CN107766615A - Mainline toll station ETC Warning Marks based on dynamics simulation are set apart from method for evaluating safety - Google Patents
Mainline toll station ETC Warning Marks based on dynamics simulation are set apart from method for evaluating safety Download PDFInfo
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Abstract
The invention discloses a kind of mainline toll station ETC Warning Marks based on dynamics simulation to be set apart from method for evaluating safety, includes step：1st, lane-change process and lane-change model of the vehicle in the mainline toll station for setting ETC Warning Marks are determined, along the length travel L of track direction according to caused by road parameters calculating vehicle in lane-change process；2nd, determine that evaluation ETC Warning Marks set the control function of distance；3rd, using Adams/Car software building driver vehicle's mainline toll stations section Virtual Simulation Experiment Platform；4th, emulation obtains dynamics index of the vehicle when indicating lane-change traveling on the charge station section with ETC Warning Marks in accordance with the instructions；5th, according to the dynamics index obtained in step 4, the requirement for meeting control function is judged whether.This method establishes people's bus or train route virtual simulation test platform, and can evaluate existing distance of the ETC Warning Marks away from tollbooth by simulation analysis meet the security requirement of vehicle lane-changing process.
Description
Technical field
The invention belongs to charge station's safe design and management study field, and in particular to a kind of master based on dynamics simulation
Line charge station ETC Warning Marks are set apart from method for evaluating safety.
Background technology
The charge method in China is mostly artificial semi automatic toll mode at present, and manual toll collection MTC is still current charge station
Dominant pattern, but with the development of technology, within following a period of time, automatic charging ETC (Electronic Toll
Collection electronic charging system without parking) and MTC (Manual Toll Collection, artificial semi automatic toll system)
The charging mode coexisted is the main form of tariff of China's highway.
The difference of ETC and MTC charge methods causes the traffic flow of two kinds of different characteristics to interfere with each other, simultaneously because ETC cars
Road Warning Mark sets the unreasonable of distance to cause the urgent lane-change of vehicle, non-ETC user to be strayed into ETC thes lane in which the drivers should pay fees, and ETC user comes
Not as good as changing lane to the behaviors such as ETC thes lane in which the drivers should pay fees, these behaviors will reduce the traffic efficiency of expressway principal line toll station and notable
The probability of accident occurs for increase, and the generation of traffic accident will be produced to subsequent vehicle and had a strong impact on, or even occurs extensive
Congestion and rear-end collision.Therefore to reduce the accident number of mainline toll station, distance of the ETC tracks Warning Mark away from tollbooth should be able to
It is enough sufficiently to be reacted to driver and the operating time, avoid urgent lane-change, but at present China also without the main line receipts of complete set
Take station ETC Warning Marks apart from method for evaluating safety.
Domestic and foreign scholars have carried out substantial amounts of research in terms of charge station's ETC Warning Marks, wherein being concentrated mainly on instruction
The setting form of mark and the design of logo content.Research from security standpoint to charge station's Warning Mark position is mostly according to warp
Determination is tested, and is only applicable to common charge station, does not account for the particularity that ETC and MTC coexists.Existing evaluation method is big
All rule of thumb summarize and draw, do not account for influencing each other between vehicle and the dynamic response situation of vehicle.
The content of the invention
Goal of the invention：For problems of the prior art, the invention provides a kind of master based on dynamics simulation
Line charge station ETC Warning Marks are set apart from method for evaluating safety, after this method sees ETC Warning Marks according to ETC user
The process of ETC thes lane in which the drivers should pay fees is changed lane to, corresponding people's bus or train route virtual simulation test platform is established, is evaluated by simulation analysis existing
Can distance of the ETC Warning Marks away from tollbooth meet the security requirement of vehicle lane-changing process.
