车道变换行为特性及其对道路服务水平影响研究（可编辑）

车道变换行为特性及其对道路服务水平影响研究（可编辑） 工学博士学位论文车道变换行为特性及其对道路服务水平 影响的研究 徐慧智 哈尔滨工业大学 2008年 10月 国内图书分类号:U491 国际图书分类号:580工学博士学位论文车道变换行为特性及其 对道路服务水平 影响的研究 博士研究生: 徐慧智 导 师: 裴玉龙教授 申 请 学 位: 工学博士 学 科、专 业: 道路与铁道工程 所 在 单 位: 交通科学与工程学院 答 辩 日 期: 2008 年 10 月 授予学位单位: 哈尔滨工业大学 Classified Index: U491 U.D.C: 580 Dissertation for the Doctoral Degree in Engineering STUDY ON LANE-CHANGING BEHAVIORS AND IT’S EFFECT TO LEVEL OF SERVICE Xu Huizhi Candidate: Prof. Pei Yulong Supervisor: Doctor of Engineering Academic Degree Applied for: Road & Railway Engineering Speciality: School of Transportation ScienceAffiliation: & Engineering October, 2008 Date of Defence : Harbin Institute of Technology Degree-Conferring-Institution: 摘 要 摘 要 车道变换行为及相关应用研究的必要性体现在两方面:理论研究 方面,车 道变换行为对道路通行能力、交通流参数、道路服务水平、交通 运行安全的影 响等方面研究的薄弱严重影响了交通流理论和交通冲突理论的 进一步发展;实 际应用方面,随着我国交通建设步伐的加快及对交通管理水平要求的不断提高, 开展车道变换行为管理手段和应对措施的研究显得尤为迫切。论文依托 2006年 度国家自然科学基金资助项目,将车道变换行为作为研究对象,进行了车道变 换行为特性及其对道路服务水平影响的研究。 设计了定点观测和跟车观测的调查 方案 气瓶 现场处置方案 .pdf气瓶 现场处置方案 .doc见习基地管理方案.doc关于群访事件的化解方案建筑工地扬尘治理专项方案下载 ,获取了哈尔滨、沈阳、大连、青 岛、济南、南京、上海、苏州、深圳、广州、北京、西安等城市典型地点的车 道变换行为特性数据。按照方向、轨迹、进程、意图对车道变换行为进行了分 类,进行了车道变换行为的意图产生、间隙选择、执行等阶段的数学描述。 构建了基于缓和曲线段、圆弧段、直线段等几何线形的车道变换行为运行 轨迹,借助理论推导和数据标定两种手段,给出了关键参数计算方法。根据实 测数据,统计分析了在运行速度、车辆类型、操作行为等因素影响下的车道变 换行为持续时间,据此进行了车道变换行为的 标准 excel标准偏差excel标准偏差函数exl标准差函数国标检验抽样标准表免费下载红头文件格式标准下载 化,提出了车 道变换行为发 生率的概念和计算方法,给出了车道变换行为发生率的时空分布特征。 采用 Greenshields 模型法和 HCM 方法计算了理论道路通行能力,从道路空 间的使用率角度出发,构建了主观意愿式和客观被动式车道变换行为对道路通 行能力影响的模型,推导了两车道和三车道的主观意愿式车道变换行为对道路 通行能力影响的系数,引入驾驶员感受指标,获得了的车道变换行为与交通流 速度的关系,进而修正了道路服务水平分级的速度域值。 通过整理、分析现场观测交通流数据中存在的规律,揭示了在一定交通环 境下,车辆运行速度和车道变换行为发生率之间存在的对应关系常量,并给出 了推荐值。根据回归分析得到的车道变换行为发生率和交通量的关系式,联立 经典交通流理论中关于车速和交通量的关系式,得到了车道变换行为发生率和 速度的关系,并进行了相关参数的标定。基于车道变换行为对车头时距影响的 数学描述,理论分析了车道变换行为对原始车道和目标车道车头时距的影响, 并给出了相应的计算模型,修正了道路服务水平分级的密度域值。 - I - 哈尔滨工业大学工学博士学位论文 在交通事故成因分析的基础上,重点分析了违章会车和不按照 规定 关于下班后关闭电源的规定党章中关于入党时间的规定公务员考核规定下载规定办法文件下载宁波关于闷顶的规定 让行等 行为造成事故的成因。研究了车道变换行为的碰撞形式,以车道变换行为的运 行轨迹为基础,考虑了碰撞过程中车辆几何尺寸对碰撞的影响,构建了碰撞事 件判别方程和安全距离的计算函数。在车头时距特征分析的基础上,提出了车 道变换行为对交通运行安全性的评价函数,借助交通冲突理论,验证了所构建 车道变换行为安全评价指标的可信度。 制定了“现象分析、数据采集、数据处理、特性分析、理论推导、结论验证、 指导应用”为主的技术路线。首先,设计车道变换行为数据的采集与处理方案, 获取所需的具有代 表 关于同志近三年现实表现材料材料类招标技术评分表图表与交易pdf视力表打印pdf用图表说话 pdf 性的车道变换行为数据。其次,开发相关的数据处理软件, 提取其中的交通流三参数、车道变换行为发生率、车道变换行为运行轨迹、持 续运行时间等数据,进行车道变换行为进程特征分析。然后,依据上述数据开 展车道变换行为对道路通行能力、交通流参数、交通运行安全、道路服务水平 影响的研究。 论文的创新点集中体现在以下四个方面:车道变换行为的分类、车道变换 行为对道路通行能力的影响、考虑车道变换影响驾驶员感知的道路服务水平评 价指标体系、不良车道变换行为的处罚依据。这些方面的研究,为进一步开展 相关理论和应用的研究奠定了基础。 论文着眼于在交通运行过程中普遍存在且频繁发生的车道变换行为,探讨 车道变化行为特性及其对道路服务水平的影响,具有一定的理论研究价值。首 先,研究了我国车道变换行为的特性,为制定适于我国驾驶员实际状况的交通 管理法规及相关政策提供理论支持;其次,为车道变换行为诱导系统、车道变 换行为预警系统的研制开发提供理论依据,增加系统设计的合理 性和执行结果 的安全性,推动我国智能交通系统的发展;昀后,探求车道变换行 为对交通运 行安全和道路服务水平的影响,减少交通事故发生概率,促进了 交通流理论体 系的完善,对提高道路交通系统运行的安全水平起到一定的作 用。 关键词 车道变换;行为特性;服务水平;交通流参数;道路通行 能力; 交通运行安全- II - Abstract Abstract The study of the lane-changing behavior and its applied research are mainly in two aspects. First, in the theoretical study, lane-changing behavior characteristic influence traffic circulation parameter, traffic safety, road traffic capacity, and service level. Secondly, it becomes more necessary in the practical application, improving with accelerated traffic construction and traffic management level demands. The thesis researched on influence of the lane-changing on traffic running and the level of service, based on NSFC projects of 2006 year countries natural science fund, aiming at the lane-changing behaviorThe behavior characteristic data of lane-changing was collected in typical sites of many cities, such as Harbin , Shenyang , Dalian , Qingdao , Jinan , Nanjing , Shanghai , Suzhou , Shenzhen , Guangzhou , Beijing , and Xi'an. At the same time, the fixed point observing, investigating with vehicle observation, and gain system of the lane-changing trajectory was developed based on VB procedure. On the basis of lane-changing concept in classics, the definition based on cellular automaton and multi-intelligent agent were proposed, which broadened the application field of the lane-changing concept, and classified lane-changing according to the trajectory , course , and intention. The lane-changing intention producing, gap choosing, and stage progressing were described in mathematics wayThe expecting lane-changing trajectory was founded based on easement curve segment, Circular Curve, and straight segment. In the two ways of observed data and theory deducing, the calculation method of key parameter was given out. According to the measured data, statistics and analysis of lane-changing sustained time was affected by factors such as running speed, the vehicle type, handling behaviorHereby, the lane-changing was normalized, and the calculation method of lane-changing rate was desired. The space-time distribution is given to describe the incidence of lane-changing behavior Adopted Greenshields model law and HCM method to calculate the theoretical traffic capacity, from the view of road space occupies, it structured the effect model that free style and compelled the dyadic lane?changing effect road traffic capacityThe derivation of the two-lane and three-lane has been given, with the influencing coefficient of subjective lane-changing behavior on the road capacity. The drivers’ feeling was introduced to obtain and the relationship between the speed of traffic - III - 哈尔滨工业大学工学博士学位论文 circulation ans the lane-changing behavior. Then, the speed rating threshold in the level of road service was modified Regularity was found through practical traffic circulation data, and then it was found that there exists correspondence relation constant between vehicle running speed and lane-changing rate under certain traffic environment. And the recommended value was given out. Using the relational expression of traffic volume and lane-changing rate, through regression analysis, uniting the relation of vehicle speed and traffic volume in classic traffic theory, the relation between lane-changing rate and speed was established, then the parametric calibrating of relevance was carried out. On the basis of the describe that lane-changing effecting headway, the effecting of lane-changing to headway of start lane and end lane was theoretically analyzed, and the corresponding calculation model was established. Then, the density threshold in the level of road service was modified In the analysis of the causes of traffic accidents, it concentrates on analyzing the car-crossover breaking rules and regulations, and not dodging. The collision form of lane-changing behavior was studied, taken the lane shifts the trajectory expecting as basis. Considered the impact of process middle vehicle geometry dimension over collision, the discriminate equation of collision and the calculation function of safe distance were structured. On basis of analyzing the headstock time interval characteristic, the valuation function described how the lane-changing affect the running security in traffic. Adopted conflict theory of traffic, it has verified what be structured a lane-changing safety appraising an index confidence"Phenomenon analyses , the data collect , data handling , characteristic property analyses , theory deduces , the conclusion verifies , guides the applicative " technology route was worked out. First, design the scheme of data collecting and handling, gain the typical traffic data needed. Secondly, develop the pertinent data handling software, to get the traffic streams three parameters, the incidence rate of lane-changing behavior, running track and running time of lane-changing, and so on, which is useful of analyzing the characteristics of the process. And then, the research on lane-changing behavior characteristic was focus on the road traffic capacity, traffic circulation parameters, the safety running in traffic, the level of road services The innovations were mainly in four aspects, which were “the classifition of lane-changing, the influence of lane-changing on the road capacity, the evaluating indicator system by considering the pilot sensation effecting on the road service level, the penalty of bad lane-changing” .It laid the foundation of further developing in the - IV - Abstract correlation theories and the applied researchThe thesis has in the process of traffic operation common existence in mind and the pilot lane frequently happening shifts behavior, discuss a lane changing characteristic and their impact of the road service lever, with a certain theory studying value. Firstly, the behavior characteristic has been studied with our country pilot lane varies, providing the theory support to working out the policy suited for actual our country pilot status traffic control law and regulation. Secondly, the exploitation the theory basis of lane-changing, with developing the guiding system, the lane-changing early warning system was provided, the security and the rationality would increase in the system designs and carrying out results. The development of the system promotes our country intelligence traffic. Finally, the hunting research on the impact of the lane-changing behavior for safety running in traffic, reducing the probability of occurrence of traffic accidents, improves the perfecting safety theory system on road traffic. It played a important role that system runs to improving road traffic have the certain effect on the safe levelKey words Lane-changing; Behavioral Characteristic; Level of Service; Traffic-circulation Parameter; Traffic Capacity; Road Safety - V - 哈尔滨工业大学工学博士学位论文 物理量名称及符号 ?区域; ?直线段长度; Cs L 3 β ?偏差; 1 ?AB段与 X轴的交角; Lp β ?空间; ?B点至圆心与 Y轴的交角; 2 Ω β ?车道变换行为发生率; ?CD段与 X轴的交角; q 3 i ?实际运行速度; l ?A点至 B点的弦长; V t ?原点到达 A 所需要的时间; V ?期望运行速度; xy , x y des ?左侧敏感系数; ?距离碰撞时间; C TTC left ?右侧敏感系数; ?车辆宽度; C D right V ?车道变换行为持续时间; f ?自由速度; t c K ?车道变换行为位置; j ?阻塞密度; X l V ?车道变换行为开始位置; ?临界速度; X 0 qK ?车道变换行为结束位置; 0 ?临界密度; X z ?可接受车头时距; ?路段道路通行能力; h C min cp h 0 ?车头时距; ?车道变换行为宏观安全度; i h ?平均车头时距; CLC ?交通冲突次数; α a ?离心加速度平均变化率; c ?道路通行能力修正系数s ?缓和曲线长度; ?曲率半径; l R 1 ?缓和曲线 A点的横坐标; ?圆弧段长度; x lA 2 y ?缓和曲线 A点的纵坐标;A - VI - 目 录 目 录 摘 要 ??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????I Abstract?????????????????????????????????????????????????????????????????????????????????????????????????????????????????? III 物理量名称及符 号 ?????????????????????????????????????????????????????????????????????????????????????????????????VI 第 1 章 绪 论????????????????????????????????????????????????????????? ???????????????????????????????????????????????????? 