CN112069559B - Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method - Google Patents
Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method Download PDFInfo
- Publication number
- CN112069559B CN112069559B CN202010654407.1A CN202010654407A CN112069559B CN 112069559 B CN112069559 B CN 112069559B CN 202010654407 A CN202010654407 A CN 202010654407A CN 112069559 B CN112069559 B CN 112069559B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- intersection
- inner wheel
- turning
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 206010039203 Road traffic accident Diseases 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000028838 turning behavior Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/12—Geometric CAD characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Architecture (AREA)
- Human Computer Interaction (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a method for determining the inner wheel difference area range of a right turn at an intersection of a large vehicle and application thereof, which relate to the technical field of traffic management and control and comprise the steps of determining the adaptability of the intersection and the type of the vehicle; according to the determined intersection and the type of the vehicle, constructing an inner wheel difference calculation model according to the geometric characteristics of the motion track of the vehicle and the relation between the right turning angle of the vehicle and the length-width ratio of the right turning area of the intersection entrance lane; and obtaining continuous running track coordinates of a front inner wheel and a rear inner wheel when the large vehicle turns right at the intersection by writing an inner wheel difference model calculated by an auxiliary program, so as to obtain an inner wheel difference area range of the large vehicle when the intersection turns right. The technical bottleneck of the existing inner wheel difference model in engineering application is overcome, and continuous coordinate values of the inner wheel difference region boundary can be provided for intersections with different geometric sizes.
Description
Technical Field
The invention relates to the technical field of traffic management and control, in particular to a method for determining the inner wheel difference area range of a right turn at an intersection of a large vehicle and application thereof.
Background
The inner wheel difference is the difference between the turning radius of the front inner wheel and the turning radius of the rear inner wheel when the vehicle turns. When the vehicle turns, the turning radii of the front inner wheel (the wheel on the turning side is called the inner wheel) and the rear inner wheel are different, so that the driving tracks of the front inner wheel and the rear inner wheel can enclose a closed area, which is called an inner wheel difference area. With the increase of the wheel base of the vehicle, the area range of the inner wheel difference is increased, and traffic participants in the area are easily involved by the turned vehicles to cause traffic accidents. The statistical data of the traffic bureau of the ministry of public security shows that in the serious traffic accidents of large vehicles, the accidents caused by the inner wheel difference area account for more than 70 percent, and the death rate of the accidents is up to more than 90 percent when the majority of the accidents happen in right turns.
In view of this, the study of the inner wheel difference by scholars at home and abroad is roughly divided into two stages: the first stage, supposing that the front inner wheel and the rear inner wheel of the vehicle do uniform circular motion under ideal conditions, simulating the running track of the vehicle on the basis of the uniform circular motion, and calculating to obtain the relationship between the differential area of the inner wheels and the wheelbase of the vehicle; and in the second stage, considering that the motion tracks of the front inner wheel and the rear inner wheel are not uniform circular motion under the ideal condition when the vehicle turns, fitting the actual motion track of the wheel by using high-class mathematic and kinematic methods, and gradually reducing the error of the fitting of the inner wheel difference model to the motion track of the wheel.
At present, the degree of fitting of an inner wheel difference model to an actual wheel motion track is higher and higher through second-stage research, parameters of the model also include wheel base, wheel base and turning angle variables of a steering wheel of a vehicle, but research results are difficult to use in actual engineering. The reason is that the steering wheel angle, which is an independent variable, is greatly influenced by the driver factors and has uncertainty, and the determined inner wheel difference region also has high uncertainty. Some researchers have used to limit the steering wheel angle to a maximum inner wheel differential, and the inner wheel differential area obtained thereby has the greatest width, but is often shorter than the length of the actual inner wheel differential area.
Disclosure of Invention
The invention aims at the technical problems, overcomes the defects of the prior art, provides a method for determining the inner wheel difference area range of the intersection right turn of the large vehicle, overcomes the technical bottleneck of the existing inner wheel difference model in engineering application, and can provide continuous coordinate values of the inner wheel difference area boundary for the intersections with different geometric dimensions.
