基于等效坡度的自动手动变速器换档规律研究

针对自动变速器在复杂路面情况下很难进行较好的路面识别,导致换挡规律很难适应路面状况的问题,文章从汽车动力学的角度,对其进行建模分析;提出了等效坡度概念,提取各种复杂路面共性因素,并进行换档规律研究;利用车辆动力学模型及发动机特性及整车传动系统特性,分析了车辆在特殊路面上行驶规律;分析得出了特殊路面的共性因素,即路面阻力...     

Impact of hilly road information on fuel economy of FCHEV based on parameterization of hilly roads

Under real-life driving conditions, hilly roads are prevalent. Hilly road profile substantially influences fuel economy (FE) due to large impacts (increase or decrease) on power demand profile. Thus, the utilization of future altitude profile information has large potential to improve FE. In this paper, for optimal energy management of fuel cell hybrid electric vehicles (FCHEV), we investigate how much FE could potentially be improved when future altitude profile information is available. In particular, the simulation results are analyzed to justify the reason for this potential improvement and to identify which characteristics of hilly roads leads to large FE improvements. First of all, four statistical parameters are defined to characterize hilly roads: mean value, standard deviation (STD), distance interval (DI), and total distance. Then, several types of virtual hilly roads are generated based on various parameter combinations. In order to evaluate the potential FE improvement two energy management strategies (EMSs) are utilized: the first is Dynamic Programming, which evaluates the globally optimal FE when future hilly road information is available; the other is the Equivalent Consumption Minimization Strategy (ECMS) with adaptive equivalent factor for charge-sustenance, which represents the baseline EMS when future hilly road information is not available. The results show that downhill roads have much larger potential than uphill roads do for FE improvements when the future altitude profile is properly used for EMS. Furthermore, if the battery capacity is not large enough to handle the difference in potential energy, future hilly road information is more important to prevent violations of the maximum state-of-charge bound.     

Adaptive shift scheduling strategy introducing neural network in automatic transmission

Conventional automatic transmissions, which have fixed shift patterns, sometimes show inconvenient shifting patterns, especially in uphill and downhill driving. In order to improve the driveability for these road conditions, Mitsubishi developed an adaptive shift logic called “Fuzzy shift” in 1992. Since then, further evolutional shift scheduling strategies has been developed to cover more extensive road conditions. This paper introduces neural network, learning and continuous variable shift patterns control incorporating this strategy.     

面向智能车辆的现役道路设施行驶适应性研究综述

为了总结面向智能车辆的现役道路设施行驶适应性，即现役道路基础设施承载智能车辆行驶的适宜程度，阐述自主智能驾驶定义与驾驶自动化等级分类，在此基础上剖析不同等级间的人机功能差异，并分别从感知层、感知-决策层、决策-控制层探讨与道路设计要素相关联的人机功能差异，通过归纳总结智能车辆与道路几何要素、路面性能及其他道路要素(如道路标线)的相互作用机制研究，从道路工程角度及其他道路要素方面回顾该领域的研究现状，指出存在的问题和未来发展方向。研究结果表明：相比传统车辆，配置高等级自动驾驶系统的智能车辆对现役道路设施行驶适应性最高，主动安全系统次之，而驾驶辅助及有条件自动驾驶系统适应性不足。而目前研究主要问题包括：难以归纳、标定不同驾驶自动化等级间的人机功能差异及其对于道路设计参数的需求设计值；测试道路场景条件过于理想，考虑的驾驶自动化等级单一，试验规模和样本有限；道路几何、路面性能以及道路标志、标线等道路要素与智能车辆间的相互作用机制研究不足，缺乏与不同道路场景相匹配的智能车辆驾驶特征数据的获取手段。因此建议：重视并推动与道路设计要素相关联的关键人机功能差异指标信息共享；联合高保真且可交互的道路场景、高精度感知传感器物理模型、车辆动力学模型及微观交通流模型，利用测试场景自动化生成、极限工况场景搜寻与泛化等技术开展智能驾驶虚拟测试，突破现有研究的深度和广度；探索反映不同等级智能车辆的道路行驶适应性特征指标与评价标准，精准、有效地评估预测复杂道路场景及不利道路条件下的行驶适应性。     

