基于智能路钮的超高速公路虚拟轨道系统研究

为提高超高速公路行驶安全性，使用结构分析和数学模型的方法研究基于智能路钮的高速公路虚拟轨道系统. 该系统由路面子系统、车载子系统和服务中心子系统组成. 安装车载系统的车辆接近写入路钮时激活虚拟轨道系统，阅读器读取标签路钮的位置坐标和该处道路线形信息，同时数据处理模块读取线形参数并处理得到道路切线与车身角度，读取前轮偏角、车辆速度和相邻两个标签路钮之间的距离，利用计算模型得到车辆在相邻两个标签路钮之间行驶时方向盘的转动角速度，并将控制参数发送给转向电机. 研究结果表明，当超高速公路设计车速分别为140，160，180 km/h时，只要保证路钮间的距离分别小于1.33，1.50，1.69 m，就可保证车辆偏离中心线的距离小于0.5 m. 因此，基于智能路钮的虚拟轨道系统可将车辆限制在虚拟轨道内行驶，保证超高速公路的安全性.

Superhighway Virtual Track System Based on Intelligent Road Button

This paper focuses on the virtual track system of superhighway and uses intelligent knobs to improve the safety through structural analysis and mathematical modeling. The virtual track system consists of the subsystems of roadway, vehicle, and service center. When the vehicle that equipped with onboard system get close to the defined road button, the virtual track system will be activated. The coordinates and road alignment of the relevant road buttons will be extracted by the reader. The data processing module reads the linear parameters and obtains the tangent angle of roadway and the angle of the vehicle body. Using the front wheel angle, vehicle speed and the distance between the adjacent two button labels, the system can calculate vehicle steering wheel rotation velocity between the adjacent two road buttons and send the control parameters to the steering motor of the vehicle. The study results show that when the design speeds of superhighway are 140 km/h, 160 km/h, and 180 km/h, the distances between the road buttons are less than 1.33 m, 1.50 m, and 1.50 m, the distance of the vehicle off from the centerline would be less than 0.5 m. The virtual track system based on intelligent road knobs could keep vehicles traveling on the virtual track and improve the safety of superhighways.