考虑路面车辙的自动驾驶卡车高速公路车道管理策略研究

Freeway Lane Management Strategy for Autonomous Trucks Considering Pavement Rutting

自动驾驶卡车在横向控制原理、横向位置分布特征上与人工驾驶车辆存在较大差异,为评估自动驾驶卡车对路面耐久的影响并支撑其在人机混驾环境下的车道规划,开展考虑路面车辙的高速公路车道管理策略研究。基于高速公路自然驾驶数据,提取卡车车道内横向分布特征,并提出以正态分布为基础的自动驾驶卡车横向位置分布模式;根据车道类型提出3种高速公路车道管理策略,即专用车道策略、混合流车道策略、专用+混合流车道策略;在不同车道管理策略、横向位置分布参数下,从车辙发展均衡出发确定不同车道自动驾驶、人工驾驶卡车比例,并通过沥青路面三维有限元模型评估路面养护年限。结果表明:专用车道策略中专用车道宽度可变,但要求自动驾驶卡车比例固定,且沥青路面养护年限最低;混合流车道策略适用于所有自动驾驶卡车比例,且养护年限最高;专用+混合流车道策略适用于自动驾驶卡车比例高的高速公路。

The lateral control mechanism and lateral distribution characteristics of autonomous truck are significantly different from those of human-driven vehicle.To support the evaluation of autonomous truck on road durability and provide instructions for lane planning in human-autonomous hybrid driving environment,this paper investigates freeway lane management considering pavement rutting.Based on freeway naturalistic driving data,lateral distribution characteristics of human-driven truck was extracted.And lateral position distribution mode for autonomous truck based on normal distribution was proposed.Then,three freeway lane management strategies with different lane types were proposed including dedicated lane strategy,mixed-flow lane strategy,dedicated and mixed-flow lane strategy.Based on different lane management strategies and lateral position distribution parameters,traffic volume proportions of humandriven and autonomous truck were calculated from the perspective of balancing rut development.A three-dimensional finite element method(FEM)model was developed to evaluate the asphalt pavement maintenance year.The results showed that dedicated lane width of dedicated lane strategy varies,but the proportions of autonomous truck should be fixed to obtain the lowest asphalt pavement maintenance year.The mixed-flow lane strategy is applicable to all proportions of autonomous truck and results in the highest maintenance year.Besides,the dedicated and mixed-flow lane strategy is suitable for freeway with a high proportion of autonomous truck.