城市干路交叉口右转车辆轨迹流线与曲率特性分析

戴振华; 廖祺硕; 潘存书; 尚彦宇; 徐进

doi:10.3963/j.jssn.1674-4861.2022.04.017

城市干路交叉口右转车辆轨迹流线与曲率特性分析

doi: 10.3963/j.jssn.1674-4861.2022.04.017

1.
重庆交通大学交通运输学院重庆 400074
2.
重庆城市综合交通枢纽（集团）有限公司重庆 401121
3.
中铁二院工程集团有限责任公司成都 610031

基金项目:

国家重点研发计划项目 2018YFB1600500

重庆市高校创新研究群体项目 CXQT21022

重庆东站交通枢纽站前片区科研项目 E1210268

详细信息

作者简介:
戴振华（1999—），硕士研究生. 研究方向：交通运输规划与管理. E-mail: zh_jtu@163.com

通讯作者:
徐进（1977—），博士，教授. 研究方向：道路安全性设计、车路协同、驾驶行为与交通安全. E-mail：yhnl_996699@163.com

中图分类号: U491.2
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出版历程
- 收稿日期: 2022-03-17
- 网络出版日期: 2022-09-17

An Analysis of Trajectory Streamline and Curvature Characteristics of Right-turn Vehicles at Urban Arterial Road Intersections

1.
College of Traffic & Transportation, Chongqing Jiaotong University, Chongqing 400074, China
2.
Chongqing City Integrated Transportation Hub (Group) Co., Ltd, Chongqing 401121, China
3.
China Railway Eryuan Engineering Group Co., Ltd, Chengdu 610031, China

摘要

摘要: 为明确城市干路交叉口汽车右转的轨迹特性和轨迹曲率模式，使用无人机在重庆市4个城市道路交叉口上方进行高空拍摄。利用图像分析方法采集了右转车辆的轨迹数据，包括时间、行驶速度和轨迹坐标等，通过对相邻轨迹点外接圆半径的计算得到轨迹曲率。运用轨迹线-车道边缘线的间距值分析了右转车辆轨迹通过位置分布与交叉口几何布局之间的关系，明确了交叉口右转车辆轨迹的曲率特性。运用聚类方法识别了右转车辆的6种轨迹曲率形态，确定了不同轨迹曲率形态下的常见驾驶行为，并研究了车辆行驶速度与轨迹曲率的相关关系。研究结果表明：①交叉口几何布局（包括路缘半径、车道宽度和出口车道数）对右转轨迹通过位置分布存在影响；②带渠化设计的右转专用道可以限制轨迹分布范围，减少右转交通的冲突和延误；③在右转过程中公交车辆较小型汽车所需侧向空间更大，轨迹分布的离散程度更低；④轨迹曲率的关键点与圆曲线设计中的主要点变化趋势不一致；⑤车辆加速度与轨迹曲率变化率呈负相关关系，相关系数为-0.843 5；⑥行驶速度与等效半径存在正相关关系，车辆行驶速度越快，圆曲线内轨迹的等效半径越大。
- 交通工程 /
- 城市道路交叉口 /
- 轨迹曲率 /
- 右转交通
Abstract: A drone was used to take high-altitude images of four urban road intersections in Chongqing to study the trajectory characteristics and curvature patterns of right-turn vehicles at urban arterial road intersections. The trajectory data of right-turn vehicles, including time, driving speed, and trajectory coordinates, are collected by using image analysis methods, based on which the trajectory curvature of vehicles is obtained by calculating the radius of circumcircle of adjacent trajectory points. The relationship between the distribution of passing positions of right-turn vehicles and the geometric layout of intersections is analyzed by using the distance between the trajectory line and the curb line, and the trajectory characteristics of right-turn vehicles at the intersections are further studied. Six types of curvature patterns of the trajectories of right-turn vehicles are identified based on a clustering method, and common driving behaviors under different curvature patterns are determined, and the relationship between vehicle speed and trajectory curvature is finally investigated. The results reveal the following conclusions. ① The geometric layout (including the curb radius, lane width, and the number of exit lanes) has impacts on the distribution of trajectories of right-turn vehicles. ②Right-turn lanes with channelized design can limit the distribution of trajectories and reduce conflicts and delays in right-turn traffic. ③ During a process of right-turning, more lateral space is required by buses than by cars, and the distribution of trajectories is less discrete. ④The key points of trajectory curvature are inconsistent with the trends of the main points in the circular curve design. ⑤ The acceleration of a vehicle has a negative correlation with the change rate of the trajectory curvature, and the correlation coefficient is －0.8435. ⑥ The driving speed has a positive correlation with the equivalent radius: the faster the vehicle moves, the larger the equivalent radius of the trajectory in the circular curve.
- traffic engineering /
- urban road intersections /
- trajectory curvature /
- right-turn traffic

