observed in the left-turning case. Therefore, the proposed track model has strong applicability and can provide means and method for driving track prediction in hairpin curves of mountain roads.
- traffic safety,
- mountain road,
- hairpin curve,
- lane offset,
- track prediction,
- track model

FullText(HTML)

References(30)

References

[1]	丁雨蕾. 重特大交通事故特征及影响因素分析[D]. 南京: 东南大学, 2016. DING Yu-lei. Analyzing characteristics and influence factors of serious casualty traffic crashes in China[D]. Nanjing: Southeast University, 2016. (in Chinese)
[2]	YU Zhi-gang, CHEN Ying, ZHANG Xiao-bo, et al. Track behavior and crash risk analysis of passenger cars on hairpin curves of two-lane mountain roads[J]. Journal of Advanced Transportation, 2021, 2021: 4906360.
[3]	中华人民共和国交通运输部. 2020年交通运输行业发展统计公报[R]. 北京: 中华人民共和国交通运输部, 2020. Ministry of Transport of the People's Republic of China. 2020 statistical bulletin on the development of the transport industry[R]. Beijing: Ministry of Transport of the People's Republic of China, 2020. (in Chinese)
[4]	林广宇, 魏朗. 基于数字图像技术的汽车行驶轨迹状态识别[J]. 交通运输工程学报, 2006, 6(3): 114-117. doi: 10.3321/j.issn:1671-1637.2006.03.024 LIN Gang-yu, WEI Lang. Driving route status recognition based on digital image technique[J]. Journal of Traffic and Transportation Engineering, 2006, 6(3): 114-117. (in Chinese) doi: 10.3321/j.issn:1671-1637.2006.03.024
[5]	叶长华. 结合车载视频与航拍图像的车辆行驶轨迹研究[D]. 广州: 南方医科大学, 2019. YE Chang-hua. Research on vehicle trajectory based on vehicle video and aerial image[D]. Guangzhou: Southern Medical University, 2019. (in Chinese)
[6]	张立军, 黄露莹, 孟德建. 基于轨迹预测和模糊分析的商用车盲区防碰撞预警[J]. 同济大学学报(自然科学版), 2019, 47(S1): 207-212. ZHANG Li-jun, HUANG Lu-ying, MENG De-jian. Trajectory prediction and fuzzy pattern recognition-based warning for commercial vehicle with blind spots[J]. Journal of Tongji University (Natural Science), 2019, 47(S1): 207-212. (in Chinese)
[7]	徐进, 罗庆, 彭其渊, 等. 回旋线设置对弯道行驶速度的影响[J]. 中国公路学报, 2011, 24(1): 25-33. doi: 10.3969/j.issn.1001-7372.2011.01.005 XU Jin, LUO Qing, PENG Qi-yuan, et al. Influence of spiral setting on vehicle speed on curve[J]. China Journal of Highway and Transport, 2011, 24(1): 25-33. (in Chinese) doi: 10.3969/j.issn.1001-7372.2011.01.005
[8]	徐进, 彭其渊, 罗庆, 等. 单曲线弯道几何参数对小客车转向行为的影响[J]. 西南交通大学学报, 2013, 48(4): 678-687. doi: 10.3969/j.issn.0258-2724.2013.04.014 XU Jin, PENG Qi-yuan, LUO Qing, et al. Effect of geometric features of simple curves on steering behavior of passenger car[J]. Journal of Southwest Jiaotong University, 2013, 48(4): 678-687. (in Chinese) doi: 10.3969/j.issn.0258-2724.2013.04.014
[9]	徐进, 罗骁, 张凯, 等. 基于自然驾驶试验的山区公路汽车行驶轨迹特性研究[J]. 中国公路学报, 2016, 29(7): 38-51. doi: 10.3969/j.issn.1001-7372.2016.07.006 XU Jin, LUO Xiao, ZHANG Kai, et al. Investigation on characteristics of vehicle travelling tracks on mountain highways based on natural driving tests[J]. China Journal of Highway and Transport, 2016, 29(7): 38-51. (in Chinese) doi: 10.3969/j.issn.1001-7372.2016.07.006
[10]	徐进, 陈莹, 陈海源, 等. 回头曲线路段的轨迹行为模式与事故风险[J]. 东南大学学报(自然科学版), 2020, 50(5): 973-982. https://www.cnki.com.cn/Article/CJFDTOTAL-DNDX202005025.htm XU Jin, CHEN Ying, CHEN Hai-yuan, et al. Vehicle track patterns and accident risk on hairpin curves[J]. Journal of Southeast University (Natural Science Edition), 2020, 50(5): 973-982. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-DNDX202005025.htm
