Research on virtual track system of superhighway based on vehicle road cooperation technology

doi:10.3969/j.issn.1674-8484.2024.03.016

Abstract

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

CLC Number:

U495

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.

Figures/Tables 16

References 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