In order to solve the technical problems, the invention provides a method for determining the inner wheel difference area range of a right turn at an intersection of a large vehicle, which comprises the following steps:
(1) determining the adaptability of the intersection and the type of the vehicle, ensuring that the intersection is vertically crossed and no right-turn special lane exists, wherein the type of the vehicle is a non-hinge type large vehicle;
(2) according to the intersection and the vehicle type determined in the step (1), constructing an inner wheel difference calculation model according to the geometric characteristics of the vehicle motion track and the relation between the right turning angle of the vehicle and the length-width ratio of the right turning area of the intersection entrance lane;
(3) and (3) calculating the inner wheel difference model in the step (2) by writing an auxiliary program, and obtaining continuous driving track coordinates of a front inner wheel and a rear inner wheel when the large vehicle turns right at the intersection to obtain the inner wheel difference area range of the right turn of the large vehicle intersection.
The technical scheme of the invention is further defined as follows:
the method for determining the inner wheel differential area range of the right turn of the intersection of the large vehicle comprises the step (1) of determining the intersection to be a standard cross intersection or a T-shaped intersection.
The method for determining the inner wheel difference area range of the right turn at the intersection of the large vehicle comprises the step (1) of determining the vehicle wheel base to be 5.1-6.2 m.
In the method for determining the inner wheel difference region range of the right turn at the intersection of the large vehicle, in the step (2), the building of the inner wheel difference calculation model specifically comprises the following steps:
(21) the model establishment is based on the following assumptions:
the whole vehicle is a rigid body and does not deform in the turning process;
the vehicle does not sideslip when turning, and the turning angles of the front inner wheel and the outer front wheel are the same;
the steering transmission ratio is a fixed value, namely, when the vehicle steers, the ratio of the rotation angle of the steering wheel to the rotation angle of the front wheels is a fixed value;
(22) assume that the turning pattern of the vehicle driver at the intersection is: the steering wheel is gradually driven to a proper position when the vehicle steering is started, then continuous correction is carried out when the steering is nearly finished, and the steering wheel is just returned to an initial position when the vehicle just finishes the whole steering operation;
(23) taking the wheelbase L of the large vehicle and the length-width ratio M of a right turning area of an intersection entrance lane as independent variables, performing linear fitting on the number of turns of a steering wheel rotated by a driver when the vehicle turns right, obtaining vehicle turning angles theta made by different vehicle drivers facing different intersections, and calculating the turning radius of the vehicle;
(24) constructing an inner wheel difference calculation model of the turning radius difference of front and rear inner wheels by taking a straight line where a rear wheel of the vehicle is located as a turning center, and solving the motion radius a of the central line of the rear inner wheel and the included angle alpha of connecting lines of the central points of the front shaft and the rear shaft of the vehicle and the turning circle center respectively because the motion trail of the central point of the front shaft is superposed with the central line of a lane and the axle distance L is unchanged;
(25) calculating the motion radius b of the central line of the front inner wheel according to the principle of the homonymy angle equality of parallel lines and the cosine theorem;
(26) and obtaining the inner wheel difference m of the large vehicle as b-a.
According to the method for determining the inner wheel difference area range of the right turn at the intersection of the large vehicle, the number of turns O of a steering wheel is obtained according to the wheel base L and the length-width ratio M of the right turn area at the intersection entrance lane, wherein O is (L/5.9) x (5 xM-2);
obtaining vehicle turning angles theta made by drivers of different vehicle types facing different intersections according to the fact that the maximum turning angle bending of the large vehicle is beta, wherein the theta is (O/3.5) multiplied by beta;
the turning radius R of the vehicle in the turning process is L/sin theta;
according to the rear wheel track d of the vehicle2Obtaining the movement radius a of the central line of the rear inner wheel,
according to the included angle alpha of the connecting lines of the midpoints of the front axle and the rear axle of the vehicle and the circle center of the turning circle,
according to the front track d of the vehicle1Obtaining the movement radius b of the central line of the front inner wheel,
in the method for determining the wheel difference region range in the right turn at the intersection of the large vehicle, in the step (3), writing an auxiliary program specifically comprises:
(31) developing an inner wheel difference calculation program, and displaying intersection geometric parameter data and large-scale vehicle characteristic parameters which need to be input by a program interface, wherein the intersection geometric parameter data and the large-scale vehicle characteristic parameters comprise the length and the width of a right turning area of an intersection entrance lane, the maximum turning angle beta of a vehicle, the vehicle wheelbase L and the front wheelbase d1And rear track d2The program defaults the road corner to be 90 degrees;
(32) and displaying the coordinates of the driving tracks of the front inner wheel and the rear inner wheel in an actual intersection by using Python, wherein a closed area formed by the driving tracks of the front inner wheel and the rear inner wheel is an inner wheel difference area.
