基于微观换道的高速公路双车道出口辅助车道长度研究

A Study of Length of Auxiliary Lanes for Two-Lane Expressway Exits Based on Microscopic Lane Change

摘要:

为研究辅助车道长度确定的基本原理和合理长度，采用无人机航拍视频及YOLOv3目标检测算法提取双车道出口辅助车道路段车辆的原始轨迹数据，通过卡尔曼滤波和Frenet坐标系转换，得到了车辆微观换道特性和速度分布特征。以修正双曲正切函数换道模型拟合换道轨迹，左、右换道拟合优度分别为97.48 %、97.62 %。根据路段车辆运行和微观换道特性，建立了双车道出口辅助车道长度计算模型，将辅助车道划分为右换道段、反应段、等待段和左换道段4个组成部分。研究表明：出口辅助车道长度中最主要的影响因素是换道长度，其与行驶速度正相关，和《路线规范》相比，明确了辅助车道最小长度的计算原理，界定了辅助车道的范围，为设计中灵活运用提供了参考。

Abstract:

In order to study the basic principle and the reasonable length of auxiliary lanes， the original trajectory data of vehicles in the two-lane exit auxiliary lane section are extracted by using unmanned aerial vehicle (UAV） video and the YOLOv3 target detection algorithm， and the microscopic lane change characteristics and speed distribution features of vehicles are obtained by Kalman filtering and Frenet coordinate system conversion. The modified hyperbolic tangent function lane change model was used to fit the lane change trajectory， and the goodness of fit for left and right lane change was 97.48 % and 97.62 %， respectively. According to the vehicle operation and microscopic lane change characteristics of the road section， a two-lane exit auxiliary lane length calculation model was established， and the auxiliary lane was divided into the right lane change section， the reaction section， the waiting section， and the left lane change section. The study shows that the most important influencing factor in the length of the exit auxiliary lane is the lane change length， which is positively related to the driving speed. Compared with the Route Specification， the calculation principle of the minimum length of the auxiliary lane is clarified， and the scope of the auxiliary lane is defined， which provides reference for flexible application in design.