HTML全文

图 1 交叉口的俯视图

Figure 1. Top view of the intersection

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图 2 轨迹曲率计算示意图

Figure 2. Schematic diagram of trajectory curvature calculation

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图 3 交叉口右转角几何参数定义示意图

Figure 3. Definition of geometric parameters of the right corner of the intersection

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图 4 交叉口右转车辆轨迹束

Figure 4. Trajectory of right turn vehicles at intersection

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图 5 不同路缘半径下截面通过位置分布图

Figure 5. Distribution of cross-section passing position under different curb radii

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图 6 第2号和3号转角通过位置分布与通过速度

Figure 6. Passing position distribution and passing speed at No. 2 and No. 3 right corner

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图 7 不同车型的右转轨迹分布范围

Figure 7. Distribution range of right-turn trajectories of different models

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图 8 不同出口道选择下的轨迹曲率形态

Figure 8. Trajectory curvature patterns under different exit lanes

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图 9 轨迹曲率与行驶速度相关性分析

Figure 9. Correlation analysis of trajectory curvature and driving speed

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图 10 行驶速度对等效半径的影响

Figure 10. Influence of speed on equivalent radius

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表 1 交叉口右转角主要技术参数信息

Table 1. Main technical parameters of the right corner of the intersection

交叉口名称	右转角编号	进口道	路缘半径R/m	转角度数θ/(°)	进口道车道数	出口道车道数	样本数量
丹回路-兰花路	1	东进口道	25	90	2	4	188
	2	西进口道	35	68	2	2	80
	3	南进口道	35	112	1	2	186
金开大道-斑竹路	4	东进口道	15	99	1	3	102
金开大道-斑竹路	5	南进口道	20	81	1	3	58
汇宾一路-融汇大道	6	东进口道	25	90	1	2	107
汇宾一路-融汇大道	7	北进口道	30	90	1	3	131
二塘路-汇龙路	8	北进口道	20	90	1	2	38
	9	东进口道	15	90	1	3	127
	10	西进口道	15	90	1	3	86
	11	南进口道	25	90	1	2	167

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表 2 轨迹曲率形态特征表

Table 2. Trajectory curvature morphological feature table

类型序号	曲线形态	特点描述	常见道路
Ⅰ. 缓坡状		轨迹曲率上升和下降的趋势较为缓慢，在峰值处斜率保持不变且低于转角设计曲率，此种形态常见于车辆选择最内侧的车道路径通过
Ⅱ. 脉冲状		此种形态是理想的行驶轨迹，轨迹曲率整体变化较为缓和，峰值与路缘设计曲率值较为相近，贴合圆曲线线形，是最常见的曲率模式，常见于外侧和中间出口车道路径中
Ⅲ. 尖峰状		直线路段内轨迹曲率上升速度较慢，通过直圆点后加快上升速度达到峰值。通常是右转车辆受直行和对向左转车流合流干扰，减速观察缓慢通过导致
Ⅳ. 峭壁状		轨迹曲率值进入圆曲线后仍保持在0上下波动，通过停止线后以垂直的斜率上升到达峰值。此种形态常见于右转车辆遇到非机动车或过街行人干扰停止让行，机非冲突严重
Ⅴ. 斜坡状		右转专用道常见形式，轨迹曲率贴合转角线形设计曲率，对轨迹起到一定约束作用，同时减少和侧向直行车流带来的干扰。与Ⅱ型的区别在于进出圆曲线时轨迹曲率曲线接近于1条直线
Ⅵ. 2段式组合		轨迹曲率存在2个波峰，即车辆先以相对小的轨迹半径进入圆曲线，转向过程中车头部分回正，最后在转向完成时全部回正

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