Journal of South China University of Technology(Natural Science) >

2025 , Vol. 53 >Issue 7: 104 - 115

DOI: https://doi.org/10.12141/j.issn.1000-565X.240590

Traffic Safety

Effect of Complex Horizontal Alignment Combination Design on the Trajectory Offset of Autonomous Vehicles Based on PreScan

  • WANG Xiaofei ,
  • HUANG Shiqi ,
  • YAO Jiangbei ,
  • ZENG Qiang
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  • 1.School of Civil Engineering and Transportation，South China University of Technology，Guangzhou 510640，Guangdong，China
    2.Guangdong Communication Planning & Design Institute Group Co. ，Ltd，Guangzhou 510635，Guangdong，China
王晓飞（1980—），女，博士，副教授，主要从事公路路线及交通安全研究。E-mail： xiaofeiw@scut.edu.cn

Received date: 2024-12-20

  Online published: 2025-03-03

Supported by

the National Natural Science Foundation of China(72471091);the Natural Science Foundation of Guangdong Province(2024A1515011177);the Science and Technology Plan Project of Guangdong Province(2024A1111120009)

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Abstract

The penetration of automated vehicles (AVs) is expected to gradually increase in the future. Consequently, adding dedicated lanes for AVs to existing roads has become an effective countermeasure to improve traffic efficiency and driving safety. Although the horizontal and vertical alignment are constrained by human-driven vehicles and difficult to adjust, the width of Dedicated lanes for AVs can be redesigned and optimized. However, there is currently a lack of industry standards and calculation basis for designing such lanes. Vehicle trajectory deviation is a crucial factor in determining lane width. This study focuses on complex horizontal curve combinations that significantly affect driving trajectories. Using the PreScan-Simulink simulation platform, it applied typical AV lateral and longitudinal motion control algorithms and considered three types of complex horizontal curve combinations: oval, convex, and C-shaped. It constructed simulation vehicle models and road scenarios for different vehicle types and analyzed the impact of these complex curve combinations on AV trajectory deviation, ultimately developing trajectory deviation models for various vehicle types. This study shows that, unlike in convex curves where the maximum trajectory deviation occurs at the gentle transition point (HH point), in oval and C-shaped curves, the maximum deviation occurs at the first transition curve point (HY1 point). The design speed is significantly correlated with the trajectory offsets of AV on each horizontal alignment combination design: the offsets of the feature points with the largest offsets on each design are about 9~16 cm for AV at 60~130 km/h; the magnitude of the trajectory offsets varies greatly with the change in design speed, and the offsets of the feature points with the largest offsets on each horizontal alignment combination design are about 13~23 cm for AV at 140~150 km/h. Finally, a polynomial regression model was established to describe the relationship between design speed and trajectory deviation. The R2 of the model is greater than 0.95, so the model fit meets the prediction requirements. The research method and research results of this thesis can provide a reference basis for the calculation of dedicated lane width.

Key words： road engineering; autonomous vehicle; dedicated lanes for autonomous vehicle; simulation experiment; trajectory offset

Cite this article

WANG Xiaofei , HUANG Shiqi , YAO Jiangbei , ZENG Qiang . Effect of Complex Horizontal Alignment Combination Design on the Trajectory Offset of Autonomous Vehicles Based on PreScan[J]. Journal of South China University of Technology(Natural Science), 2025 , 53(7) : 104 -115 . DOI: 10.12141/j.issn.1000-565X.240590

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