Bend safe speed calculation method based on vehicle and road collaboration

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...

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