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...

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Main Authors: Wang, Shuyi, Ma, Yang, Liu, Jinzhou, Yu, Bin, Zhu, Feng
Other Authors: School of Civil and Environmental Engineering
Format: Article
Language:English
Published: 2022
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Online Access:https://hdl.handle.net/10356/163527
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Institution: Nanyang Technological University
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spelling sg-ntu-dr.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.
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Civil engineering
Automated Vehicle
Available Sight Distance
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
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.
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
format Article
author Wang, Shuyi
Ma, Yang
Liu, Jinzhou
Yu, Bin
Zhu, Feng
author_sort Wang, Shuyi
title 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_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_sort readiness of as-built horizontal curved roads for lidar-based automated vehicles: a virtual simulation analysis
publishDate 2022
url https://hdl.handle.net/10356/163527
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