In the method for determining the inner wheel difference area range of the right turn at the intersection of the large-sized vehicle, in the step (31), if the length and the width of the right turn area of the intersection entrance lane are not enough for the vehicle to turn, the inner wheel difference calculation program prompts that the vehicle cannot pass at one time, and outputs the minimum turning radius.
The invention also aims to provide application of the method for determining the inner wheel difference area range of the intersection right turn of the large vehicle, which is used for determining continuous coordinate values of the inner wheel difference area boundary when the large vehicle corresponding to the intersections with different geometric dimensions turns right, paving colored road surfaces in the inner wheel difference area and reducing the traffic accidents.
The invention has the beneficial effects that:
(1) the method analyzes the relationship between the length-width ratio of the right turning area of the intersection entrance lane and the angle of the steering wheel rotated by a driver, fits the relationship function of the length-width ratio of the right turning area of the intersection entrance lane and the angle of the steering wheel rotated by the driver, determines the change rule of the turning angle variable of the steering wheel of the vehicle according to the length-width ratio of the right turning area of the intersection entrance lane, can determine the continuous coordinate values of the boundary of the inner wheel difference area when the large-scale vehicle corresponding to the intersections with different geometric sizes turns right, marks the inner wheel difference area on the right turning of the intersection entrance lane of the intersection, warns traffic participants to improve the awareness of risks, and reduces traffic accidents caused by the inner wheel difference at the intersection;
(2) the invention limits the intersection, ensures that when a driver rotates the steering wheel, the angle of the steering wheel and the length-width ratio of the right turning area of the intersection entrance lane have a fixed corresponding rule, and can fix the uncertain behavior of the driver rotating the steering wheel angle through the size of the intersection.
Drawings
FIG. 1 is a schematic diagram of the width X and length Y of a right turn area of an intersection approach affecting vehicle turn angle;
FIG. 2 is an analytic graph of the vehicle inner wheel differential, where R is the vehicle turning radius, a is the rear inner wheel turning radius, b is the front inner wheel turning radius, and the inner wheel differential m is b-a;
FIG. 3 is a program interface written by python;
FIG. 4 is an interface for a program to pop up when a vehicle is turning right and cannot pass through an intersection at one time;
FIG. 5 is an AutoCAD drawing of a selected intersection example;
FIG. 6 is running program code;
FIG. 7 is a front and rear inner wheel travel locus diagram of the program result;
figure 8 is a representation of an inside wheel differential area on an intersection layout.