Technical scheme：The present invention adopts the following technical scheme that：Mainline toll station ETC Warning Marks based on dynamics simulation
Set apart from method for evaluating safety, comprise the following steps：
(1) lane-change process and lane-change model of the vehicle in the mainline toll station for setting ETC Warning Marks are determined, according to road
Parameter calculates vehicle in the length travel L caused by lane-change process along track direction；
(2) determine that evaluation ETC Warning Marks set the control function of distance
Wherein βlFor yaw angle,For angle of heel, alFor side acceleration, g is acceleration of gravity, LTRlHung down for steering spindle
To load transfer rate,Respectively yaw angle, angle of heel, side acceleration, steering spindle vertical load
The threshold value of the rate of transform；
(3) Adams/Car software buildings driver-vehicle-mainline toll station section Virtual Simulation Experiment Platform is applied；
(4) using the Virtual Simulation Experiment Platform of structure in step (3), emulation obtains vehicle with ETC Warning Marks
Charge station section on indicate in accordance with the instructions lane-change traveling when dynamics index, respectively calculate vehicle yaw angle βl, angle of heelSide acceleration alWith steering spindle vertical load rate of transform LTRlValue；
(5) according to the β being calculated in step (4)l、alAnd LTRlValue, judges whether to meet control function F's (l)
It is required that；
(5-1) if meeting control function requirement, mainline toll station ETC Warning Marks set distance to meet that security will
Ask, evaluation is qualified；
(5-2) if not meeting control function requirement, mainline toll station ETC Warning Marks set distance to be unsatisfactory for security
It is required that evaluation is unqualified, it is necessary to be redesigned to it.
Vehicle includes reaction phase and lane-change in the lane-change process for the mainline toll station for setting ETC Warning Marks in step (1)
Phase；Reaction phase, i.e. ETC Warning Marks appear in the mistake for judging to finish to configured information to driver in vision field of driver
Journey, time tp, preferably 2.5 seconds；Lane-change phase, i.e. driver start to determine lane change to the process in ETC tracks.Driver first
Wait and can be inserted into gap, then by lane-change row for several times to ETC thes lane in which the drivers should pay fees.Wait the time that can be inserted into gap, i.e. lane-change phase
Time is tw, calculation formula is：
Wherein t is the critical gap time, and general value is 4.0s；λ is average arrival rate；τ is minimum time headway, typically
Value is 1.2s.
Vehicle lane-changing model chooses constant speed skew and SIN function superposition lane-change model, and the function of a lane-change is：
Wherein, d is the distance between the track center line in adjacent two track, and L is along the vertical of track direction caused by lane-change process
To displacement.
Preferably, control function F (l) is：
Adams/Car software buildings driver-vehicle-mainline toll station section Virtual Experiment Simulation is used in step (3)
Platform, comprise the following steps：
(3-1) determines auto model using the auto model provided in Adams/Car softwares；
The driver's Controlling model of (3-2) in Adams/Car needed for structure emulation；
(3-3) obtains the road parameters in evaluated mainline toll station section and using the Road in Adams/Car
Builder builds three-dimensional traverse.
In step (4), β is calculatedl、alValue, comprise the following steps：
The Virtual Simulation Experiment Platform that (4-1) is built according to step (3), vehicle is obtained on section to provide that speed per hour is run
When dynamics index；The dynamics index includes the yaw angle β of vehiclel, angle of heelSide acceleration al, steering spindle two
Take turns revolver vertical force F during difference maximumZLWith right wheel vertical force F during steering spindle two-wheeled difference maximumZR；
(4-2) calculates steering spindle vertical load rate of transform LTRl, calculation formula is：
Beneficial effect：Compared with prior art, the mainline toll station ETC instructions disclosed by the invention based on dynamics simulation
Traffic sign placement has advantages below apart from method for evaluating safety：1st, influencing each other between consideration vehicle and the dynamics of vehicle
Response condition is as a result more accurate；2nd, using Adams dynamics softwares, according to the lane-change feature of driver, lane-change function model and
The actual parameter of charge station's road constructs driver's Controlling model and road model, and it is virtual to construct driver-vehicle-section
Experiment porch, kinetic parameter of the vehicle in charge station's lane-change process can be accurately obtained, and choose yaw angle, angle of heel, side
To four evaluation indexes of acceleration and load transfer rate, can fast quantification calculate in the case where existing ETC Warning Marks set distance
The kinetic parameter of vehicle, set whether distance meets security requirement so as to evaluate, so as to setting for ETC Warning Mark distances
Offer theoretical foundation is provided.
