CAJ | 학술논문

车道偏离时间（TLC）是指车辆从当前位置行驶至车道边界线的剩余时间，是车道偏离预警系统触发警告的判断依据，因此其计算精度至关重要。文中结合车辆运动学理论和三角函数知识研究车辆行驶在直线和曲线路段的轨迹形状，建立车辆轨迹为直线和曲线情况下的TLC估算模型，最后分别就横向距离、相对偏航角和曲线道路半径对TLC的影响进行了仿真分析。结果表明：在直线路段，TLC与相对偏航角成反比，与横向距离成正比；在曲线路段，TLC与相对偏航角和道路曲线半径成反比，与横向距离成正比，而当车辆从相反方向偏离时，对应关系则相反。文中研究能有效降低以TLC为决策标准的车道偏离预警系统的误警率。
차도편리시간（TLC）시지차량종당전위치행사지차도변계선적잉여시간，시차도편리예경계통촉발경고적판단의거，인차기계산정도지관중요。문중결합차량운동학이론화삼각함수지식연구차량행사재직선화곡선로단적궤적형상，건립차량궤적위직선화곡선정황하적TLC고산모형，최후분별취횡향거리、상대편항각화곡선도로반경대TLC적영향진행료방진분석。결과표명：재직선로단，TLC여상대편항각성반비，여횡향거리성정비；재곡선로단，TLC여상대편항각화도로곡선반경성반비，여횡향거리성정비，이당차량종상반방향편리시，대응관계칙상반。문중연구능유효강저이TLC위결책표준적차도편리예경계통적오경솔。
Time-to-line crossing (TLC)is defined as the remaining time that a vehicle travels from the current po-sition to the lane boundary. It has been used as a trigger warning criterion for lane departure warning system,so that its calculation accuracy plays a key role. In this paper,the trajectories of vehicles driven on straight and curved road sections are investigated on the basis of vehicle kinematics and trigonometric function,and the estima-tion models of the TLC respectively in straight and curved vehicle paths are then presented. Finally,the effects of vehicle lateral distance,relative yaw angle and road curve radius on TLC are analyzed in a simulative way. The re-sults show that (1)in straight paths,TLC is inversely proportional to the relative yaw angle but is proportional to the transverse distance;(2)in curved paths,TLC is inversely proportional to both the relative yaw angle and the path curve radius but is proportional to the transverse distance;and (3 )the above-mentioned relationships are op-posite to those when the vehicle runs across a lane border in an opposite direction. This research effectively reduces the false alarm rate for lane departure warning systems using TLC as the decision criterion.