基于车道选择及行车轨迹的左转导向线设置方法

doi:10.13229/j.cnki.jdxbgxb20200401

摘要/Abstract

摘要：

为利用左转导向线提升交叉口车流运行安全和效率，分析了左转车辆从进口道至出口道的车道选择行为和行驶轨迹特点。根据随机效用理论建立了左转车辆出口车道选择模型，采用圆曲线和平曲线构建了左转车辆行驶轨迹模型，并提出两种左转导向线线型和3种左转车流引导方式。搭建交通仿真模型，对6种设计方案进行比选，分析了车型比例对引导效果的影响。结果发现：车辆所处进口车道、自身车型、转弯角度、同车道前车车型均显著影响左转车辆的出口车道选择行为；平曲线和圆曲线均适用于规则和不规则交叉口；设置平曲线引导左转车辆运行不仅可规范车流运行秩序而且可提升车流运行性能；为平衡通行效率和停车次数，不宜设置过多的导向线；这些结论不受车型比例影响。在城市道路交叉口，建议使用平曲线对左转车流设置导向线。当左转车道不止一条时，建议至少设置两条左转导向线。

关键词: 城市道路, 左转导向线, 车道选择行为, 车辆行驶轨迹, 交通仿真

Abstract:

To enhance the safety and efficiency of traffic flow operations at an intersection using left-turning guiding markings， the lane selection behaviors and vehicle trajectory characteristics of left-turning vehicles from an approach to an exit are analyzed. According to the random utility theory， the exit lane selection models for left-turning vehicles are formulated. Using the circular and horizontal curves， the vehicle trajectory models for left-turning vehicles are described. Two kinds of left-turning guiding markings and three types of guiding modes for left-turning traffic flow are proposed. Traffic flow simulation models are constructed， six design scenarios are compared， and the impacts of the percentages of vehicle types on the guiding effects are analyzed. The outcomes reveal that： the approach lane， self-type， turning angle and the type of the preceding vehicle in the same lane for the target vehicle significantly impact on the exit lane selection behaviors of left-turning vehicles； the circular and horizontal curves are both suitable for regular and irregular intersections； the settings of the horizontal curves for guiding left-turning vehicles can not only standardize the order of traffic flow operations but also improve the performances of traffic flow operations； it is not suitable to install redundant guiding markings in order to balance traffic efficiency and the number of stops； these conclusions are not impacted by the percentages of vehicle types. At intersections on urban roads， it is suggested that the horizontal curves should be used to install the guiding markings for left-turning traffic flow. When the number of left-turning lanes is more than one， it is recommended that two left-turning guiding markings should be installed at least.

Key words: urban road, left-turning guiding markings, lane selection behavior, vehicle trajectory, traffic simulation

中图分类号:

U491

姚荣涵,祁文彦,郑刘杰,曲大义. 基于车道选择及行车轨迹的左转导向线设置方法[J]. 吉林大学学报(工学版), 2021, 51(5): 1651-1663.

Rong-han YAO,Wen-yan QI,Liu-jie ZHENG,Da-yi QU. Settings of guiding markings for left⁃turning vehicles based on lane selection and vehicle trajectory[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1651-1663.

图/表 14

图1

表1

MNL车道选择模型的解释变量"

变量名称	变量符号	解释
哑元变量	$v i n ∈ {0,1}, ? n ∈ {1,2, 3}$	车辆i选择出口车道n， $v i n = 1$ ；反之， $v i n = 0$ 。对于进口车道，1=内侧车道；2=外侧车道。对于出口车道，1=内侧车道；2=中间车道；3=外侧车道。对于车型，0=无；1=小型车；1.5=中型车；2.5=大型车。交叉口A， $R n = 1.34$ ；交叉口B， $R n = 1.83$ 。
目标车辆进口车道	$L A i n ∈ {1,2}, ? n ∈ {1,2, 3}$
目标车辆自身车型	$T T i n ∈ {1,1.5,2.5}, ? n ∈ {1,2, 3}$
目标车辆前车车型	$T F i n ∈ {0,1, 1.5,2.5}, ? n ∈ {1,2, 3}$
目标车辆前车所选出口车道	$L F E i n ∈ {1,2, 3}, ? n ∈ {1,2, 3}$
目标车辆相对速度	$V T i n, ? n ∈ {1,2, 3}$
目标车辆与前车相对速度差	$V F i n, ? n ∈ {1,2, 3}$
左转车辆转弯弧度	$R n, ? n ∈ {1,2, 3}$