1 1.1 论文选题来 源 ????????????????????????????????????????????????????????????????????????????????????????????????1 1.2 研究的学术背 景 ????????????????????????????????????????????????????????????????????????????????????????????1 1.3 研究目的和意 义 ????????????????????????????????????????????????????????????????????????????????????????????1 1.4 国内外研究现 状 ????????????????????????????????????????????????????????????????????????????????????????????3 1.4.1 国外研究现 状 ?????????????????????????????????????????????????????????????????????????????????????????3 1.4.2 国内研究现 状 ???????????????????????????????????????????????????????????????????????????????????????10 1.5 研究内容和技术路 线 ??????????????????????????????????????????????????????????????????????????????????13 1.5.1 研究内 容 ???????????????????????????????????????????????????????????????????????????????????????????????13 1.5.2 技术路 线 ???????????????????????????????????????????????????????????????????????????????????????????????14 第 2 章 车道变换行为数据的采集与处 理???????????????????????????????????????????????????????????? 16 2.1 车道变换行为调查的目的和对 象???????????????????????????????????????????????????????????????16 2.1.1 车道变换行为调查的目 的????????????????????????????????????????????????????????????????????16 2.1.2 车道变换行为调查的对 象????????????????????????????????????????????????????????????????????17 2.2 车道变换行为调查的内容和方 法???????????????????????????????????????????????????????????????17 2.2.1 车道变换行为调查的内 容????????????????????????????????????????????????????????????????????17 2.2.2 车道变换行为调查的方 法????????????????????????????????????????????????????????????????????17 2.3 车道变换行为调查数据的处 理???????????????????????????????????????????????????????????????????20 2.3.1 定点观测的数据处 理 ???????????????????????????????????????????????????????????????????????????20 2.3.2 跟车观测的数据处 理 ???????????????????????????????????????????????????????????????????????????21 2.4 本章小 结??????????????????????????????????????????????????????????????????????????????????????????????????????22 第 3 章 车道变换行为的特 性 ??????????????????????????????????????????????????????????????????????????????? 23 3.1 车道变换行为的定义与分 类????????????????????????????????????????????????????????? ??????????????23 3.1.1 车道变换行为的定 义 ???????????????????????????????????????????????????????????????????????????23 3.1.2 车道变换行为的分 类 ???????????????????????????????????????????????????????????????????????????24 - VII - 哈尔滨工业大学工学博士学位论文 3.2 车道变换行为的阶段划分与运行轨 迹???????????????????????????????????????????????????????27 3.2.1 阶段划 分 ???????????????????????????????????????????????????????????????????????????????????????????????27 3.2.2 运行轨 迹 ???????????????????????????????????????????????????????????????????????????????????????????????28 3.3 车道变换行为的持续时 间???????????????????????????????????????????????????????????????????????????35 3.3.1 已有研究成 果 ???????????????????????????????????????????????????????????????????????????????????????35 3.3.2 分车型统计的持续时 间 ???????????????????????????????????????????????????????????????????????37 3.3.3 分速度统计的持续时 间 ???????????????????????????????????????????????????????????????????????39 3.3.4 分操作行为统计的持续时 间????????????????????????????????????????????????????????????????39 3.4 车道变换行为发生 率 ??????????????????????????????????????????????????????????????????????????????????40 3.4.1 车道变换行为发生率的概 念????????????????????????????????????????????????????????????????40 3.4.2 车道变换行为发生率的时间分布特 性????????????????????????????????????????????????41 3.4.3 车道变换行为发生率的空间分布特 性????????????????????????????????????????????????42 3.5 本章小 结??????????????????????????????????????????????????????????????????????????????????????????????????????44 第 4 章 车道变换行为对道路通行能力的影 响???????????????????????????????????????????????????? 45 4.1 道路通行能力的计 算 ??????????????????????????????????????????????????????????????????????????????????45 4.1.1 计算模 型 ???????????????????????????????????????????????????????????????????????????????????????????????45 4.1.2 基本路段通行能 力 ???????????????????????????????????????????????????????????????????????????????45 4.2 