Detailed Description
The method for determining the wheel difference region range in the right turn at the intersection of the large vehicle specifically comprises the following steps:
(1) adaptation to determine intersection and vehicle type
The intersection is a standard cross intersection or a T-shaped intersection and has no right-turn special lane; the vehicle type is a non-hinge type large vehicle, and the wheelbase is 5.1-6.2 m;
(2) according to the intersection and the vehicle type determined in the step (1), constructing an inner wheel difference calculation model according to the geometric characteristics of the vehicle motion track and the relation between the right turning angle of the vehicle and the length-width ratio of the right turning area of the intersection entrance lane:
(21) assumptions on which model building is based
The whole vehicle is a rigid body and does not deform in the turning process;
secondly, the vehicle speed is low during turning, the sideslip phenomenon does not occur, and the turning angles of the front inner wheel and the outer front wheel are the same;
the steering transmission ratio is a fixed value, namely, when the vehicle steers, the ratio of the rotation angle of the steering wheel to the rotation angle of the front wheels is a fixed value;
(22) suppose a vehicle driver turns a pattern at an intersection
The steering wheel is gradually driven to a proper position when the vehicle steering is started, then continuous correction is carried out when the steering is nearly finished, and the steering wheel is just returned to an initial position when the vehicle just finishes the whole steering operation;
(23) building vehicle turning radius calculation model
The length-width ratio and the vehicle wheelbase of the right turning area of the intersection entrance lane can influence the right turning behavior of a large vehicle driver, and a conventional intersection south entrance lane is taken as an example for explanation, as shown in fig. 1, the rightmost lane of the south entrance lane is taken as a large vehicle lane, and the vertical distance from the stop line of the south entrance lane to the central line of the rightmost lane of the intersection east exit lane along the long line is taken as the width X of the intersection entrance lane right turning area; taking the vertical distance from the long line of the center line of the rightmost lane of the south entrance lane to the long line of the stop line of the east entrance lane as the length Y of the right turning area of the intersection entrance lane, wherein the unit is M, the length-width ratio of the right turning area of the intersection entrance lane is M, and M is X/Y;
linearly fitting the number of turns of a steering wheel by a driver, wherein the independent variables in the fitting are the bus wheelbase L and the length-width ratio M of a right turning area of an intersection entrance lane; because the maximum vehicle length of the conventional large bus is 12M mostly, and the vehicle wheel base L is 5.9M mostly, so L/5.9 is the wheel base coefficient of the vehicle, and the relation between the turning circle number O of the steering wheel, the vehicle wheel base coefficient and the length-width ratio M of the right turning area of the intersection entrance way can be obtained by fitting: o ═ L/5.9 × 5 × M-2;
the method comprises the steps that the maximum turning angle beta of a bus is obtained, the turning turn number O of a steering wheel is connected with the length-width ratio of a right turning area of an intersection entrance way and the turning behavior of a driver, and the turning angle theta of the driver facing different intersections in different models is obtained, wherein theta is (O/3.5) multiplied by beta; obtaining the turning radius R of the vehicle in the turning process, wherein R is L/sin theta;
(24) constructing an inner wheel difference calculation model of the turning radius difference of front and rear inner wheels by taking the straight line of the rear wheel of the vehicle as a turning center
Because the motion trail of the midpoint of the front axle of the bus is coincident with the central line of the lane, the running trail of the bus can be linked with the length-width ratio of the right turning area of the intersection entrance lane, so as to calculate the inner wheel difference of the bus, an inner wheel difference calculation model diagram of the turning radius difference of the front and rear inner wheels taking the straight line of the rear wheel of the bus as the turning center is constructed, as shown in figure 2, wherein L is the axle distance, d1 is the front wheel distance, d2 is the rear wheel distance (the unit is m), m is the difference value of the curvature radius of the front and rear inner wheels, the motion trail of the midpoint of the front axle is coincident with the central line of the lane, the axle distance is kept unchanged, namely L is unchanged, and the motion radius a of the central line of the rear inner wheel is obtained,
the included angle alpha between the middle point of the front axle and the rear axle of the vehicle and the circle center of the turning circle,
(25) according to the principle of the equality of the homothetic angles of parallel lines and the cosine theorem, the motion radius b of the central line of the front inner wheel is calculated,
(26) obtaining the difference m of the inner wheel of the large vehicle as b-a;
(3) calculating the inner wheel difference model in the step (2) by writing an auxiliary program to obtain the continuous driving track coordinates of the front inner wheel and the rear inner wheel when the large vehicle turns right at the intersection so as to obtain the inner wheel difference area range of the right turn of the large vehicle intersection,
(31) developing an inner wheel difference calculation program, displaying intersection geometric parameter data and large-scale vehicle characteristic parameters which need to be input on a program interface, wherein the intersection geometric parameter data and the large-scale vehicle characteristic parameters comprise the length Y and the width X of a right turning area of an intersection entrance lane, a vehicle maximum turning angle beta, a vehicle wheel base L, a front wheel base d1 and a rear wheel base d2 as shown in FIG. 3, the default road turning angle of the program is 90 degrees, clicking and determining after various parameters are input, and calculating the program to obtain a vehicle turning radius and turning radii of a front inner wheel and a rear inner wheel; if the width X and the length Y of the intersection are not enough to allow the vehicle to turn and pass, the program prompts that the vehicle cannot pass at one time and outputs the minimum turning radius, as shown in FIG. 4;
(32) on the premise of ensuring the data intuitiveness and accuracy, the Python is utilized to display the coordinates of the driving tracks of the front inner wheel and the rear inner wheel in the AutoCAD of the actual intersection (for the convenience of Python language operation, relevant angles in parameters are converted into radians and then are processed), and a closed area formed by the driving tracks of the front inner wheel and the rear inner wheel is an inner wheel difference area.
