智慧交通是"交通强国”、交通运输领域新型基础设施的重要内容。在科技创新研发引领下，智慧高速公路作为智慧交通的核心场景，发展日新月异。本书围绕智慧高速公路建设需求，依托雄安新区对外骨干路网160 千米智慧高速公路建设经验，创新性地提出了涵盖智慧交通关键技术、装备研发及测试场建设等内容的车路云网一体化智慧高速公路解决方案，并对该方案的总体架构、系统特征、关键技术、测试验证、应用实践和技术发展路径进行了全面介绍，为提升我国高速公路运营安全、通行效率和服务质量水平，以及指导高速公路智能化、信息化建设提供借鉴。

序言 习近平总书记指出，“交通成为中国现代化的开路先锋。”党的二十大报告提出，加快建设交通强国。这是统筹推进交通强国建设的战略升级，更为今后我国交通运输事业的发展提供了根本遵循。 交通强国建设在构建日益完善的交通“主骨架”等传统“硬件”的同时，更应当在新型基础设施建设应用方面下足功夫。《交通运输部关于推动交通运输领域新型基础设施建设的指导意见》明确提出了智慧公路、第五代移动通信技术（5G）等协同应用、数据中心、科技研发等十四项主要任务。《关于加快建设国家综合立体交通网主骨架的意见》明确，鼓励智慧交通产业发展，全面推动交通运输产业信息化、数字化、网络化。智慧高速公路作为智慧交通的核心场景，其发展日新月异。 近年来，全国多省份陆续出台智慧高速公路相关指导文件，利用先进信息技术深度赋能交通基础设施，高速公路感知、管理、服务能力得到了空前的提升。为解决智慧交通精准感知关键技术问题，河北省交通规划设计研究院与北京理工大学深入合作，率先成功研制了千米超距毫米波交通雷达产品，其探测精度优于同类产品，解决了核心元器件“卡脖子”难题。以该产品为重要基础，河北省交通规划设计研究院打造了车路云网一体化智慧高速公路解决方案，并在雄安新区对外骨干路网实现了规模化、系统化落地。相关实践应用不仅印证了技术路线的正确性，而且确立了解决方案的显著优势和行业价值，成为向世界展示中国式现代化交通智慧的窗口。 智慧高速公路是全局性、系统性的工程，有赖于业务、技术和装备层面的顶层设计。统筹整合各地探索经验成效，统一协调产业链相关资源，为未来的项目建设提供规范和指导，是提升智慧高速公路建设水平的必然要求。本书系统总结了雄安新区对外骨干路网智慧高速公路建设经验，对车路云网一体化智慧高速公路解决方案的总体架构、系统特征、关键技术、测试验证、应用实践和技术发展路径进行了全面总结和学术升华，是河北智慧高速公路建设经验的深度提炼，可以为提升我国高速公路运营安全水平、通行效率和服务质量水平，以及指导高速公路智能化、信息化建设提供有益借鉴。 智慧高速公路作为新事物，必然要经历一个曲折的探索过程。放眼未来，智慧高速公路的建设还存在一些需要行业内、跨行业共同着力解决的问题，需要我们携起手来，开放包容，自信自强，守正创新，通过质量与模式的持续创新提升，切实实现安全畅行、智慧管理、创新赋能、绿色低碳等目标，更好地服务于人民群众安全出行的需要。 是为序。 龙腾 中国工程院院士 2023年5月 前言 作为新型交通基础设施建设的核心场景之一，智慧高速公路集成应用5G、车路协同、物联网、大数据、人工智能等新兴技术，推进高速公路传统基础设施系统升级迭代，是推动交通行业绿色低碳发展的重要途径，也是落实“交通强国”战略的重要举措。在科技创新的引领和带动下，多省市陆续出台智慧高速公路相关指导性文件，加快推进智慧高速公路建设。 河北省以“京津冀协同发展、雄安新区规划建设、北京冬奥会筹办”等重大国家战略和国家大事为契机，积极构建区域 智慧公路网。作为河北省交通科技创新领军企业，河北省交通规划设计研究院有限公司联合国内外高端团队，按照“场景导向、技术驱动、融合创新”的工作思路，依托交通运输部自动驾驶技术交通运输行业研发中心和车路云网河北省工程研究中心两个省部级智能交通创新平台，攻克超距雷达感知、主动控制、车基反馈等多项核心技术，首创“感知、控制、协同、管理、服务”五星架构，形成架构完整、技术领先的车路云网一体化智慧高速公路解决方案。2018 年以来，该解决方案及成套技术累计指导智慧高速公路建设约600 千米，并在雄安新区对外骨干路网荣乌高速新线、京德高速公路智慧化建设中实现规模化、系统化落地。本书全面介绍了车路云网一体化智慧高速公路解决方案的总体架构、技术演进、系统特征、技术支撑、测试验证和应用实践，并对技术发展路径进行展望，为提升高速公路运营安全、通行效率和服务质量水平，以及指导高速公路智能化、信息化建设提供借鉴。 本书在著作过程中得到了中国工程院院士龙腾、东南大学党委常务副书记刘攀、河北省交通运输厅副厅长王谷、河北交通投资集团有限公司董事长王国清、荷兰代尔夫特理工大学教授陈玉森的指导与帮助，以及东南大学、北京理工大学、北京交通大学、北京工业大学等高等院校的技术支持，在此表示衷心的感谢。 目前，作者仍在开展智慧高速公路关键技术的持续迭代研究，尚在探索更多、更深层次的问题，再加上理论水平与实践经验有限，书中难免存在不足之处，恳请读者批评指正。 何勇海 2023 年2 月

第1 章 智慧高速公路建设需求 ···········································001 1.1 国家政策 ································································.002 1.2 国际现状 ································································.003 1.3 国内现状 ································································.005 1.4 建设需求 ································································.007 1.5 场景分析 ································································.009 第2 章 车路云网一体化总体架构 ·········································011 2.1 五星架构 ································································.012 2.2 功能架构 ································································.014 2.3 路网协同 ································································.016 2.4 技术映射 ································································.017 第3 章 全息化数字感知 ····················································021 3.1 内涵与特征 ·····························································.022 3.2 关键技术及装备 ·······················································.024 3.2.1 千米超距毫米波交通雷达设备···································.024 3.2.2 千米超距毫米波交通雷达高精度增程及抗干扰技术 ·······.026 3.2.3 基于分布式组网雷达的全路段波束覆盖设计 ················.026 3.2.4 组网雷达目标唯一ID 连续跟踪技术 ···························.027 3.2.5 多源异构雷视融合组网技术·····································.027 3.2.6 雷达与摄像机快速联动技术·····································.027 第4 章 车道化主动控制 ···················································031 4.1 内涵与特征 ···························································.032 4.2 关键技术及装备 ·····················································.033 4.2.1 交通运行态势评估················································.033 4.2.2 交通事故风险预测················································.034 4.2.3 主动控制策略 ·····················································.035 4.3 工程应用 ·····························································.039 4.4 分级实施 ·····························································.044 第5 章 一体化车路协同 ··················································047 5.1 内涵与特征 ··························································.048 5.2 关键技术及装备 ····················································.049 5.2.1 路侧单元（RSU） ··············································.049 5.2.2 车载单元（OBU） ··············································.049 5.2.3 可复用车载单元··················································.050 5.2.4 智能共享门架 ····················································.050 5.2.5 车基反馈技术 ····················································.055 5.2.6 车道级驾驶引导··················································.055 第6 章 网联化交通管理 ·················································057 6.1 内涵与特征 ·························································.058 6.2 关键技术及装备 ···················································.058 6.2.1 云控基础平台技术··············································.058 6.2.2 管理系统架构 ···················································.060 6.2.3 集约坐席联动控制技术········································.062 6.2.4 兼具时空特性的虚实映射技术·······························.062 6.2.5 全寿命数字资产管理技术·····································.064 6.3 工程应用 ····························································.064 6.3.1 精准映射的数字孪生···········································.064 6.3.2 建管养全过程资产管理平台··································.066 第7 章 智慧化综合服务 ················································069 7.1 内涵与特征 ························································.070 7.2 典型服务场景 ·····················································.072 7.2.1 全旅程路图融合出行服务····································.072 7.2.2 准全天候通行服务·············································.073 第8 章 测试验证与评估 ···············································075 8.1 测试目的 ···························································.076 8.2 测试体系 ···························································.076 8.2.1 测试场建设 ······················································.076 8.2.2 测试体验平台 ···················································.078 8.3 测试内容 ···························································.079 8.3.1 感知系统测试 ···················································.079 8.3.2 主动控制验证 ···················································.079 8.3.3 车路协同测试 ···················································.080 8.3.4 车基反馈技术验证··············································.080 8.3.5 系统协议和接入测试···········································.081 8.4 远期谋划 ····························································.081 第9 章 智慧高速建设实践 ·············································085 9.1 工程概况 ···························································.086 9.2 建设原则 ···························································.087 9.3 总体目标 ···························································.088 9.4 工程实践 ···························································.089 9.4.1 荣乌高速新线智慧高速建设实践···························.089 9.4.2 京德智慧高速建设实践·······································.097 第10 章 展望 ····························································103 参考文献···································································106