面向自动驾驶的道路适驾性研究进展

Recent Developments on Road Readiness for Automated Driving

现有道路设计规范考虑了驾驶人感知反应时间和车辆动力学特征,而自动驾驶汽车与驾驶人在感知反应时间、感知距离和感知高度等方面存在差异。这些差异可能会导致自动驾驶汽车在特定道路条件下面临挑战,例如复杂的道路线形、不规则交叉口等情况。为了解道路基础设施对自动驾驶汽车运行的影响,需要开展面向自动驾驶的道路适驾性研究。针对不同道路类型,道路几何设计、交通控制设施和路侧设施等对自动驾驶汽车安全运行影响的定量研究尚不充分。从路段、交叉口、交通标志标线3个方面进行归纳整理,结果表明:(1)现有的研究建立了道路线形设计、交叉口几何设计与自动驾驶感知能力的关系,发现平曲线半径、弦长和曲线偏转角等设计指标影响自动驾驶视距;(2)实车测试发现道路类型、平曲线曲率和车道宽度对自动驾驶失效事件具有显著影响;(3)随着自动驾驶汽车市场渗透率的增加,自动驾驶汽车之间交互行为规则更加明确,有利于提升道路适驾性水平;(4)自动驾驶的感知识别准确率会受到交通标志的反光性能和设置位置的影响,失效概率与交通标线的尺寸、逆反射亮度系数以及延长线相关。面向未来自动驾驶应用需求,针对已建道路,需要测试不同复杂工况条件对自动驾驶汽车运行的影响;针对拟建道路,应研究道路设计对自动驾驶汽车性能和安全的影响。

Current road design standards consider the perception reaction time of human drivers and operational characteristics of vehicles.However,there are differences between automated vehicles and human drivers in terms of the perception reaction time,perception distance,and perception height.These differences may lead to challenges for automated vehicles under specific road conditions such as complex road geometries and irregular intersections.To understand the impact of road infrastructure on the operation of automated vehicles,it is necessary to study road readiness for automated driving.Quantitative studies on the effects of different road types,road geometry designs,traffic control facilities,and roadside infrastructure on the safe operation of automated vehicles are insufficient.This paper summarized the findings from three perspectives:road segments,intersections,and traffic signs and markings.The results indicate the following:①Existing research has established a relationship between road geometry design,intersection geometry design,and the perception capabilities of automated driving.It was found that design parameters such as the horizontal curve radius,chord length,and curve deflection angle affect the sight distance in automated driving.②Real-world testing showed that the road type,horizontal curve curvature,and lane width have a significant impact on automated driving failure events.③An increase in the market penetration of automated vehicles will lead to clearer rules for interaction among automated vehicles and enhanced road readiness.④The accuracy of automated driving perception and recognition is affected by the retroreflectivity and placement of traffic signs,whereas the failure probability is related to the size of traffic markings,retroreflectivity coefficient,and extension edge lines.To satisfy the future demands of automated driving applications,it is necessary to conduct tests on existing roads to assess the impact of various complex operating conditions on the operation of automated vehicles.It is necessary to examine the impact of road design on the performance and safety of automated vehicles on new roads.