混合动力车与传统汽油车的排放对比试验研究

利用便携式排放检测系统(PEMS)技术,对混合动力车PRIUS和传统汽油车远舰进行了市区道路的实时检测实验,分析了PRIUS和远舰在怠速、匀速、加速、减速各种工况下,拥堵和非拥堵路段,以及上、下坡路段上的不同油耗和排放特性。实验结果表明,在整个市区测试循环中,PRIUS的油耗为远舰车的62.6%,各排放均低于远舰的1/3;PRIUS在怠速工况下的排放贡献率几乎为零;PRIUS在拥堵路段和非拥堵路段上的油耗分别为远舰车的55.1%和87.4%,在拥堵路上的各排放均低于远舰车的1/4;远舰车在拥堵路上的各排放均明显增大,是非拥堵路段上各排放因子的1.45~2.38倍,而PRIUS在拥堵路段上的排放没有显著增加;PRIUS和远舰在下坡路段上排放均有十分明显的下降。     

发动机制动、排气制动与缓速器联合作用时的非连续线性控制系统的研究

针对客车发动机制动、排气制动的制动扭矩比较小的问题,提出采用发动机制动、排气制动与缓速器联合作用的持续制动方式,并且针对汽车在山区道路下坡行驶过程中对稳定车速的要求,进行了相应的控制系统设计。模拟分析结果表明:该控制系统可以保证汽车在不采用行车制动器的条件下,利用发动机制动、排气制动与缓速器联合作用的持续制动方式,在各种坡度的坡道上以希望的车速稳定下坡行驶,为汽车在山区道路连续下坡行驶的制动安全性提供了一个合理的解决方案。     

A Trajectory-Based Map-Matching System for the Driving Road Identification in Vehicle Navigation Systems

Driving road identification is the key issue of a vehicle navigation system that supports various services of intelligent transportation systems. The method for driving road identification is also known as map matching (MM). In spite of the development of MM algorithms, limitations still exist in obtaining the positioning data and preparing candidate roads (CRs) that may result in mismatches in some special difficult road configurations such as flyovers and parallel roads. To overcome the limitations, an integrated trajectory-based MM (tbMM) system is proposed based on the trajectory similarity evaluation method. The system can fuse the information from global positioning systems (GPS) and inertial sensors to generate the vehicle trajectory that represents the vehicle continuous movement in three dimensions. The elevation data of vehicle and roads are involved to enhance the trajectory-based matching process. Also the method employs an optimized mechanism for generating and maintaining CRs. Using the mechanism, separated road segments in a digital map are reorganized in the form of possible driving roads and the topology among them is guaranteed. Moreover, the CRs are obtained considering all the possibilities in determining the driving road so that the valuable historical information can be effectively reserved to provide more reliable matches in ambiguous situations. The tbMM system was evaluated using a number of real-world vehicle-level test datasets in urban areas in Beijing. Also a comparison test was performed to evaluate the driving road identification accuracy against existing MM algorithms. The results show that the tbMM system can provide reliable matches with about 99% accuracy in all the difficult scenarios and outperforms the existing algorithms.     

智能分布式驱动汽车路径跟踪/制动能量回收协同控制策略研究

为了解决智能分布式驱动汽车路径跟踪与制动能量回收系统间的协同控制难题,充分考虑分布式驱动汽车四轮扭矩独立可控在智能驾驶系统中的优势,设计适应不同路面附着条件的智能分布式驱动汽车转向、制动分层协同控制策略。上层控制器依据不同的路面类型设计差异化的多目标代价函数,以综合优化各工况下的控制目标。高附路面下,制定满足最大能量回收值的全局参考车速,在线优化路径跟踪指令,实现最优能量回收的同时减小系统运算负荷;低附路面下,优先考虑车辆的路径跟踪性能和行驶稳定性,在多目标代价函数中取消对全局参考车速的跟随要求,增设终端速度约束与能量回收项性能指标并减小能量回收项性能指标的权重系数。上层控制器基于模型预测控制方法对多目标代价函数进行滚动优化与预测求解,得到期望的前轮转角及4个车轮的总制动扭矩需求。下层控制器根据制动扭矩需求对四轮的液压制动扭矩和电机制动扭矩进行分配,最终完成整个复合制动过程。基于MATLAB/Simulink和CarSim软件,搭建控制器在环仿真平台,并在高附和低附路面条件下对所提出的策略进行试验验证。研究结果表明：高附路面下,所提出的控制策略在准确跟踪期望路径的同时相较固定比例制动力分配方法可提升2.7%的能量回收值并减少约0.02 s的单次计算时间;低附路面下,与使用高附控制策略相比,能够保证车辆的路径跟踪准确性与行驶稳定性,同时可提升7.8%的能量回收值;控制器在环试验结果证明了该协同控制策略对车辆性能提升的有效性。     