Brief description of the drawings
Fig. 1 is the overall control flow figure of the present invention；
Fig. 2 is charge station's planar design scheme schematic diagram；
Fig. 3 three-dimensional traverse schematic diagrames；
Fig. 4 is vehicle side slip angle simulation result figure；
Fig. 5 is vehicle roll angle simulation result figure；
Fig. 6 is the lateral acceleration simulation result figure of vehicle；
Fig. 7 is steering spindle revolver and right wheel vertical force simulation result figure.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings to the specific reality of the present invention
Case is applied to explain.
Set the invention discloses a kind of mainline toll station ETC Warning Marks based on dynamics simulation and commented apart from security
Valency method, flow are as shown in Figure 1.
As shown in Fig. 2 be the planar design scheme schematic diagram of certain ETC mainline toll station, highway basic segment 1 unidirectional four
Track, numbering is A, B, C, D respectively from inside to outside, and the volume of traffic is 6000/hour, and design speed per hour is 100km/h, lane width
3.75m, toll plaza totally 6 thes lane in which the drivers should pay fees, wherein there is an ETC track 2, and it is arranged in most inner side, ETC Warning Marks 3
Distance apart from charge station is 500m, and the length of toll plaza transition 4 is 200m.
Mainline toll station ETC Warning Mark of the present invention based on dynamics simulation is set apart from method for evaluating safety, bag
Include following key step：
(1) lane-change process and lane-change model of the vehicle in the mainline toll station for setting ETC Warning Marks are determined, according to road
Parameter calculates vehicle in the length travel L caused by lane-change process along track direction；
For different ETC tracks layout schemes, mainline toll station ETC Warning Marks set and should selected apart from safety evaluatio
Take across the most lane-change process of number of track-lines and analyzed, as ETC tracks are arranged on most inner side, need to see that ETC marks to driver
After will safety evaluatio is carried out from outermost vehicle lane-changing to the process of most inner side.After driver sees ETC Warning Marks, drive
Vehicle will change lane to the ETC tracks of most inner side from outermost track.Vehicle is relatively low in the speed of charge station's transition, can be safe
Ground is from B lane changings to A tracks.As shown in Fig. 2 vehicle 5 need to drive into B tracks before transition is entered, therefore seen with driver
To after ETC Warning Marks, vehicle is main study subject from D lane changings to the process in B tracks.In view of vehicle in charge station
Preceding deceleration situations, the average speed of this process take 80km/h, and can calculate wait according to formula (1) can be inserted into clearance tw=
2.5s。
The lane-change model of vehicle chooses constant speed skew and SIN function superposition lane-change model, and driver is twice in succession across one
Individual track, can be by D lane changings to B tracks, the then length travel in formula (2) caused by lane-change process along track directionNow lane-change equation of locus is shown below：
(2) determine that evaluation ETC Warning Marks set the control function of distance
Wherein βlFor yaw angle, unit degree of being, the possibility that its size reflection vehicle breaks away, threshold value 1；For
Angle of heel, the angle of heel of vehicle, unit degree of being, the possibility that its size reflection vehicle rolls, threshold value 1.6；alFor
The side acceleration of vehicle, whether its magnitude relationship is to easily breakking away, and threshold value 0.3g, g are acceleration of gravity, value
9.8m/s2；LTRlLoad transfer rate when for Warning Mark distance being l, i.e.,：
Wherein FZLFor steering spindle two-wheeled difference maximum when revolver vertical force, FZRFor steering spindle two-wheeled difference maximum when
Right wheel vertical force.When single wheel vertical force is 0, vehicle will turn on one's side, and to ensure that vehicle is not turned on one's side, make LTRl≤
0.9.Thus, control function is in the present embodiment：
(3) Adams/Car software buildings driver-vehicle-mainline toll station section Virtual Simulation Experiment Platform is applied；
(3-1) determines auto model using the auto model provided in Adams/Car softwares, and the vehicle in the present embodiment is
Car, car model is transferred from Adams/Car model libraries, and by changing the vehicle mould needed for relevant parameter structure
Type；
The driver's Controlling model of (3-2) in Adams/Car needed for structure emulation：The Event in Adams/Car
Driving data file and driving Parameter File are established in Builder, the initial velocity of vehicle, initial equilibrium conditionses, initial is set
