高速公路车辆轨迹摆动特征与小客车道宽度研究

为明确车辆在高速公路车道保持阶段行驶过程中的轨迹横向摆动行为特征，利用高速公路无人机航拍的车辆轨迹数据集，基于车辆位置坐标提取行驶轨迹和速度，计算车辆在自然驾驶状态下的轨迹摆动特征指标，包括轨迹横向摆动的幅度和在摆动周期内的纵向行驶距离，分析不同车型的速度分布特征，研究行驶速度和车道位置对车辆轨迹横向摆动指标的影响。结果表明，尽管小型车和大型车的车身尺寸和动力性能存在显著差别，但两者的轨迹摆动幅度在整体上基本相同，两种车型的摆动幅度平均值分别为0.587 m和0.560 m，摆动周期内的行驶距离分别为252.95 m和251.99 m；车辆轨迹的横向摆动幅度对速度变化不敏感，不会随速度增加而增大，在高速条件下趋于平稳甚至下降，同样，摆动周期内的行驶距离与行驶速度之间未见显著相关性；不同的车道位置对轨迹摆动行为有一定影响，对小型车而言，车道位置由内向外变化时，轨迹摆幅有一定的增加趋势，而大型车的轨迹摆幅则是中间车道最小；国内高速公路车辆轨迹摆幅略高于德国HighD数据集的分析结果，但整体上非常接近；根据车辆轨迹的横向摆动幅度特征，可以确定高速公路小客车专用车道(或是小客车专用高速公路)的...

Vehicles Trajectory Oscillation Characteristics and Passenger Cars' Lane Width for Freeways

To clarify the trajectory lateral oscillation behavior of vehicles during lane-keeping driving on freeways, vehicle trajectories and driving speed were extracted using the dataset of the vehicle position coordinates from drones. The index of vehicle trajectory oscillation characteristics under normal driving conditions was then calculated, including the lateral amplitude of trajectory oscillation and traveled distance within the oscillation cycle. The speed distribution characteristics of different vehicle types and the effects of speed and lane positions on the trajectory lateral oscillation indexes were analyzed. The results show that: although there are significant differences in body size and power performance between light vehicles and large vehicles, their trajectory oscillation amplitude is nearly the same. The average oscillation amplitudes of the two types of vehicles are 0.587 m and 0.560 m, and the traveled distances within the oscillation cycle are 252.95 m and 251.99 m, respectively. The lateral oscillation amplitude of vehicle trajectory is insensitive to the speed change and will not increase with the increase of speed. It tends to be smooth or even decrease under high- speed conditions. Similarly, there is no significant correlation between travel distance and travel speed during the oscillation cycle. Different lane positions have an impact on the trajectory oscillation behavior, for light vehicles, trajectory oscillation increases when the vehicle position changes from the inside lane to the outside lane; while for large vehicles, the trajectory oscillation is the smallest in the middle lane. The trajectory oscillation of the Chinese freeway measured in Chongqing is slightly higher than the one calculated from the German HighD data set, but they are very close on the whole. According to the characteristics of the lateral amplitude of the vehicle trajectory, the proposed values of lane width for light cars dedicated lanes or passenger car freeways can be determined, the minimum and general value of lane width for passenger car dedicated lane with a design speed of 100~120 km· h-1 is 3.0 m and 3.25 m.