考虑道路因素的智能车辆纵向运动决策与控制研究

针对智能车辆纵向运动时的交通道路适应性问题,考虑路面附着系数和前车运动速度等因素,研究了智能车辆纵向运动决策与控制方法。论文研究了基于车头时距的纵向运动决策方法并建立不同驾驶行为的目标车速模型,运用变论域模糊推理算法设计了目标加速度模型。基于纵向动力学模型,运用自适应反演滑模控制算法建立了驱动控制器和制动控制器。对高附着系数路面和低附着系数路面的行驶工况进行仿真试验验证,结果表明,在不同的附着系数路面和前车变速行驶条件下,智能车辆能实时、合理地决策目标车速、目标加速度,实现安全、高效、稳定的跟驰。     

AMT驱动构型对纯电动客车综合性能影响研究

为研究自动机械式变速器（AMT）驱动构型对纯电动客车综合性能的影响，以12 m电机直驱纯电动城市客车为研究对象，装备3挡AMT并对驱动电机重新选型，利用NSGA-Ⅱ多目标优化算法以0~50 km·h^-1加速时间最短和中国典型城市工况（普通道路和快速道路）下行驶能耗最低为目标对变速箱传动比进行优化，并制定基于车速和加速踏板开度的双参数动力性与经济性换挡规律，在中国典型城市工况不同道路下，采用2种换挡规律对整车驱动能耗与制动能量回收进行仿真，并利用最大爬坡度及加速时间对整车动力性能进行分析。研究结果表明：与原电机直驱构型下整车性能相比，AMT驱动构型在将驱动电机峰值转矩降低68.4%后，最大爬坡度从20.07%提高到20.3%，0~50 km·h^-1加速时间从14.19 s增加到18.69 s，整车动力性虽满足要求，但加速时间增加了31.7%；其驱动能耗有所降低，但制动能量回收能力有所减弱，且二者都受行驶工况和换挡规律的影响，普通道路行驶时，经济性和动力性换挡规律百公里驱动能耗分别降低了1.55%和0.55%，百公里制动能量回收分别减少了1.35%和1.53%，百公里综合能耗分别降低了-0.12%和1.62%，快速道路行驶时，经济性和动力性换挡规律百公里驱动能耗分别降低4.78%和3.72%，百公里制动能量回收分别减少了1.53%和5.1%，百公里综合能耗分别降低了5.63%和3.35%。可见，纯电动客车采用AMT驱动构型时，需综合考虑车辆设计要求及行驶工况与换挡规律的影响。     

Random Response of Tractor-Semitrailer System

This work describes an analytical study of the dynamic behaviour of a tractor-semitrailer vehicle. A digital computer simulation was used to describe the longitudinal, vertical, and pitching motions of the vehicle travelling over a stationary random road surface. A man-seat model was also incorporated into the simulation. Vehicle response to road irregularities has been studied by assuming two different roads for loaded and unloaded cases.

Numerical results are presented for vehicle, showing system eigenvalues, power spectral densities and root mean square values of the linear and angular accelerations and displacements. Vehicle acceleration response is compared with the ISO riding comfort standard. All results for the loaded and unloaded cases and for smooth and rough roads indicated that an uncomfortable ride would result from vehicle response.     

基于高空视频图像的山地城市信号交叉口到达车辆运行特征分析

为明确山地城市信号交叉口到达车辆的运行特征及其影响因素，通过无人机采集4个位于山地城市的道路信号交叉口的高空视频图像数据，利用基于DataFromSky云平台的AI视频分析技术，获得车辆运行参数。基于车辆运行时空图，得到了交叉口直行道停止线前车辆停滞延误特征、停止线位置车头时距和车头间距统计特征，分析车头间距、停止线截面处速度及道路平均坡度之间的相关性。结果表明:不同路段同一排队位次和同一路段不同排队位次的车辆运行特征均有所不同，排队位次越靠前的车辆，停车点分布区间越集中，下坡路段整体停车位置分布范围比上坡路段大；无论是上坡、下坡，还是缓坡，排队位次越靠前的车辆停滞延误分布范围越大，而靠后的车辆停滞延误分布范围小，最大值出现在下坡路段；不同路段类型车头时距分布均集中于1.5 s，上坡路段的车头时距离散程度最大，但峰值比下坡路段和缓坡路段小；不同路段类型的车头间距分布均集中于10 m，上坡路段和下坡路段车头间距分布出现左偏现象，而缓坡路段车头间距分布更为集中；车头间距在上坡、下坡和缓坡路段均和车辆经过停止线位置处时的速度存在较强的正相关性；道路平均坡度与相邻2车车头间距存在正相关性。      

Random Response of Tractor-Semitrailer System

SUMMARY

This work describes an analytical study of the dynamic behaviour of a tractor-semitrailer vehicle. A digital computer simulation was used to describe the longitudinal, vertical, and pitching motions of the vehicle travelling over a stationary random road surface. A man-seat model was also incorporated into the simulation. Vehicle response to road irregularities has been studied by assuming two different roads for loaded and unloaded cases.

