Operational design domain of automated vehicles for crossing maneuvers at two-way stop-controlled intersections
Operational design domain of automated vehicles for crossing maneuvers at two-way stop-controlled intersections
复制标题
自动车辆在双向停车控制交叉口交叉操作的操作设计领域
DOI：
10.1016/j.aap.2022.106575
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发表时间：
2022
影响因子：
5.9
通讯作者：
Xiangbin Wu
中科院分区：
文献类型：
--
作者：
Dingming Qin;Xuesong Wang;Omar Hassanin;Salvatore Cafiso;Xiangbin Wu
在双向停车控制交叉口，出发视线三角形为等待通过的车辆提供视野。2018年AASHTO绿色书中考虑了影响人类驾驶员视野三角的因素，但绿色书缺乏对自动驾驶汽车（AV）的定量估计。因此，为保证无人机的安全运行，本研究探讨交叉口角度、速度、交叉距离对无人机交叉口过街机动的影响。利用物理定理和余弦定律，公式的检测角（DA）和距离（DD），两个主要组成部分的出发视线三角形，开发的锐角和钝角的交叉口侧的AV接近的次要道路;最小所需的DA和DD，与给定的交叉距离，从而提出了AV的运营设计域（ODD）。计算结果表明，主干道设计速度和交叉口距离是影响DD的主要因素，DD随速度和交叉口距离的增加而迅速增加。交叉角对锐角和钝角的DA都有很大的影响，但对锐角的影响是负的，对钝角的影响是正的。在锐角侧，对于2车道、4车道和6车道的主要道路，ODD检测角度范围分别设置为[83.4，132.7]、[80.7，131.6]和[78.4，130.7]度。在钝角侧，对于相同的相应道路，ODD被设置为[57.4，160.6]，[70.6，207.9]和[82.2，249.1] m。在比较DA和DD的结果，并根据交叉口的设计属性，最后得出结论，大多数工程注意力应该放在DA的锐角侧和DD的钝角侧。
The departure sight triangle provides the view for the vehicle waiting to cross at the two-way stop-controlled intersection. The factors influencing the sight triangle for human drivers are considered in the 2018 AASHTO Green Book, but the Green Book lacks quantitative estimations for automated vehicles (AVs). Therefore, to guarantee the AV’s operational safety, this study investigated the impact of intersection angle, speed, and crossing distance on the AV’s intersection crossing maneuver. Using physics theorems and cosine law, formulae for the detecting angle (DA) and distance (DD), the two main components of the departure sight triangle, were developed for the acute- and obtuse-angle sides of the intersection for an AV approaching on the minor road; the minimum required DA and DD, with a given crossing distance, are thus proposed for the AV’s operational design domain (ODD). Calculations indicate that the DD is mainly affected by the major road design speed and crossing distance, and that the DD increases very quickly as the speed and crossing distance increase. The intersection angle was found to have great impact on the DA on both the acute and obtuse sides, but its influence is negative on the acute side and positive on the obtuse side. On the acute side, the ODD detecting angle range is set as [83.4, 132.7], [80.7, 131.6], and [78.4, 130.7] degrees for major roads with 2, 4, and 6 lanes, respectively. On the obtuse side, the ODD is set as [57.4, 160.6], [70.6, 207.9], and [82.2, 249.1] m for the same respective roads. After comparing the DA and DD results, and depending on the intersection design attributes, it is concluded that most engineering attention should be paid to the DA on the acute side and DD on the obtuse side.