车道变换行为对道路通行能力影响程度的计算方 法 ???????????????????????????????46 4.2.1 调查数据分 析 ???????????????????????????????????????????????????????????????????????????????????????46 4.2.2 影响模型的推 导 ???????????????????????????????????????????????????????????????????????????????????51 4.3 车道变换行为对道路通行能力影响程度的修正系 数 ???????????????????????????????53 4.3.1 两车道的道路通行能力修正系 数????????????????????????????????????????????????????????53 4.3.2 三车道的道路通行能力修正系 数????????????????????????????????????????????????????????53 4.3.3 修正系数的讨 论 ???????????????????????????????????????????????????????????????????????????????????53 4.3.4 应用案 例 ???????????????????????????????????????????????????????????????????????????????????????????????55 4.4 本章小 结??????????????????????????????????????????????????????????????????????????????????????????????????????56 第 5 章 车道变换行为对交通流参数的影 响???????????????????????????????????????????????????????? 57 5.1 车道变换行为对速度的影 响???????????????????????????????????????????????????????????????????????57 5.1.1 车道变换行为与速度的相关 性????????????????????????????????????????????????????????? ???57 5.1.2 车道变换行为对速度影响模型的构 建????????????????????????????????????????????????66 5.1.3 车道变换行为对速度影响模型的参数标 定 ????????????????????????????????????????68 5.1.4 车道变换行为对速度影响的量 化????????????????????????????????????????????????????????72 - VIII - 目 录 5.2 车道变换行为对车头时距的影 响???????????????????????????????????????????????????????????????74 5.2.1 影响因素及前提假 设 ???????????????????????????????????????????????????????????????????????????74 5.2.2 车道变换行为对原始车道车头时距的影 响 ????????????????????????????????????????76 5.2.3 车道变换行为对目标车道车头时距的影 响 ????????????????????????????????????????76 5.2.4 影响模型的构建及验 证 ???????????????????????????????????????????????????????????????????????77 5.2.5 应用案 例 ???????????????????????????????????????????????????????????????????????????????????????????????79 5.3 车道变换行为对密度的影 响???????????????????????????????????????????????????????????????????????81 5.3.1 车道变换行为与密度的相关性分 析????????????????????????????????????????????????????81 5.3.2 数据统计时间的选 择 ???????????????????????????????????????????????????????????????????????????83 5.3.3 车道变换行为对密度影响的量 化????????????????????????????????????????????????????????84 5.4 本章小 结??????????????????????????????????????????????????????????????????????????????????????????????????????85 第 6 章 车道变换行为对交通运行安全的影 响???????????????????????????????????????????????????? 86 6.1 车道变换行为引发交通事故的成因分 析???????????????????????????????????????????????????86 6.1.1 事故形态分 析 ???????????????????????????????????????????????????????????????????????????????????????86 6.1.2 典型事故成因分 析 ???????????????????????????????????????????????????????????????????????????????88 6.2 执行车道变换行为的安全距 离???????????????????????????????????????????????????????????????????90 6.2.1 碰撞形 式 ???????????????????????????????????????????????????????????????????????????????????????????????90 6.2.2 碰撞判别方 程 ???????????????????????????????????????????????????????????????????????????????????????90 6.2.3 安全距离的计算函 数 ???????????????????????????????????????????????????????????????????????????92 6.2.4 应用案 例 ???????????????????????????????????????????????????????????????????????????????????????????????95 6.3 车道变换行为对道路运行安全影响的评 价 ???????????????????????????????????????????????97 6.3.1 评价方 法 ???????????????????????????????????????????????????????????????????????????????????????????????97 6.3.2 应用案 例 ???????????????????????????????????????????????????????????????????????????????????????????????98 6.4 本章小 结??????????????????????????????????????????????????????????????????????????????????????????????????????99 第 7 章 车道变换行为对道路服务水平的影 响???????????????????????????????????