基于车路协同技术的超高速公路虚拟轨道系统研究

doi:10.3969/j.issn.1674-8484.2024.03.016

摘要/Abstract

摘要：

为保障超高速公路行车安全，论证虚拟轨道系统在超高速公路上应用的可行性，以车路协同技术为基础，搭建了超高速公路虚拟轨道系统模型。通过建立实时车辆动态坐标系，结合车辆偏离安全区域，计算出车辆横向偏转角度阈值；利用定位系统和路侧单元检测系统，研究了微波测距模块采样频率和安装间距随车速变化的情况。结果表明：在虚拟轨道单侧安全区域为10 cm时，小型两厢车、小型三厢车、中型车、中大型车、大型车车辆横向偏转的最大安全角度范围分别是1.43° ~ 1.59°、1.30° ~ 1.40°、1.22° ~ 1.33°、1.17° ~ 1.25°、1.10° ~ 1.20°；当车辆行驶速度为180 km/h时，路侧单元传感器的采样频率高于27.72 Hz，传感器的安装距离小于6.87 m时可满足要求。

关键词: 公路运输, 超高速公路, 车路协同, 虚拟轨道, 定位系统

Abstract:

A virtual track system model of the superexpressway was built to ensure the driving safety of the superexpressway and demonstrate the feasibility of the application of the virtual track system on the superexpressway based on the vehicle-road cooperation technology. The threshold of vehicle lateral deflection angle was calculated by establishing a real-time vehicle dynamic coordinate system with considering the deviation of vehicles from the safety zone. Simultaneously, the variation of the sampling frequency and installation spacing of the microwave ranging module with vehicle speed was studied by using a positioning system and a roadside unit detection system. The results show that when the virtual unilateral track safety zone is 10 cm, the maximum safe angle ranges for lateral deflection of small two box cars, small three box cars, medium size cars, medium to large size cars, and large size cars are 1.43°~1.59°, 1.30°~1.40°, 1.22°~1.33°, 1.17°~1.25°, and 1.10°~1.20°, respectively. When the vehicle is traveling at a speed of 180 km/h, the sampling frequency of the roadside unit sensor can reach a maximum of 27.72 Hz, and the installation distance of the sensor can reach a maximum of 6.87 meters.

Key words: highway transportation, superhighway, cooperative vehicle infrastructure system, virtual track, positioning system

中图分类号:

U495

何永明, 权聪, 邢婉钰. 基于车路协同技术的超高速公路虚拟轨道系统研究[J]. 汽车安全与节能学报, 2024, 15(3): 424-432.

HE Yongming, QUAN Cong, XING Wanyu. Research on virtual track system of superhighway based on vehicle road cooperation technology[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 424-432.

图/表 16

参考文献 21

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l / m	w / m	θ_min / (°)	θ_mid / (°)	θ_max / (°)
3.6	1.8	10.04	18.52	33.85
3.6	2.2	3.24	11.07	24.63
5.2	1.8	6.77	12.10	20.41
5.2	2.2	2.22	7.38	15.38

l / m	w / m	θ_min / (°)	θ_mid / (°)	θ_max / (°)
3.6	1.8	10.04	18.52	33.85
3.6	2.2	3.24	11.07	24.63
5.2	1.8	6.77	12.10	20.41
5.2	2.2	2.22	7.38	15.38

车型	l / m	α_max / (°)
小型两厢	3.60~4.00	1.43~1.59
小型三厢	4.10~4.40	1.30~1.40
中型	4.30~4.70	1.22~1.33
中大型	4.60~4.90	1.17~1.22
大型	4.80~5.20	1.10~1.20

车型	l / m	α_max / (°)
小型两厢	3.60~4.00	1.43~1.59
小型三厢	4.10~4.40	1.30~1.40
中型	4.30~4.70	1.22~1.33
中大型	4.60~4.90	1.17~1.22
大型	4.80~5.20	1.10~1.20

行驶速度 (km·h^-1)				v_X / (km·h^-1)
行驶速度 (km·h^-1)	α_max=	小型两厢轿车 (1.43°~1.59°)	小型三厢轿车 (1.30°~1.40°)	中型轿车 (1.22°~1.33°)	中大型轿车 (1.17°~1.25°)	大型轿车 (1.10°~1.20°)
10		0.25~0.28	0.22~0.24	0.21~0.23	0.20~0.22	0.19~0.21
40		1.00~1.12	0.88~0.96	0.84~0.92	0.80~0.88	0.80~0.84
60		1.50~1.68	1.32~1.44	1.26~1.38	1.20~1.32	1.14~1.26
80		2.00~2.24	1.76~1.92	1.68~1.84	1.60~1.76	1.52~1.68
100		2.50~2.80	2.20~2.40	2.10~2.30	2.00~2.20	1.90~2.10
110		2.75~3.08	2.42~2.64	2.31~2.53	2.20~2.42	2.09~2.31
120		3.00~3.36	2.64~2.88	2.52~2.76	2.40~2.64	2.28~2.52
130		3.25~3.64	2.86~3.12	2.73~2.99	2.60~2.86	2.47~2.73
140		3.50~3.92	3.08~3.36	2.94~3.22	2.80~3.08	2.66~2.94
150		3.75~4.20	3.30~3.60	3.15~3.45	3.00~3.30	2.85~3.15
160		4.00~4.48	3.52~3.84	3.36~3.68	3.20~3.52	3.04~3.36
170		4.25~4.76	3.74~4.08	3.57~3.91	3.40~3.74	3.23~3.57
180		4.50~5.04	3.96~4.32	3.78~4.14	3.60~3.96	3.42~3.78