[11]	王志聪. 山区低等级公路同向连续弯道车辆行驶轨迹研究[D]. 福州: 福建农林大学, 2017. WANG Zhi-cong. Study on the driving trajectory of continuous curve of low grade highway in mountain area[J]. Fuzhou: Fujian Agriculture and Forestry University, 2017. (in Chinese)
[12]	FITZSIMMONS E J, NAMBISAN S S, SOULEYRETTE R R, et al. Analyses of vehicle trajectories and speed profiles along horizontal curves[J]. Journal of Transportation Safety and Security, 2013, 5(3): 187-207. doi: 10.1080/19439962.2012.680573
[13]	FITZSIMMONS E J, KVAM V, SOULEYRETTE R R, et al. Determining vehicle operating speed and lateral position along horizontal curves using linear mixed-effects models[J]. Traffic Injury Prevention, 2013, 14(3): 309-321. doi: 10.1080/15389588.2012.701356
[14]	陆键, 王可, 蒋愚明. 基于车辆行驶轨迹的道路不良驾驶行为实时辨识方法[J]. 交通运输工程学报, 2020, 20(6): 227-235. doi: 10.19818/j.cnki.1671-1637.2020.06.020 LU Jian, WANG Ke, JIANG Yu-ming, et al. Real-time identification method of abnormal road driving behavior based on vehicle driving trajectory[J]. Journal of Traffic and Transportation Engineering, 2020, 20(6): 227-235. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2020.06.020
[15]	WEI Lei, CHEN Peng, MEI Yu, et al. Turn-level network traffic bottleneck identification using vehicle trajectory data[J]. Transportation Research Part C: Emerging Technologies, 2022, 140: 103707. doi: 10.1016/j.trc.2022.103707
[16]	王艳阳, 王珂, 廖凯凯, 等. 驾驶人行为不确定性对车辆轨迹预测的影响分析[J]. 安全与环境学报, 2022, DOI: 10.13637/j.issn.1009-6094.2022.0914. WANG Yan-yang, WANG Ke, LIAO Kai-kai, et al. Analysis of the influence of driver behavior uncertainty on vehicle trajectory prediction[J]. Journal of Safety and Environment, 2022, DOI: 10.13637/j.issn.1009-6094.2022.0914.(inChinese)
[17]	王伟, 赵琦, 王力, 等. 基于车辆轨迹数据的急减速驾驶行为判定方法[J]. 科学技术与工程, 2022, 22(10): 4215-4221. https://www.cnki.com.cn/Article/CJFDTOTAL-KXJS202210048.htm WANG Wei, ZHAO Qi, WANG Li, et al. Rapid deceleration driving behavior judgment method based on vehicle trajectory data[J]. Science Technology and Engineering, 2022, 22(10): 4215-4221. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-KXJS202210048.htm
[18]	王婉秋, 钱宇彬, 林雨. 双车道公路弯道驾驶轨迹跟踪模型[J]. 西南交通大学学报, 2014, 49(5): 817-823. https://www.cnki.com.cn/Article/CJFDTOTAL-XNJT201405012.htm WANG Wan-qiu, QIAN Yu-bin, LIN Yu. Driver's trajectory tracking model in curves of two-lane highway[J]. Journal of Southwest Jiaotong University, 2014, 49(5): 817-823. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-XNJT201405012.htm
[19]	XU Jin, SHU Hai-Bo, SHAO Yi-Ming. Modeling of driver behavior on trajectory-speed decision making in minor traffic roadways with complex features[J]. IEEE Transactions on Intelligent Transportation Systems, 2019, 20(1): 41-53.
[20]	徐进, 赵军, 杨奎, 等. 适于复杂赛道的驾驶员"期望轨迹-期望速度"协同决策模型[J]. 中国科学: 技术科学, 2014, 44(6): 619-630. https://www.cnki.com.cn/Article/CJFDTOTAL-JEXK201406011.htm XU Jin, ZHAO Jun, YANG Kui, et al. Collaborative decision model of driver "desired trajectory-desired speed" applying to complex circuit[J]. Scientia Sinica: Technologica, 2014, 44(6): 619-630. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JEXK201406011.htm
[21]	戢晓峰, 谢世坤, 覃文文, 等. 基于轨迹数据的山区危险性弯道路段交通事故风险动态预测[J]. 中国公路学报, 2022, 35(4): 277-285. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL202204023.htm JI Xiao-feng, XIE Shi-kun, QIN Wen-wen, et al. Dynamic prediction of traffic accident risk in risky curve sections based on vehicle trajectory data[J]. China Journal of Highway and Transport, 2022, 35(4): 277-285. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL202204023.htm
