Research On Safety Evaluation Of Road Alignment Design For Autonomous Driving

With the development of 5G communication technology and the popularization of Internet of things technology,more and more autonomous vehicles pour into the market,and the continuously open autonomous driving test bases and dedicated lanes are also ready for the marketization of this technology.The existing research on autonomous vehicles mainly focuses on communication technology,sensor technology and the impact on traffic flow,and pays less attention to the coupling relationship between autonomous vehicles and road alignment.However,vehicle and road are a coupled whole.In order to achieve large-scale commercialization of autonomous driving technology,it is necessary to pay attention to the adaptability of autonomous vehicles to the active road alignment.In this study,the autonomous driving simulation experimental model is established to simulate the driving performance of autonomous vehicles on the road alignment.Establish the road alignment safety evaluation index system,and analyze the driving adaptability of autonomous vehicles to horizontal alignment and vertical alignment of the active road.Firstly,the vehicle-road coupling model based on two-vehicle cooperative driving is established according to the performance of advanced driving assistance system and the adverse alignment parameters of active road.Using Car Sim vehicle dynamics simulation software,Pre Scan intelligent vehicle driving simulation software,and MATLAB/Simulink visual simulation tools to jointly model and simulate.Select the key dynamic parameters affecting the vehicle driving according to the possible dangerous conditions of rear-end collision,sideslip and rollover,and classify the safety and comfort.Establish a safety evaluation index system for different road alignments: select the critical attachment coefficient,lateral load transferring rate and lateral acceleration to evaluate the safety of the radius of horizontal curve.Select lateral acceleration,lateral acceleration rate and acceleration to grade the comfort of the radius.Select lateral acceleration rate to evaluate the comfort of the transition curve.Select speed,acceleration and throttle to evaluate the safety and comfort of the longitudinal gradient.The results show that for the horizontal alignment,the active road with the design speed above 60 km/h can meet the safe driving requirements of autonomous vehicles.For the vertical alignment,the safety performance of autonomous vehicles is good in the uphill section and poor in the downhill section,so there is a risk of rear-end collision.In addition,the research defines the minimum comfort radius and minimum clothoid parameters that meet the driving comfort of autonomous vehicles,and the safe critical longitudinal gradient that meets the driving safety,and puts forward reasonable suggestions for the driving strategy of autonomous vehicles on the adverse alignment of active road.