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

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。

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.