Selecting a T-shaped intersection, wherein the south and north directions are two lanes, the north is in the south direction (a straight lane 1, a straight and left-turning shared lane 1), the south is in the north direction (the straight lane 1, the straight and right-turning shared lane 1), and a central separation zone (the width is 2m and 3m respectively) and a mechanical-non isolation fence exist; the east-south-north direction is a lane, the east-south direction (straight and left-turn shared lane 1) and the east-north direction (straight and right-turn shared lane 1) are provided with a machine-non isolation fence. The width of the motor vehicle lanes at the intersection is 3.75m, and the width of the non-motor vehicle lanes is 2.0 m. The intersection is provided with a pedestrian crossing line without a pedestrian safety island, a traffic island and a diversion island, and the design drawing of the intersection is shown in figure 5.
A large bus is selected as a typical representative bus, the wheelbase of the front wheel and the wheelbase of the rear wheel are 6.1m, the wheelbase of the front wheel is 2.03m, and the wheelbase of the rear wheel is 1.83 m. And constructing an inner wheel difference model, wherein the width X of a right turning area of an intersection entrance lane is defined to be 17.75m and the length Y of the right turning area is defined to be 18.35m according to the measurement of the selected intersection size. Inputting parameters on a program interface, wherein the input intersection width X is 17.75, the input intersection length Y is 18.35, the maximum turning angle beta is 33, the input wheelbase L is 6.1, and the front wheelbase d is12.03, rear track d2The default intersection for the program is a vertical positive angle, i.e. a road turn angle of 90 °, 1.83. The program codes are operated as shown in fig. 6, after various parameters are input, clicking is carried out for determination, the program calculates to obtain the turning radius of the vehicle, the turning radius of the front inner wheel and the turning radius of the rear inner wheel, and a driving track diagram of the front inner wheel and the rear inner wheel can be generated as shown in fig. 7.
The Python is used for introducing the obtained coordinates of the driving tracks of the front and rear inner wheels into an AutoCAD graph of the intersection, and a closed area formed by the driving tracks of the front and rear inner wheels is an inner wheel difference area, as shown in FIG. 8.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (6)
1. A method for determining the inner wheel difference region range of a right turn at an intersection of a large vehicle is characterized by comprising the following steps of: the method comprises the following steps:
(1) determining the adaptability of the intersection and the type of the vehicle, ensuring that the intersection is vertically crossed and no right-turn special lane exists, wherein the type of the vehicle is a non-hinge type large vehicle;
(2) according to the intersection and the vehicle type determined in the step (1), constructing an inner wheel difference calculation model according to the geometric characteristics of the vehicle motion track and the relation between the right turning angle of the vehicle and the length-width ratio of the right turning area of the intersection entrance lane;
(3) calculating the inner wheel difference model in the step (2) by writing an auxiliary program, and obtaining continuous driving track coordinates of a front inner wheel and a rear inner wheel when the large vehicle turns right at the intersection to obtain an inner wheel difference area range of the large vehicle when the large vehicle turns right at the intersection;
wherein, the step (2) of constructing the inner wheel difference calculation model specifically comprises the following steps:
(21) the model establishment is based on the following assumptions:
the whole vehicle is a rigid body and does not deform in the turning process;
the car does not sideslip when turning, and the turning angles of the front inner wheel and the outer front wheel are the same;
the steering transmission ratio is a fixed value, namely, when the vehicle steers, the ratio of the rotation angle of the steering wheel to the rotation angle of the front wheels is a fixed value;
