人类自然驾驶状态下车辆轨迹摆动特性与车道宽度

doi:10.3969/j.issn.1674-8484.2022.04.013

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (4): 718-728.DOI: 10.3969/j.issn.1674-8484.2022.04.013

人类自然驾驶状态下车辆轨迹摆动特性与车道宽度

徐进¹^,²(), 张玉¹(), 戴振华¹, 李飞³, 陈坚¹

1.重庆交通大学交通运输学院，重庆 400074，中国
2.重庆交通大学，山区复杂道路环境“人—车—路”协同与安全重庆重点实验室，重庆 400074，中国
3.重庆城市综合交通枢纽（集团）有限公司，重庆 401121，中国

收稿日期:2021-12-27 修回日期:2022-07-08 出版日期:2022-12-31 发布日期:2023-01-01
作者简介:徐进（1977—），男（汉），吉林，教授。Email：yhnl_996699@163.com。
张玉（1998—），女（汉），四川，硕士研究生。Email：zhangyuazha@163.com。
基金资助:
重庆市高校创新研究群体项目(CXQT21022);重庆市技术创新与应用发展项目(cstc2021ycjh-bgzxm0338);重庆东站交通枢纽站前片区科研项目(E1210268)

Vehicle trajectory oscillation characteristics and lane width control under human natural driving conditions

XU Jin¹^,²(), ZHANG Yu¹(), DAI Zhenhua¹, LI Fei³, CHEN Jian¹

1. School of transportation, Chongqing Jiaotong University, Chongqing 400074, China
2. Chongqing Key Laboratory of “human-Vehicle-Road” Cooperation and Safety for Mountain Complex Environment, Chongqing Jiaotong University, Chongqing 400074, China
3. Chongqing City Integrated Transportation Hub (Group) Co. LTD, Chongqing 401121, China

Received:2021-12-27 Revised:2022-07-08 Online:2022-12-31 Published:2023-01-01

摘要/Abstract

摘要：

研究了车辆在城市干路上的轨迹摆动特性，开展了实车驾驶试验。以重庆市菜园坝长江大桥和长江滨江路为研究对象，用车载仪器采集自然驾驶状态下的行驶速度、车辆位置和车辆形心与车道线的横向距离数据。结果表明：大多数车辆会向左偏离车道中心线行驶；在路面悬空的行驶环境下驾驶人更倾向于将车辆靠向道路中央；女性驾驶人较男性驾驶人更注意车辆轨迹控制；熟练驾驶人在地面路段上对于车辆轨迹的控制优于非熟练驾驶人；相比于人类驾驶，无人驾驶车辆能够实现更精确的轨迹控制，轨迹横向摆动将显著减小，2.75~3.00 m的车道宽度可满足无人驾驶小客车的行驶需求。

关键词: 人类自然驾驶, 无人驾驶车辆, 行驶轨迹, 轨迹摆动, 城市机动车道宽度

Abstract:

A real-vehicle driving test was carried out in order to study the vehicle trajectory oscillation characteristics on an urban main road. The Caiyuanba Yangtze River Bridge and the Binjiang Road on the Yangtze River in the Chongqing city were chosen as research objects. Onboard instruments collected data on driving speed, vehicle position, and lateral distance between the vehicle centroid and the lane under natural driving conditions. The results show that most vehicles tend to deviate from the center of the lane and drive to the left. The vehicle is more inclined to move towards the road center on the bridge section. Female drivers pay more attention to controlling vehicle trajectory than male drivers. Skilled drivers have better control over vehicle trajectory than unskilled drivers on the road surface. Compared with human driving, the autonomous vehicle can control its trajectory more accurately with the trajectory lateral oscillation will be significantly reduced. The lane width of 2.75~3.00 m can meet the driving requirements of an autonomous vehicle.

Key words: human natural driving, autonomous vehicle, vehicle track, trajectory oscillation, urban vehicle lane width

中图分类号:

U412.3

徐进, 张玉, 戴振华, 李飞, 陈坚. 人类自然驾驶状态下车辆轨迹摆动特性与车道宽度[J]. 汽车安全与节能学报, 2022, 13(4): 718-728.

XU Jin, ZHANG Yu, DAI Zhenhua, LI Fei, CHEN Jian. Vehicle trajectory oscillation characteristics and lane width control under human natural driving conditions[J]. Journal of Automotive Safety and Energy, 2022, 13(4): 718-728.

图/表 20

参考文献 19

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性别	年龄/岁	驾龄/年	累计驾驶里程 / 万km
男	24 ~ 48	2 ~ 22	5 ~ 60
女	29 ~ 37	6 ~ 14	8 ~ 15

性别	年龄/岁	驾龄/年	累计驾驶里程 / 万km
男	24 ~ 48	2 ~ 22	5 ~ 60
女	29 ~ 37	6 ~ 14	8 ~ 15

试验路段	平均值	中位数	标准差	方差	偏差	峰度	15分位数	85分位数
两路口—铜元局	0.316	0.320	0.281	0.079	-0.545	1.599	0.036	0.588
铜元局—两路口	0.267	0.252	0.264	0.069	-0.613	1.799	0.071	0.527
长江滨江路	0.110	0.113	0.349	0.124	-0.348	0.092	-0.200	0.513

试验路段	平均值	中位数	标准差	方差	偏差	峰度	15分位数	85分位数
两路口—铜元局	0.316	0.320	0.281	0.079	-0.545	1.599	0.036	0.588
铜元局—两路口	0.267	0.252	0.264	0.069	-0.613	1.799	0.071	0.527
长江滨江路	0.110	0.113	0.349	0.124	-0.348	0.092	-0.200	0.513

检验对象	假设	Levene方差等同性检验		平均值等同性T检验					差值95%置信区间
检验对象	假设	F	显著性	t	自由度	sig.	平均值差值	标准误差差值	下限	上限
桥梁路段往返方向	假定等方差	0.447	0.504	1.541	325.0	0.124	0.468	0.030	-0.013	0.106
桥梁路段往返方向	不假定等方差	—	—	1.550	319.9	0.122	0.468	0.030	-0.013	0.106
桥梁路段与地面路段	假定等方差	8.398	0.040	4.993	402.0	0.000	0.184	0.037	0.111	0.256
桥梁路段与地面路段	不假定等方差	—	—	4.287	98.8	0.000	0.184	0.043	0.099	0.269

人类自然驾驶状态下车辆轨迹摆动特性与车道宽度

Vehicle trajectory oscillation characteristics and lane width control under human natural driving conditions

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试验路段	平均值	平均值标准差	中位数	方差	偏差	峰度	15分位数	85分位数
两路口—铜元局	0.626	0.231	0.566	0.095	1.455	2.788	0.352	0.877
铜元局—两路口	0.775	0.303	0.704	0.136	1.099	1.596	0.442	1.203
长江滨江路	0.686	0.310	0.686	0.074	0.399	0.152	0.407	0.929

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