[22]	ANGKITITRAKUL P, TERASHIMA R, WAKITA T. On the use of stochastic driver behavior model in lane departure warning[J]. IEEE Transactions on Intelligent Transportation Systems, 2011, 12(1): 174-183.
[23]	QUINTERO M C G, LÓPEZ J O, CUERVO PINILLA A C. Driver behavior classification model based on an intelligent driving diagnosis system[C]//IEEE. 15th International IEEE Conference on Intelligent Transportation Systems. New York: IEEE, 2012: 894-899.
[24]	林慧, 郭建钢, 崔金垚, 等. 低等级公路连续弯道小型车行驶轨迹偏移量的拟合[J]. 莆田学院学报, 2017, 24(2): 103-108. https://www.cnki.com.cn/Article/CJFDTOTAL-PTGZ201702024.htm LIN Hui, GUO Jian-gang, CUI Jin-yao, et al. The fitting of travel trajectory of small vehicle in the continuous curves of low grade highway[J]. Journal of Putian University, 2017, 24(2): 103-108. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-PTGZ201702024.htm
[25]	王可, 陆键, 蒋愚明. 基于车辆行驶轨迹的道路不良驾驶行为谱构建与特征值计算方法[J]. 交通运输工程学报, 2020, 20(6): 236-249. doi: 10.19818/j.cnki.1671-1637.2020.06.021 WANG Ke, LU Jian, JIANG Yu-ming. Abnormal road driving behavior spectrum establishment and characteristic value calculation method based on vehicle driving trajectory[J]. Journal of Traffic and Transportation Engineering, 2020, 20(6): 236-249. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2020.06.021
[26]	胡尧, 赵睿莎. 非自由交通流的non-FIFO车辆轨迹估计算法[J]. 交通运输工程学报, 2022, 22(2): 246-258. doi: 10.19818/j.cnki.1671-1637.2022.02.019 HU Yao, ZHAO Rui-sha. Non-FIFO vehicle trajectory estimation algorithm under non-free traffic flow[J]. Journal of Traffic and Transportation Engineering, 2022, 22(2): 246-258. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2022.02.019
[27]	赵树恩, 王金祥, 李玉玲. 基于多目标优化的智能车辆换道轨迹规划[J]. 交通运输工程学报, 2021, 21(2): 232-242. doi: 10.19818/j.cnki.1671-1637.2021.02.020 ZHAO Shu-en, WANG Jin-xiang, LI Yu-ling. Lane changing trajectory planning of intelligent vehicle based on multiple objective optimization[J]. Journal of Traffic and Transportation Engineering, 2021, 21(2): 232-242. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2021.02.020
[28]	曲文奇. 交通车辆驾驶行为识别与轨迹预测方法研究[D]. 吉林: 吉林大学, 2021. QU Wen-qi. Research on vehicle driving behavior recognition and trajectory prediction method[D]. Changchun: Jilin University, 2021. (in Chinese)
[29]	LI Sheng-yi, XUE Qi-fan, SHI Dong-feng, et al. Recursive least squares based refinement network for vehicle trajectory prediction[J]. Electronics, 2022, 11: 1859.
[30]	徐进, 陈莹, 张晓波, 等. 回头曲线路段的轨迹曲率特性和汽车过弯方式[J]. 西南交通大学学报, 2021, 56(6): 1143-1152. https://www.cnki.com.cn/Article/CJFDTOTAL-XNJT202106002.htm XU Jin, CHEN Ying, ZHANG Xiao-bo, et al. Track curvature characteristics and vehicle cornering patterns on hairpin curves[J]. Journal of Southwest Jiaotong University, 2021, 56(6): 1143-1152. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-XNJT202106002.htm

Relative Articles

Supplements(0)

Cited By

Proportional views

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Get Citation

PDF

XML

Article Metrics

Article views (632) PDF downloads(94)

Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads

doi: 10.19818/j.cnki.1671-1637.2022.04.029

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Proportional views

Related

Lane offset behavior and free driving trajectory model of hairpin curves of mountain roads

doi: 10.19818/j.cnki.1671-1637.2022.04.029

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Proportional views

Related

Export File

Citation

Format

Content