基于避险脱离的自动驾驶路测安全影响因素

doi:10.13229/j.cnki.jdxbgxb.20221144

摘要/Abstract

摘要：

本文采用自动驾驶路测避险脱离率来表征自动驾驶路测风险。首先基于大量自动驾驶路测实测数据，采用LSTM方法辨识自动驾驶路测避险脱离，并基于Tobit模型分析车道宽度、天气等动静态因素对路测避险脱离率的影响，由此建立基于避险脱离的自动驾驶路测安全模型。本文安全模型从更为积极主动的角度来规避自动驾驶路测事故，保障自动驾驶路测安全有序地进行。

关键词: 交通运输工程, 自动驾驶路测, 避险脱离, 安全影响因素, Tobit模型

Abstract:

This study uses the risk-avoiding disengagement to represent the risk. This study first uses the LSTM method to identify the risk-avoiding disengagement of autonomous vehicles in the road-testing phase based on a large scale of realistic road-testing data， then use the Tobit model to analyze the impacts of factors on the risk-avoiding disengagement rate， and the risk analysis model of autonomous vehicle road testing was established. This method can avoid the accidents of autonomous vehicle road testing in advance， and promote the autonomous vehicle road testing in a safe and regulated way.

Key words: transportation engineering, autonomous vehicle road testing, risk-avoiding disengagement, risk factors, Tobit model

中图分类号:

U491

涂辉招,鹿畅,陆淼嘉,李浩. 基于避险脱离的自动驾驶路测安全影响因素[J]. 吉林大学学报(工学版), 2024, 54(7): 1935-1943.

Hui-zhao TU,Chang LU,Miao-jia LU,Hao LI. Risk factors for autonomous vehicle road testing based on risk-avoiding disengagement[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(7): 1935-1943.

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编号	变量名	变量表示	变量解释
1	车道宽度	1	>3.25 m
		2	（2.75，3.25］ m
		3	［0，2.75］ m
2	道路线形	0	直线
2	道路线形	1	曲线
3	道路平整度	0	平整
3	道路平整度	1	一般
4	坡度	0	无坡路段
4	坡度	1	有坡路段
5	限速	1	40 km/h
		2	60 km/h
		3	80 km/h
6	交叉口	0	非交叉口路段
6	交叉口	1	交叉口路段
7	接入点数量	0	无接入点
7	接入点数量	1	有接入点
8	机非分隔带	0	有机非分隔带
8	机非分隔带	1	无机非分隔带
9	道路等级	1	二级公路
		2	主干路
		3	次干路
		4	支路
10	流量等级	1	［0，200］ veh/（h·lane）
		2	（200，350］ veh/（h·lane）
		3	（350，500］ veh/（h·lane）
		4	（500，+∞） veh/（h·lane）
11	大车比例	1	［0，10%］
11	大车比例	2	（10%，100%］
12	天气	0	好天气
12	天气	1	雨雪天气
13	车道数	1	无
		2
		3
		4

项目	城市道路	高快速路
避险脱离占比/%	38	13
非避险脱离占比/%	62	87

变量	Coef.	Std. Err.	t	P>\|t\|	Sig	VIF
年份	-205.9029	22.289 15	-9.24	0.000	***	1.084
车道宽度	67.6387	25.854 07	2.62	0.009	**	1.260
道路线形	-46.5872	29.958 71	-1.56	0.120		1.070
道路平整度	77.310 74	32.798 59	2.36	0.019	*	1.478
坡度	23.264 99	153.3146	0.15	0.879		1.048
限速	69.840 58	14.426 88	4.84	0.000	***	1.890
交叉口	107.9475	22.9303	4.71	0.000	***	1.149
接入点数量	14.854 44	23.880 86	0.62	0.534		1.273
车道数	155.6237	35.821 78	4.34	0.000	***	2.878
机非隔离带	202.6348	33.043 63	6.13	0.000	***	2.169
道路等级	-4.915 709	10.145 39	-0.48	0.628		1.822
流量等级	-19.710 59	12.2432	-1.61	0.108		1.142
大车比例	-43.256 92	29.406 83	-1.47	0.142		1.702
天气	55.610 79	21.388 54	2.60	0.009	**	1.021
间距	41 5496.8	45 034.13	9.23	0.000	***	N/A

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