Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis
Emerging automated vehicle (AV) technology is being deployed on as-built roadways due to its promising safety improvements. However, realistic problems concerning whether and how perception sensor-based AVs can safely adapt to the existing roadway infrastructures remain to be well addressed due to a...
| Main Authors: | , , , , |
|---|---|
| Outros Autores: | |
| Formato: | Journal Article |
| Idioma: | English |
| Publicado em: |
2022
|
| Assuntos: | |
| Acesso em linha: | https://hdl.handle.net/10356/163527 |
| _version_ | 1826113868999426048 |
|---|---|
| author | Wang, Shuyi Ma, Yang Liu, Jinzhou Yu, Bin Zhu, Feng |
| author2 | School of Civil and Environmental Engineering |
| author_facet | School of Civil and Environmental Engineering Wang, Shuyi Ma, Yang Liu, Jinzhou Yu, Bin Zhu, Feng |
| author_sort | Wang, Shuyi |
| collection | NTU |
| description | Emerging automated vehicle (AV) technology is being deployed on as-built roadways due to its promising safety improvements. However, realistic problems concerning whether and how perception sensor-based AVs can safely adapt to the existing roadway infrastructures remain to be well addressed due to a lack of consideration of the sensor's angular resolution and detection threshold. In this study, we aim to assess whether LiDAR-based AVs (LAVs) could safely adapt to as-built horizontal curved roads from the perspective of available sight distances (ASDs) through virtual simulations. In specific, i) numerous driving scenarios featuring the design speed (Vd: 40 ∼ 100 km/h), circular curve radius (R: limited minimum radius ∼ common minimum radius), LAV (with LiDAR technical parameters, e.g., number of channels, Nc: 32, 64, 128), and the front target vehicle were simulated in PreScan/MATLAB/Simulink co-simulation platform; ii) an ASD extraction algorithm was proposed considering the point threshold for detection (NT); iii) effects of Vd, R, Nc, and NT on the ASD were analyzed and polynomial models were adopted to capture relationships between the ASD, Vd, R at different Nc and NT; iv) the minimum speed against as-built sight obstructions along the roadside and the maximum speed against inadequate sight distance were proposed by comparing the ASD with the required stopping sight distance of human-driven vehicles and LAVs (level 3 ∼ 5), respectively; and v) speed limits (VL) against inadequate sight distances for level 3 ∼ 5 LAVs were proposed. The results indicate that: i) a larger R or Vd, fewer Nc, or a higher NT would cause a shorter ASD in general; ii) attention should be paid to the occlusion imposed by as-built roadside infrastructures even with more Nc or/and a lower NT, particularly to curved roads with more rigorous geometric design controls (e.g., small Vd); and iii) level 3 LAVs struggle to adapt to as-built horizontal curved roads, and level 4 or 5 LAVs cannot assure adequate ASDs on high-type curved roads (e.g., large Vd). These findings shall help road administrators make decisions on speed limits for LAVs on as-built curved roads. |
| first_indexed | 2024-10-01T03:29:55Z |
| format | Journal Article |
| id | ntu-10356/163527 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:29:55Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1635272022-12-08T05:05:43Z Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis Wang, Shuyi Ma, Yang Liu, Jinzhou Yu, Bin Zhu, Feng School of Civil and Environmental Engineering Engineering::Civil engineering Automated Vehicle Available Sight Distance Emerging automated vehicle (AV) technology is being deployed on as-built roadways due to its promising safety improvements. However, realistic problems concerning whether and how perception sensor-based AVs can safely adapt to the existing roadway infrastructures remain to be well addressed due to a lack of consideration of the sensor's angular resolution and detection threshold. In this study, we aim to assess whether LiDAR-based AVs (LAVs) could safely adapt to as-built horizontal curved roads from the perspective of available sight distances (ASDs) through virtual simulations. In specific, i) numerous driving scenarios featuring the design speed (Vd: 40 ∼ 100 km/h), circular curve radius (R: limited minimum radius ∼ common minimum radius), LAV (with LiDAR technical parameters, e.g., number of channels, Nc: 32, 64, 128), and the front target vehicle were simulated in PreScan/MATLAB/Simulink co-simulation platform; ii) an ASD extraction algorithm was proposed considering the point threshold for detection (NT); iii) effects of Vd, R, Nc, and NT on the ASD were analyzed and polynomial models were adopted to capture relationships between the ASD, Vd, R at different Nc and NT; iv) the minimum speed against as-built sight obstructions along the roadside and the maximum speed against inadequate sight distance were proposed by comparing the ASD with the required stopping sight distance of human-driven vehicles and LAVs (level 3 ∼ 5), respectively; and v) speed limits (VL) against inadequate sight distances for level 3 ∼ 5 LAVs were proposed. The results indicate that: i) a larger R or Vd, fewer Nc, or a higher NT would cause a shorter ASD in general; ii) attention should be paid to the occlusion imposed by as-built roadside infrastructures even with more Nc or/and a lower NT, particularly to curved roads with more rigorous geometric design controls (e.g., small Vd); and iii) level 3 LAVs struggle to adapt to as-built horizontal curved roads, and level 4 or 5 LAVs cannot assure adequate ASDs on high-type curved roads (e.g., large Vd). These findings shall help road administrators make decisions on speed limits for LAVs on as-built curved roads. This study was supported by the Postgraduate Research & Practice Innovation Program of Jiangsu Province [grant number: KYCX18_0152]; the National Natural Science Foundation of China [grant number: 51878163]; Jiangsu Transportation Science and Technology Project [grant number: 2020Y19-1(1)]; China Scholarship Council [202006090095]; and the National Demonstration Center for Experimental Road and Traffic Engineering Education (Southeast University). 2022-12-08T05:05:43Z 2022-12-08T05:05:43Z 2022 Journal Article Wang, S., Ma, Y., Liu, J., Yu, B. & Zhu, F. (2022). Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis. Accident Analysis & Prevention, 174, 106762-. https://dx.doi.org/10.1016/j.aap.2022.106762 0001-4575 https://hdl.handle.net/10356/163527 10.1016/j.aap.2022.106762 35792477 2-s2.0-85133270976 174 106762 en Accident Analysis & Prevention © 2022 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Civil engineering Automated Vehicle Available Sight Distance Wang, Shuyi Ma, Yang Liu, Jinzhou Yu, Bin Zhu, Feng Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title | Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title_full | Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title_fullStr | Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title_full_unstemmed | Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title_short | Readiness of as-built horizontal curved roads for LiDAR-based automated vehicles: a virtual simulation analysis |
| title_sort | readiness of as built horizontal curved roads for lidar based automated vehicles a virtual simulation analysis |
| topic | Engineering::Civil engineering Automated Vehicle Available Sight Distance |
| url | https://hdl.handle.net/10356/163527 |
| work_keys_str_mv | AT wangshuyi readinessofasbuilthorizontalcurvedroadsforlidarbasedautomatedvehiclesavirtualsimulationanalysis AT mayang readinessofasbuilthorizontalcurvedroadsforlidarbasedautomatedvehiclesavirtualsimulationanalysis AT liujinzhou readinessofasbuilthorizontalcurvedroadsforlidarbasedautomatedvehiclesavirtualsimulationanalysis AT yubin readinessofasbuilthorizontalcurvedroadsforlidarbasedautomatedvehiclesavirtualsimulationanalysis AT zhufeng readinessofasbuilthorizontalcurvedroadsforlidarbasedautomatedvehiclesavirtualsimulationanalysis |