Gear and the parameters such as time are taken aim in advance, mainly to the steering in auto model, throttle, braking, speed changer, clutch and termination condition
Six data blocks carry out real-time online control；
(3-3) obtains the road parameters for evaluating main mainline toll station section and uses the Road in Adams/Car
Builder builds three-dimensional traverse, and the reaction recognition time after ETC Warning Marks is seen according to driver and is waited pluggable
Off time obtains the track of straight-line travelling, and driver's lane-change mistake is obtained according to constant speed skew and SIN function superposition lane-change model
Driving trace in journey, it can thus be concluded that going out driving trace of the track before tollbooth.Concrete operations are as follows：By the traveling lane-change of vehicle
Track exports the linear coordinate of pile by pile in this track in CAD, and the superelevation of road is drawn according to the actual conditions in charge station section
Value and surface friction coefficient.According to coordinate of pile by pile, road superelevation and surface friction coefficient, the road surface in Adams/Car is utilized
Modeling device Road Builder create the three-dimensional traverse in charge station section, as shown in figure 3, illustrating for three-dimensional traverse
Scheme, arrow is vehicle heading in figure.
(4) using the Virtual Simulation Experiment Platform of structure in step (3), emulation obtains vehicle with ETC Warning Marks
Charge station section on indicate in accordance with the instructions lane-change traveling when dynamics index, respectively calculate vehicle yaw angle βl, angle of heelSide acceleration alWith steering spindle vertical load rate of transform LTRlValue；
Auto model, pilot model and road model are loaded into File in Adams/Car by (4-1)
DrivenEvents emulates item, and speed is arranged to the regulation speed per hour before charge station, is then emulated and exports post processing knot
Fruit；
(4-2) draws the dynamic characteristic of vehicle, the yaw angle β of vehicle according to post processing resultl, angle of heelLaterally
Acceleration al, steering spindle two-wheeled difference maximum when revolver vertical force FZLWith right wheel vertical force during steering spindle two-wheeled difference maximum
FZR, respectively as also shown in e.g. figs. 4-7.Transverse axis is the time in Fig. 4 and Fig. 5, and the longitudinal axis is angle, respectively illustrates βlWithChange.Figure
6 be alSimulation result, transverse axis is the time, and the longitudinal axis is the value of side acceleration, unit m/s2.Solid line is F in Fig. 7ZLAt any time
Between the curve that changes, dotted line FZRThe curve changed over time.β can be drawnl≤ 0.5,al≤ 0.23g, utilizes public affairs
FormulaLTR is calculatedl≤0.15。
(5) according to β obtained in the previous stepl、alAnd LTRlValue, it can be deduced that meet control function F (l) requirement,
Charge station ETC Warning Marks set distance to meet security requirement, and it is qualified to evaluate.
Claims (7)
1. the mainline toll station ETC Warning Marks based on dynamics simulation are set apart from method for evaluating safety, it is characterised in that
Comprise the following steps：
(1) lane-change process and lane-change model of the vehicle in the mainline toll station for setting ETC Warning Marks are determined, according to road parameters
Vehicle is calculated in the length travel L caused by lane-change process along track direction；
(2) determine that evaluation ETC Warning Marks set the control function of distance
Wherein βlFor yaw angle,For angle of heel, alFor side acceleration, g is acceleration of gravity, LTRlFor steering spindle vertical load
The rate of transform,Respectively yaw angle, angle of heel, side acceleration, the steering spindle vertical load rate of transform
Threshold value；
(3) Adams/Car software buildings driver-vehicle-mainline toll station section Virtual Simulation Experiment Platform is applied；
(4) using the Virtual Simulation Experiment Platform of structure in step (3), emulation obtains vehicle in the receipts with ETC Warning Marks
Indicate dynamics index during lane-change traveling in expense stop section in accordance with the instructions, calculate the yaw angle β of vehicle respectivelyl, angle of heelSide
To acceleration alWith steering spindle vertical load rate of transform LTRlValue；
(5) according to the β being calculated in step (4)l、alAnd LTRlValue, judges whether the requirement for meeting control function F (l)；
(5-1) if meeting control function requirement, mainline toll station ETC Warning Marks set distance to meet security requirement, comment
Valency is qualified；
(5-2) if not meeting control function requirement, mainline toll station ETC Warning Marks set distance to be unsatisfactory for security will
Ask, evaluation is unqualified, it is necessary to be redesigned to it.