(22) assume that the turning pattern of the vehicle driver at the intersection is: the steering wheel is gradually driven to a proper position when the vehicle steering is started, then continuous correction is carried out when the steering is nearly finished, and the steering wheel is just returned to an initial position when the vehicle just finishes the whole steering operation;
(23) taking the wheelbase L of the large vehicle and the length-width ratio M of a right turning area of an intersection entrance lane as independent variables, performing linear fitting on the number of turns of a steering wheel rotated by a driver when the vehicle turns right, obtaining vehicle turning angles theta made by different vehicle drivers facing different intersections, and calculating the turning radius of the vehicle;
(24) establishing an inner wheel difference calculation model based on real-time vehicle corners and vehicle turning radii, wherein the model can calculate the turning radii of front and rear inner wheels of a vehicle according to different vehicle corners and vehicle turning radii, and further subtract the turning radii of the front and rear inner wheels to obtain the change condition of the vehicle inner wheel difference;
(25) calculating the motion radius b of the central line of the front inner wheel according to the principle of the homonymy angle equality of parallel lines and the cosine theorem;
(26) obtaining the difference of the inner wheels of the large-sized vehicle as b-a;
the specific calculation formula is as follows:
obtaining the turning circle number O of the steering wheel according to the wheel base L of the vehicle and the length-width ratio M of the right turning area of the intersection entrance lane,
obtaining vehicle turning angles theta made by drivers of different vehicle types facing different intersections according to the maximum turning angle beta of the large vehicle,
the turning radius R of the vehicle during turning,
according to the rear wheel track d of the vehicle2Obtaining the movement radius a of the central line of the rear inner wheel,
according to the included angle alpha of the connecting lines of the midpoints of the front axle and the rear axle of the vehicle and the circle center of the turning circle,
according to the front track d of the vehicle1Obtaining the movement radius b of the central line of the front inner wheel,
2. the method for determining the range of the wheel difference region in the right turn at the intersection of the large vehicle according to claim 1, characterized in that: the intersection determined in the step (1) is a standard cross-shaped intersection or a T-shaped intersection.
3. The method for determining the range of the wheel difference region in the right turn at the intersection of the large vehicle according to claim 1, characterized in that: and (2) determining the vehicle wheelbase in the step (1) to be 5.1-6.2 m.
4. The method for determining the range of the wheel difference region in the right turn at the intersection of the large vehicle according to claim 1, characterized in that: in the step (3), writing the auxiliary program specifically includes:
(31) developing an inner wheel difference calculation program, and displaying intersection geometric parameter data and large-scale vehicle characteristic parameters which need to be input by a program interface, wherein the intersection geometric parameter data and the large-scale vehicle characteristic parameters comprise the length and the width of a right turning area of an intersection entrance lane, the maximum turning angle beta of a vehicle, the vehicle wheelbase L and the front wheelbase d1And rear track d2The program defaults the road corner to be 90 degrees;
(32) and displaying the coordinates of the driving tracks of the front inner wheel and the rear inner wheel in an actual intersection by using Python, wherein a closed area formed by the driving tracks of the front inner wheel and the rear inner wheel is an inner wheel difference area.
5. The method for determining the range of the wheel difference region in the right turn at the intersection of the large vehicle as claimed in claim 4, wherein: in the step (31), if the length and the width of the right turning area of the intersection entrance lane are not enough to allow the vehicle to turn to pass, the inner wheel difference calculation program prompts that the vehicle cannot pass at one time, and outputs the minimum turning radius.
