交通运输研究2026，Vol.12Issue(2)：47-58,71,13.DOI:10.16503/j.cnki.2095-9931.2026.02.004
全天候条件下自动驾驶汽车弯道安全速度计算模型
Safe Cornering Speed Computational Model for Autonomous Vehicles under All-Weather Conditions
摘要
Abstract
To enhance the cornering safety of autonomous vehicles under all-weather conditions and address the insufficient consideration for the coupling between complex environmental factors and vehicle motion in existing safe speed models,this paper proposes a safe cornering speed calculation model for all-weather conditions.First,building upon a four-wheel vehicle dynamics model,a friction ellipse constraint mechanism is introduced.This paper establishes a nonlinear coupling relationship between tire lateral and longitudinal forces,incorporating road grade,superelevation,friction coefficient,and vehicle longitudinal acceleration,thereby formulating the safe speed calculation model.Furthermore,through simulation analysis,the variation of safe vehicle speed under different road parameters such as curve radius,road surface friction coefficient,and the thickness of water film and ice film is studied,and the restraining mechanism of longitudinal acceleration and deceleration behavior on the critical speed of sideslip instability is explored.Finally,the safe speed output by the proposed model is used as a constraint for MPC-based speed planning,and simulations of speed planning on curved roads are conducted to further validate its application effectiveness in autonomous driving decision-making.The findings indicate that,compared to traditional particle models,the NHTSA model,and the Lusetti model,the proposed model demonstrates significantly improved computational accuracy under low-adhesion and complex conditions.The root mean square errors between the model outputs and simulation results are controlled within 2.84 km/h.Furthermore,the speed planning strategy developed on this basis effectively mitigates the risk of vehicle sideslip on curved roads,thereby enhancing the safety of autonomous vehicles.The all-weather curve speed calculation model proposed in this study can provide more accurate theoretical support for the decision-making and planning of autonomous vehicles.关键词
自动驾驶汽车/决策规划/弯道安全车速/侧滑/全天候Key words
autonomous vehicles/decision-making and planning/safe cornering speed/sideslip/all-weather conditions分类
交通工程引用本文复制引用
陈涛,安浩,王萌,罗洋,李晓阳..全天候条件下自动驾驶汽车弯道安全速度计算模型[J].交通运输研究,2026,12(2):47-58,71,13.基金项目
陕西省自然科学基础研究计划面上项目(2025JC-YBMS-458) （2025JC-YBMS-458）
"车路一体智能交通全国重点实验室"开放基金(2024-B005) （2024-B005）
国家自然科学基金面上项目(51978075) （51978075）
四川高速公路建设开发集团有限公司科研项目(2024-cg-ky-22) （2024-cg-ky-22）