表1

表2

图2

图3

图4

表3

表4

表5

图5

表6

表7

表8

采用不同左转导向线设置方式时左转车流运行性能指标"

性能指标	导向线线型	进口车道	无引导方式				内侧引导方式		双左转引导方式
性能指标	导向线线型	进口车道	组合1	组合2	组合3	组合4	组合5	组合6	组合7
通过车辆数/veh	圆曲线	A-1	195.00	198.00	195.00	198.00	195.00	198.00	179.00
		A-2	189.00	186.00	189.00	186.00	189.00	186.00	174.00
		B-1	426.00	414.00	405.00	403.00	452.00	452.00	452.00
		B-2	431.00	422.00	407.00	423.00	465.00	465.00	465.00
	平曲线	A-1	195.00	198.00	195.00	198.00	195.00	198.00	195.00
		A-2	189.00	186.00	189.00	186.00	189.00	186.00	190.00
		B-1	428.00	420.00	410.00	411.00	452.00	452.00	452.00
		B-2	440.00	430.00	419.00	426.00	465.00	465.00	465.00
车均延误/（s·veh^-1）	圆曲线	A-1	19.42	19.51	19.42	19.50	19.39	19.61	18.89
		A-2	19.85	19.66	19.85	19.67	19.85	19.65	18.70
		B-1	49.42	51.62	52.84	53.48	19.76	19.76	19.80
		B-2	23.02	23.35	23.77	22.57	19.19	19.19	19.22
	平曲线	A-1	18.96	18.97	19.00	18.97	18.97	19.08	18.90
		A-2	18.70	18.56	18.71	18.57	18.69	18.54	18.52
		B-1	48.18	49.68	51.72	51.71	19.40	19.40	19.44
		B-2	21.29	21.09	21.24	20.94	18.19	18.19	18.24
车均停车次数	圆曲线	A-1	0.70	0.72	0.70	0.72	0.70	0.72	0.69
		A-2	0.70	0.70	0.70	0.70	0.70	0.70	0.68
		B-1	1.15	1.24	1.24	1.25	0.52	0.52	0.52
		B-2	0.52	0.52	0.53	0.51	0.50	0.50	0.50
	平曲线	A-1	0.69	0.70	0.70	0.70	0.69	0.70	0.69
		A-2	0.66	0.66	0.66	0.66	0.66	0.66	0.67
		B-1	1.25	1.28	1.32	1.34	0.51	0.51	0.51
		B-2	0.46	0.47	0.47	0.46	0.45	0.45	0.45
平均排队长度/m	圆曲线	A-1	6.37	6.60	6.37	6.60	6.35	6.65	6.55
		A-2	6.77	6.41	6.77	6.41	6.77	6.41	6.66
		B-1	211.56	252.51	291.07	282.19	20.23	20.23	20.27
		B-2	250.65	270.16	309.58	297.40	19.60	19.60	19.64
	平曲线	A-1	6.42	6.66	6.44	6.66	6.42	6.72	6.55
		A-2	6.79	6.47	6.79	6.48	6.79	6.47	6.61
		B-1	198.44	237.51	258.31	273.43	20.23	20.23	20.27
		B-2	227.86	268.96	286.14	282.87	19.60	19.60	19.64
行程时间/s	圆曲线	A-1	26.63	26.72	26.63	26.72	26.59	26.80	26.05
		A-2	27.07	26.87	27.07	26.88	27.05	26.85	25.93
		B-1	56.36	58.56	59.79	60.42	26.68	26.68	26.72
		B-2	30.01	30.33	30.75	29.55	26.17	26.16	26.14
	平曲线	A-1	26.18	26.20	26.22	26.20	26.19	26.30	26.10
		A-2	25.94	25.79	25.95	25.80	25.92	25.76	25.73
		B-1	55.11	56.61	58.65	58.64	26.32	26.32	26.36
		B-2	28.26	28.05	28.21	27.90	25.15	25.15	25.16

