路面摩擦衰减对限速和自动驾驶汽车的影响:理论和实验研究

Filippo Giammaria Praticò
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引用次数: 0

摘要

通常,道路几何设计的标准是指一组给定的摩擦系数值(纵向和横向摩擦)。这些“参考”值意味着相应的能见度、曲率半径和速度限制。不幸的是,这些参考值不仅不符合给定的标准来衡量它们,而且没有提到当道路变湿和自动驾驶汽车(AV)车道时张贴的速度限制(可变速度限制)的减少。此外,由于测量设备、温度、位置、施工时间、对齐相关变量(如曲线、切线、过渡曲线、凸/峰或凹/凹陷、纵向坡度、超高程和控制梯度)以及附加奇点(如接缝和桥梁接近),对摩擦系数的相同评估存在大量不确定性。所有这些问题都可能危害道路安全,并增加路面法医调查的复杂性。因此,本研究的目标仅限于:(1)进行摩擦测量并分析摩擦随时间衰减的问题;(2)建立检测到摩擦衰减时降低限速的方法;(3)建立自动驾驶汽车的摩擦衰减处理方法。结果表明:(1)一个幂律描述了摩擦对限速的影响;(2)车速在170 km/h以下时,由于反应时间较短,自动驾驶汽车的反应距离较短,有利于自动驾驶交通(停车距离较短);(3)相反,在摩擦力越大、速度越快的情况下,在非自动驾驶汽车(NAV)反应时间规律相同的假设下(即随着初始速度的增加而减小),自动驾驶汽车的限速值低于自动驾驶汽车的限速值;(4)基于舒适性的自动驾驶汽车速度配置不仅会带来更高的制动距离,而且在(减速过程的)中间部分,这可能会带来安全问题,并减少可用摩擦与所需摩擦之间的距离。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Impact of pavement friction decay on speed limits and autonomous vehicles: A theoretical and experimental study
Commonly, the standards for the geometric design of roads refer to a given set of values for the friction coefficient (longitudinal and transverse friction). These "reference" values imply corresponding visibility sights, curvature radii, and speed limits. Unfortunately, not only do these reference values not correspond to a given standard to measure them, but nothing is said about the decrease of the posted speed limit (variable speed limits) when roads become slippery and lanes for autonomous vehicle (AV) are concerned.
Furthermore, the same assessment of the friction coefficient has plenty of uncertainties due to measurement device, temperature, location, time passed from the construction, alignment-related variables (e.g., curve, tangent, transition curve, convexity/crests or concavity/sags, longitudinal slope, superelevation, and ruling gradient), and supplementary singularities such as joints and bridge approaches. All the issues above may harm road safety and the complexity of forensic investigations of pavements.
Consequently, this study's objectives were confined to (1) carrying out friction measurements and analyzing the problem of friction decay over time; (2) setting up a method to lower the speed limits where friction decays are detected; (3) setting up a method to handle friction decays for autonomous vehicles. Results demonstrate that: (1) a power law describes how the speed limits are affected by friction; (2) for speeds up to 170 ​km/h, due to the lower reaction time, AV reaction distance is lower, which benefits AV traffic (lower stopping distance); (3) on the contrary, for higher values of friction and higher speeds, under the hypothesis of having the same reaction time law for non-AV (NAV) (i.e., decreasing with the initial speed), AV speed limits become lower than NAV speed limits; (4) not only do comfort-based speed profiles for AVs bring higher braking distances, but also, in the median part (of the deceleration process), this could pose safety issues and reduce the distance between the available and the needed friction.
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