Bend safe speed calculation method based on vehicle and road collaboration

A technology for safe vehicle speed and vehicle-road coordination, which is applied in the field of traffic safety and can solve the problems of inability to adjust the speed of the curve ahead and difficulty in obtaining road environment information.

Active Publication Date: 2018-05-04
WUHAN UNIV OF TECH
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Problems solved by technology

At present, the method of roadside dynamic speed limit (Dynamic Speed ​​Limit Signs) is difficult to fully consider dynamic and individual factors such as vehicle parameter differences and driver behavior characteristics, and is not enough to fu

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  • Bend safe speed calculation method based on vehicle and road collaboration
  • Bend safe speed calculation method based on vehicle and road collaboration
  • Bend safe speed calculation method based on vehicle and road collaboration

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Embodiment Construction

[0066] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0067] In an embodiment of the present invention, a method for calculating a safe vehicle speed on a curve based on vehicle-road coordination is provided, including the following steps,

[0068] Step 1, calculate the driving radius of the vehicle curve:

[0069] R p =R+1 / (1-cos1 / 2β)

[0070] Among them, R P is the driving radius; R is the curve radius; β is the deflection angle. The radius of the curve has a great influence on the calculation of the cornering speed. According to the research on driver's driving behavior, the driver tends to maintain the current speed to reduce braking when cor...

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Abstract

The invention discloses a bend safe speed calculation method based on vehicle and road collaboration. The method comprises the steps as follows: firstly, the cut-in speed of a vehicle at a bend, the geometrical characteristic of the bend and other information are acquired by use of an OBU (on-board unit) and an RSU (roadside unit) in a vehicle and road collaboration system, driving styles of different drivers are reflected by replacing the bend radius with the driver running radius, and a bend speed model self-adaptive to the driving styles of the drivers is established; then, accident forms such as sideslip, rollover, rear-end collision and the like of the vehicle are considered, the optimal bend speed of an autonomous vehicle is decided in the aspects of yaw stability, sideslip stability, car following safety, driving comfort and the like, and finally, expected speed planning is provided for an active control system of the vehicle. Compared with existing bend safe speed calculation methods, the bend speed calculation method has the advantages that multiple accident forms such as sideslip, rollover, rear-end collision and the like are considered comprehensively, considered factorsare more comprehensive, and the speed planning of the autonomous vehicle can be supported.

Description

technical field [0001] The invention belongs to the technical field of traffic safety, and in particular relates to a method for calculating a safe vehicle speed on a curve based on vehicle-road coordination. Background technique [0002] For self-driving vehicles, their driving safety and driving comfort on the curves and ramp exits of urban expressways, suburban roads, highways and other curves will affect the promotion and development of future self-driving vehicles. The key to the application. Currently, the roadside dynamic speed limit (Dynamic Speed ​​Limit Signs) method is difficult to fully consider dynamic and individual factors such as vehicle parameter differences and driver behavior characteristics, and is not enough to fundamentally improve the curve accident situation. Similarly, the adaptive cruise control system (Adaptive Cruise Control) is not easy to obtain road environment information (curve radius, road adhesion coefficient, etc.). Road to adjust the sp...

Claims

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Application Information

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IPC IPC(8): G08G1/052B60W40/105
CPCB60W40/105B60W2520/10B60W2520/105B60W2552/00B60W2554/00G08G1/052
Inventor 褚端峰曹永兴马嘉欣吴超仲王绍凡
Owner WUHAN UNIV OF TECH
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