华南理工大学学报(自然科学版) >

2025 , Vol. 53 >Issue 11: 90 - 100

DOI: https://doi.org/10.12141/j.issn.1000-565X.240367

智慧交通系统

城市无人配送车的运行管理、仿真与评价研究综述

  • 李海舰 ,
  • 李宇轩 ,
  • 王威杰 ,
  • 童盛军 ,
  • 高景伯 ,
  • 李同飞 ,
  • 陈娜
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  • 1.北京工业大学 城市交通学院，北京 100124
    2.北京车网科技发展有限公司，北京 100176
李海舰（1986—），男，博士，副教授，主要从事智能交通系统研究。E-mail： lihaijian@bjut.edu.cn
陈娜（1991—），女，博士，讲师，主要从事车路协同与自动驾驶仿真研究。E-mail： nachen@bjut.edu.cn

收稿日期: 2024-07-15

  网络出版日期: 2025-07-03

基金资助

北京市社会科学基金规划项目(22GLC060)

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A Review of Researches on Operation Management, Simulation, and Evaluation of Urban Autonomous Delivery Vehicles

  • LI Haijian ,
  • LI Yuxuan ,
  • WANG Weijie ,
  • TONG Shengjun ,
  • GAO Jingbo ,
  • LI Tongfei ,
  • CHEN Na
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  • 1.College of Metropolitan Transportation，Beijing University of Technology，Beijing 100124，China
    2.Beijing Chewang Technology Development Co. ，Ltd. ，Beijing 100176，China
李海舰（1986—），男，博士，副教授，主要从事智能交通系统研究。E-mail： lihaijian@bjut.edu.cn

Received date: 2024-07-15

  Online published: 2025-07-03

Supported by

Beijing Social Science Fund Planning Project(22GLC060)

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摘要

运行仿真和评价是无人配送车相关理论研究的基础，有利于推动无人配送车的高质量落地运营。该文首先梳理了无人配送车相关技术的发展现状和国内外的无人配送车安全运行管理规范，然后分析了无人配送车的行驶特性（包括车身安全特性、速度与能耗特性、跟驰和换道特性）和配送服务运行特性，指出需找到车辆设计、环境、配送任务之间合适的平衡点，并对无人配送车技术测试仿真、运营影响测试仿真和网络仿真方法的现状与不足进行了综述。在此基础上，借鉴国内外的无人配送车运行评价方法，结合无人配送车的运行特性，构建了针对非机动车道无人配送车运行评价的指标体系，指出了无人配送车的运行评价指标和未来研究方向，得到以下结论：现有无人配送车运行仿真技术缺乏统一的、权威性的管理规范；针对无人配送车运营影响的测试仿真研究较少；目前对无人配送车运行特性的研究不够深入，缺乏对实际场景的规划；借鉴道路服务水平评价指标，采用平均速度变化率和平均密度变化率作为无人配送车投放影响评价指标较为合适。

关键词： 城市交通; 无人配送车; 投放策略; 运行仿真; 运行评价

本文引用格式

李海舰 , 李宇轩 , 王威杰 , 童盛军 , 高景伯 , 李同飞 , 陈娜 . 城市无人配送车的运行管理、仿真与评价研究综述[J]. 华南理工大学学报(自然科学版), 2025 , 53(11) : 90 -100 . DOI: 10.12141/j.issn.1000-565X.240367

Abstract

The operation simulation and evaluation constitute the basis of theoretical research in the field of autonomous delivery vehicles, and are conducive to the high-quality ground operation of autonomous delivery vehicles. This paper first reviews the current state of autonomous delivery vehicle technology and the domestic and international safety operation management standards, then analyzes the driving characteristics of autonomous delivery vehicles (including vehicle safety attributes, speed and energy consumption profiles, as well as following and lane-changing behaviors) and the operational characteristics of delivery services. The study highlights the need to strike an appropriate balance among vehicle design, environmental factors and delivery tasks, and summarizes the current state and limitations of simulation methodologies for testing autonomous delivery vehicle technology, operational impact assessments, and network simulations. On this basis, by drawing on the operation evaluation methodologies for autonomous delivery vehicles at home and abroad and considering the operational characteristics, an indicator system for assessing the performance of autonomous delivery vehicles operating in non-motorized lanes is established, and the key evaluation metrics and future research directions of autonomous delivery vehicles are outlined. There comes to the conclusions that (1) the existing simulation technologies for the operation of autonomous delivery vehicles lack unified and authoritative management standards; (2) the researches on simulation-based evaluation of the operational impacts of autonomous delivery vehicles are limited; (3) current studies on the operational characteristics of autonomous delivery vehicles are insufficiently detailed and lack consideration of real-world deployment scenarios; and (4) drawing on road level-of-service evaluation indicators, average speed variation rate and average density variation rate are two appropriate evaluation metrics for assessing the impact of autonomous delivery vehicle deployment.

Key words： urban transportation; autonomous delivery vehicle; placement strategy; operation simulation; operation evaluation

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