表8

表9

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属性	解释变量	参数值	t检验值
内侧车道	哑元变量	14.167	9.402^***
	目标车辆所在进口车道	-4.392	-11.625^***
	目标车辆自身车型	-1.017	-2.312^**
	目标车辆前车车型	0.663	1.754^*
	目标车辆前车所选出口车道	-1.094	-1.271
	目标车辆的相对速度	-1.237	-1.657^*
	目标车辆与其前车的相对速度差	-0.751	-3.433^**
	左转车辆转弯弧度	-2.803	-5.028^***
中间车道	哑元变量	7.310	5.956^***
	目标车辆所在进口车道	-1.805	-6.011^***
	目标车辆自身车型	-0.842	-3.223^***
	目标车辆前车车型	0.506	1.926^*
	目标车辆前车所选出口车道	-0.126	-0.192
	目标车辆的相对速度	-0.834	-1.438
	目标车辆与其前车的相对速度差	-0.468	-2.834^***
	左转车辆转弯弧度	-1.364	-3.107^***

交叉口	进口车道	起始处直线长度/m	圆曲线长度/m	圆曲线半径/m	终止处直线长度/m	M	R²
黄浦路-凌水路	内侧车道	9.00	23.94	15.15	0.40	11.923	0.752
黄浦路-凌水路	外侧车道	9.14	21.52	13.07	0.14	10.301	0.702
五一路-西南路	内侧车道	4.71	61.37	46.93	20.37	4.795	0.971
五一路-西南路	外侧车道	6.25	62.56	49.12	19.65	4.342	0.977

交叉口	进口车道	起始处直线长度/m	直线与圆曲线间缓和曲线长度/m	圆曲线长度/m	圆曲线半径/m	圆曲线与直线间缓和曲线长度/m	终止处直线长度/m	M	R²
黄浦路-凌水路	内侧车道	9.00	11.16	4.76	9.01	8.02	0.40	4.700	0.953
黄浦路-凌水路	外侧车道	9.14	9.66	5.30	7.47	6.56	0.14	4.849	0.939
五一路-西南路	内侧车道	4.71	20.49	8.11	24.19	32.77	20.37	0.495	1.000
五一路-西南路	外侧车道	6.25	19.96	7.71	26.19	34.89	19.65	0.416	1.000

交叉口	导向线位置	起始处直线长度/m	圆曲线长度/m	圆曲线半径/m	终止处直线长度/m
黄浦路-凌水路	内侧	9.96	23.31	13.00	7.82
	中间	9.40	30.52	17.00	7.68
	外侧	8.85	37.65	21.00	7.60
五一路-西南路	内侧	4.74	43.57	33.25	0.00
	中间	4.56	48.18	36.75	0.00
	外侧	4.56	52.78	40.25	0.00

交叉口	导向线位置	起始处直线长度/m	直线与圆曲线间缓和曲线长度/m	圆曲线长度/m	圆曲线半径/m	圆曲线与直线间缓和曲线长度/m	终止处直线长度/m
黄浦路-凌水路	内侧	9.96	10.01	5.43	6.25	9.24	7.82
	中间	9.40	12.71	8.60	9.75	10.73	7.68
	外侧	8.85	15.22	11.67	13.25	12.11	7.60
五一路-西南路	内侧	5.00	15.94	13.55	18.00	13.88	2.00
	中间	5.00	16.41	17.22	21.50	14.34	2.00
	外侧	5.00	16.85	20.97	25.00	14.75	2.00