6. Use of a method as claimed in any one of claims 1 to 5 for determining the range of an internal differential zone in a right turn at a junction of a large vehicle, characterized by: and determining continuous coordinate values of the boundary of the inner wheel difference area when the large-scale vehicle corresponding to the intersections with different geometric dimensions turns right, and paving a colored pavement in the inner wheel difference area to reduce the traffic accidents.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010654407.1A CN112069559B (en) | 2020-07-08 | 2020-07-08 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010654407.1A CN112069559B (en) | 2020-07-08 | 2020-07-08 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112069559A CN112069559A (en) | 2020-12-11 |
| CN112069559B true CN112069559B (en) | 2021-10-01 |
Family
ID=73656405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010654407.1A Active CN112069559B (en) | 2020-07-08 | 2020-07-08 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112069559B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997862B (en) * | 2021-11-19 | 2024-04-16 | 中国重汽集团济南动力有限公司 | Engineering vehicle blind area monitoring and early warning system and method based on redundant sensor |
| CN115717899B (en) * | 2022-11-25 | 2024-04-30 | 北京斯年智驾科技有限公司 | Curve path selection method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644423A (en) * | 2016-02-25 | 2016-06-08 | 福鼎市卡夫卡机械部件有限公司 | Wheel difference reminding method and system |
| CN106981220A (en) * | 2017-04-24 | 2017-07-25 | 河海大学 | Large car right-hand bend safety pre-warning system |
| CN107336685A (en) * | 2017-06-07 | 2017-11-10 | 河海大学 | A kind of large car right-hand bend security protection system and its control method |
| CN109815558A (en) * | 2019-01-04 | 2019-05-28 | 东南大学 | A kind of oversize vehicle intersection turning sweeps across the determination method in path |
-
2020
- 2020-07-08 CN CN202010654407.1A patent/CN112069559B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644423A (en) * | 2016-02-25 | 2016-06-08 | 福鼎市卡夫卡机械部件有限公司 | Wheel difference reminding method and system |
| CN106981220A (en) * | 2017-04-24 | 2017-07-25 | 河海大学 | Large car right-hand bend safety pre-warning system |
| CN107336685A (en) * | 2017-06-07 | 2017-11-10 | 河海大学 | A kind of large car right-hand bend security protection system and its control method |
| CN109815558A (en) * | 2019-01-04 | 2019-05-28 | 东南大学 | A kind of oversize vehicle intersection turning sweeps across the determination method in path |
Non-Patent Citations (2)
| Title |
|---|
| 《基于道路转弯半径的内轮差计算及安全对策》;王睿弩 等;《交通技术》;20140531;第3卷(第3期);第73-76页 * |
| 《车辆转弯时内轮差的运动学理论模型》;李逸良 等;《力学与实践》;20170228;第39卷(第1期);第94-99页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112069559A (en) | 2020-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11327493B1 (en) | Change detection using curve alignment | |
| CN106945662B (en) | A kind of vertical automatic parking paths planning method and system | |
| Bai et al. | Accelerated lane‐changing trajectory planning of automated vehicles with vehicle‐to‐vehicle collaboration | |
| CN109815558B (en) | Method for determining turning mat roll path at intersection of large vehicle | |
| CN112069559B (en) | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method | |
| CN104881025A (en) | Reactive navigation control method for underground mining vehicle | |
| CN113619603B (en) | Method for planning turning track of double-stage automatic driving vehicle | |
| US10832439B1 (en) | Locating entities in a mapped environment | |
| CN109823393A (en) | A kind of intelligent driving Vehicle tracing control method | |
| CN106874551A (en) | A kind of Parallel parking method for being based on three rank arctan function models | |
| CN105335797A (en) | Automatic parking locus optimization method based on full-simultaneous dynamic optimization framework | |
| CN113848914B (en) | Method for planning local path by collision coefficient artificial potential field method in dynamic environment | |
| US20230008285A1 (en) | Vehicle control using directed graphs | |
| CN102044090B (en) | Vehicle pileup accident analysis and simulation reconstruction computer system | |
| CN211956223U (en) | Lane change track planning system | |
| CN114488185B (en) | Robot navigation system method and system based on multi-line laser radar | |
| CA2803176A1 (en) | Method and apparatus for generating a geometric layout of a traffic intersection | |
| CN115127564B (en) | Hierarchical map model for multi-level automatic driving navigation system | |
| CN110834626B (en) | Driving obstacle early warning method and device, vehicle and storage medium | |
| CN114407877B (en) | Automatic parking positioning method based on wheel speed pulse and IMU (inertial measurement Unit) | |
| Li et al. | Parallel parking path planning in narrow space based on a three-stage curve interpolation method | |
| Lu et al. | Modeling Vehicle Paths at Intersections: A Unified Approach Based on Entrance and Exit Lanes | |
| Zhu et al. | Trajectory planning algorithm using Gauss pseudo-spectral method based on vehicle-infrastructure cooperative system | |
| CN116909287A (en) | Vehicle lane changing obstacle avoidance track planning method integrating DMPs and APF | |
| Asano et al. | Modeling the variation in the trajectory of left turning vehicles considering intersection geometry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |