基于高精地图的超高速公路虚拟轨道系统

Superhighway virtual track system based on high precision map

为提高车辆在超高速公路上行驶的安全性,建立了基于高精地图的超高速公路虚拟轨道系统模型,并对模型进行了分析验证。虚拟轨道系统由高精地图子系统、定位子系统、云端服务器子系统和轨道保持子系统组成。自动驾驶车辆在虚拟轨道上行驶时,车辆定位信息回传的频率影响车辆反应速度,以车辆不偏离虚拟轨道和换道安全为约束,计算得出最小定位回传频率。若车身中心线和轨道切线的夹角与前轮偏转角之和或横向偏移距离超过阈值,车辆可能偏离轨道,会触发轨道偏离预警系统,车辆则会以前轮最大安全偏转角度为参考修正的行驶轨迹。研究结果表明,车速分别为100、120、140、160、180 km/h时,系统定位回传频率保持在49、58、68、78、87 Hz以上就能够保证车辆在虚拟轨道内行驶。

To improve the safety of vehicles driving on the superhighway,a virtual track system model of the superhighway based on high precision map is established and analyzed.The virtual track system is composed of high precision map subsystem,positioning subsystem,cloud server subsystem and track keeping subsystem.When the autonomous vehicle is driving on the virtual track,the frequency of the vehicle positioning information will affect the response speed of the vehicle.The minimum positioning return frequency is calculated based on the constraint that the vehicle does not deviate from the virtual track and the lane change safety.When the autonomous vehicle is running on the virtual track,the frequency of vehicle positioning information return affects the response speed of the vehicle.The minimum positioning return frequency is calculated based on the constraint that the vehicle does not deviate from the virtual track and the safety of lane change.If the angle between the center line of the body and the tangent line of the track and the sum of the deflection angle of the front wheel or the lateral deviation distance exceeds the threshold value,the vehicle may deviate from the track,which will trigger the track deviation warning system,and the vehicle will take the maximum safe deflection angle of the front wheel as the reference to the corrected driving trajectory.The research results show that when the vehicle speed is 100,120,140,160,180 km/h,the system positioning and return frequency is kept above 49,58,68,78,87 Hz can ensure the vehicle running in the virtual track.