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

doi:10.3969/j.issn.1674-8484.2022.04.013

Abstract

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

CLC Number:

U412.3

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.

Figures/Tables 20

References 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