Abstract: In order to improve the driving safety of superhighways, the virtual track system of superhighways was studied by establishing mathematical models. The proposed system consisted of an information acquisition subsystem, an information processing subsystem and an information feedback subsystem. Through theoretical analysis and the data obtained by information acquisition subsystem, the virtual track deviation calculation models on straight and curved sections were established. The early warning signal values of vehicles deviating from the safety range of virtual track were obtained by using the calculation model. The estimated time and distance data required for vehicles to leave the virtual track safety range on the curved road sections were also obtained. The research results show that when the vehicle is driving on the straight section of superhighway, the absolute value of the square difference between the theoretical distance and the sensor detection distance is less than 1.85, 2.78 and 3.70 m2, the deviation distance of the vehicle from the centerline can be guaranteed to be less than 0.50, 0.75 and 1.00 m, respectively; when the vehicle is driving on the curved road section, the time required for the vehicle to leave the virtual track safety range is related to the driving speed, the virtual track safety range and the curve radius. When the threshold values of deviation from virtual track are 0.50 m, 0.75 m and 1.00 m respectively, as well as the early warning signal value is 2 m, 3 m and 4 m, it can be ensured that the vehicle does not exceed the virtual track safety threshold. Therefore, the virtual track system of the superhighway can limit the vehicles to travel within the safe range of the virtual track, ensuring the safety of the vehicle driving on the superhighway.

Key words: traffic and transportation engineering; superhighway; virtual track; vehicle-road coordination; traffic safety; autopilot

摘要： 为提高超高速公路行驶安全性，用建立数学模型的方法研究了超高速公路虚拟轨道系统。该系统由信息采集子系统、信息处理子系统和信息反馈子系统组成。通过理论分析与信息采集子系统得到的数据，建立了直线路段和曲线路段上虚拟轨道偏离计算模型。利用计算模型得到了直线路段车辆偏离虚拟轨道安全范围时的预警信号值；曲线路段汽车驶离虚拟轨道安全范围所需时间及距离数据判断值。研究结果表明：当汽车行驶在超高速公路直线路段上时，理论距离与传感器检测距离的平方之差的绝对值小于1.85、2.78、3.70 m2时，就可保证车辆偏离中心线的距离分别小于0.50、0.75、1.00 m。当汽车行驶在曲线路段上时，汽车驶离虚拟轨道安全范围所需时间与行车速度、虚拟轨道安全范围以及曲线半径有关；偏离虚拟轨道的阈值分别取0.50、0.75、1.00 m，预警信号值为2、 3、 4 m时，可保证车辆不会驶离虚拟轨道安全阈值范围。因此，超高速公路虚拟轨道系统可将车辆限制在虚拟轨道安全范围内行驶，保证超高速公路行车的安全性。

关键词: 交通运输工程；超高速公路；虚拟轨道；车路协同；交通安全；自动驾驶