2. the mainline toll station ETC Warning Marks according to claim 1 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that vehicle includes in the lane-change process for the mainline toll station for setting ETC Warning Marks in step (1)
Reaction phase and lane-change phase；Time reaction phase is tp, time lane-change phase is tw, calculation formula is：
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Wherein t is the critical gap time, and λ is average arrival rate, and τ is minimum time headway；
Vehicle lane-changing model chooses constant speed skew and SIN function superposition lane-change model, and the function of a lane-change is：
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Wherein, d is the distance between the track center line in adjacent two track, and L is along longitudinal position of track direction caused by lane-change process
Move.
3. the mainline toll station ETC Warning Marks according to claim 1 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that control function F (l) is：
4. the mainline toll station ETC Warning Marks according to claim 1 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that Adams/Car software buildings driver-vehicle-mainline toll station section is used in step (3)
Virtual Simulation Experiment Platform, comprise the following steps：
(3-1) determines auto model using the auto model provided in Adams/Car softwares；
The driver's Controlling model of (3-2) in Adams/Car needed for structure emulation；
(3-3) obtains the road parameters in evaluated mainline toll station section and using the Road Builder in Adams/Car
Build three-dimensional traverse.
5. the mainline toll station ETC Warning Marks according to claim 1 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that in the step (4), calculate βl、alValue, comprise the following steps：
The Virtual Simulation Experiment Platform that (4-1) is built according to step (3), obtain vehicle on section with provide speed per hour operation when
Dynamics index；The dynamics index includes the yaw angle β of vehiclel, angle of heelSide acceleration al, steering spindle two-wheeled it is poor
Revolver vertical force F when being worth maximumZLWith right wheel vertical force F during steering spindle two-wheeled difference maximumZR；
(4-2) calculates steering spindle vertical load rate of transform LTRl, calculation formula is：
6. the mainline toll station ETC Warning Marks according to claim 2 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that the time reaction phase tpFor 2.5s.
7. the mainline toll station ETC Warning Marks according to claim 2 based on dynamics simulation are set apart from security
Evaluation method, it is characterised in that critical gap time t is 4.0s, and minimum time headway τ is 1.2s.
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| CN109739218A (en) * | 2018-12-24 | 2019-05-10 | 江苏大学 | It is a kind of that outstanding driver's lane-change method for establishing model is imitated based on GRU network |
| CN110920616A (en) * | 2019-12-24 | 2020-03-27 | 吉林大学 | Intelligent vehicle lane changing track and lane changing track following control method |
| CN111090286A (en) * | 2020-03-24 | 2020-05-01 | 北京三快在线科技有限公司 | Unmanned vehicle motion state planning method and device |
| CN111967163A (en) * | 2020-08-27 | 2020-11-20 | 腾讯科技（深圳）有限公司 | Vehicle simulation control method and device, computer equipment and storage medium |
| CN112026759A (en) * | 2020-09-12 | 2020-12-04 | 哈尔滨理工大学 | Electric intelligent automobile collision avoidance device with multi-mode switching and method |
| CN114611202A (en) * | 2020-12-09 | 2022-06-10 | 贵州省交通规划勘察设计研究院股份有限公司 | Method for determining safe running speed standard of vehicle on long and large longitudinal slope section |
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