高速公路平曲线路段易因路面湿滑、速度控制与操作不当引发交通事故。公路平曲线路段安全性能评测是实现交通系统主动安全防控的重要方法，也是实现车辆自动驾驶的重要基础工作。本项目拟在构建轮胎-路面摩擦特性模型基础上解决平曲线路段安全性能评测问题。通过研制构造深度检测、路面抗滑检测、图像检测的同步测量试验系统，进行道路和试验场实验，研究轮胎-路面交互机理，辨识摩擦特性因子，建立包含构造深度、速度、滑移率参数的轮胎-路面摩擦特性模型；构建有限元模型，研究水膜厚度对轮胎-路面摩擦特性的影响规律，构建路面摩擦特性阈值模型；研究在纵滑和侧偏联合工况下轮胎-路面摩擦特性，建立乘用车、商用车高速公路平曲线路段安全性能评测模型；提出车辆危险度预警算法，建立自动驾驶车辆仿真系统，进行速度控制硬件在环实验，验证系统的有效性。本研究成果为明晰平曲线路段的安全边际，实现车辆自动驾驶提供了技术支撑。

It is easy to cause traffic accidents for the horizontal curve on freeway due to slippery road surface, improper speed control and operation. The evaluation and measurement of horizontal curve safety is an important method to realize the active prevention and control of transportation safety, and also an important work to autonomous vehicles. This project intends to solve the problem of predicting the safety of horizontal curve of freeway based on the tire-pavement friction characteristics. Through the development of synchronous measurement test system for texture depth, pavement skid resistant and image detection, the road and test field experiments and the analysis of interaction mechanism of the tire-pavement are carried out. The friction factors in tire-pavement models are identified, and the tire-road friction model with parameters of texture depth, velocity and slip ratio is established. The finite element model is constructed to study the influence of water film thickness on the friction characteristics of the tire-pavement through road experiment and simulation, and threshold model of pavement friction is built. The tire-pavement friction characteristics under the combined conditions of longitudinal and lateral slip are studied to establish the safety evaluation model of horizontal curve of passenger vehicles and commercial vehicles. The vehicle danger warning algorithm is proposed, and the autonomous vehicle simulation system on the horizontal curve is establish. A simulation on speed control is carried out to verify the effectiveness of the method. The research results provide technical support for clarifying the safety margin of the horizontal curve and autonomous vehicle.