Numerical results are presented for vehicle, showing system eigenvalues, power spectral densities and root mean square values of the linear and angular accelerations and displacements. Vehicle acceleration response is compared with the ISO riding comfort standard. All results for the loaded and unloaded cases and for smooth and rough roads indicated that an uncomfortable ride would result from vehicle response.     

Comparison of driving characteristics between drivers in Korea and in the united states of America based on driver-vehicle interaction field database

Research and development involving intelligent vehicles of today is geared to safe, driver-friendly and sensitive vehicles that provide a driver with a pleasant and convenient driving environment while preventing him or her from possible risks of accident. In developing convenient and safe vehicles, research on drivers’ driving patterns, reactions and state characteristics depending on road conditions in actual field is essential in order to devise more driver-friendly intelligent vehicles. This paper describes how a driver-vehicle interaction (DVI) field database is built in order to obtain a driver’s input in normal road driving condition on highways, country roads, and city roads, and his or her state information, as well as data on the vehicle and traffic conditions. And the newly built database is compared with the RDCW FOT database established by UMTRI of the US for analysis to suggest that the driving tendencies of drivers in Korea and the road driving conditions are not the same as those in the US, reconfirming the need to establish a DVI field database, which will be used for the development of intelligent vehicles suitable for the Korean environment. The DVI data collected from actual driving in field are anticipated to be widely utilized as basic data for research on various intelligent driving safety systems, advanced driver assistance systems (ADAS) and human-vehicle interface (HVI) that are suitable for the driving environment in Korea.     

雨天高速公路纵坡对驾驶员心率及行车速度影响

为了探究降雨时高速公路纵向坡度对行车安全的影响, 以驾驶员的心率增长率(HRGR)和行车速度做为特征参数, 量化分析晴朗和降雨天气下行车速度与驾驶员心率和纵向坡度之间的关系。开展实地驾驶试验采集基础数据, 提取特征参数进行数据融合, 在控制其他因素不变的情况下, 对比晴天和雨天驾驶员HRGR和车辆行驶速度表现的异同, 并确定纵坡路段的研究特征点; 分析晴天和雨天行车速度表现与驾驶员HRGR变化规律, 建立晴天和雨天驾驶员HRGR和行车速度与道路纵向坡度之间的量化关系模型。结果表明: 道路条件相同时, 驾驶员HRGR与行车速度在晴天和雨天的变化规律是分别一致的, 但雨天驾驶员HRGR变化幅度更大, 减速次数更多; 随坡度增大(坡度区间为[1.0%, 4.0%]), 驾驶员HRGR在下坡路段满足指数增长模型, 在上坡路段满足对数增长模型; 行车速度在上坡路段是呈负指数下降趋势, 但在下坡路段, 行车速度在晴天呈指数型增长, 在雨天却呈现出二次多项式先增长再下降的变化规律。      

山区公路纵坡段驾驶人脚操纵特征及驾驶负荷

为证实山区道路纵坡参数与驾驶人生理指标之间的相关性,明晰纵坡路段参数影响驾驶负荷的内在机制,在3条山区双车道公路上开展了小客车实车驾驶试验,采集道路纵坡参数、真实驾驶习惯条件下的驾驶人心电信号、加速踏板力和制动踏板力。基于实测数据,描述制动和加速踏板力幅值的分布特性,分析坡度值对踏板力的影响;探讨加速踏板力、制动踏板力与心率增长率H之间的关联度,并建立H与踏板力之间的回归模型,最终从体力和精神负担两方面揭示了纵坡路段驾驶负荷的形成机制。研究结果表明：制动踏板力的均值和特征分位值均高于加速踏板力,对应最高使用频率的制动踏板力幅值也高于加速踏板力,即下坡路段踩踏板操作的体力负荷更大;踏板力与H正相关,其中下坡制动踏板力与H之间的相关性更强,表明下坡路段尤其是陡坡路段的踏板操作更容易导致精神负担;当踏板力超过某幅值之后,部分驾驶人的H对踏板力的增加变得敏感;对纵坡单元各被试驾驶人的H和踏板力数据取均值,发现在消除驾驶人的个体差异之后,H踏板力的相关性变得更高。     

半挂汽车列车高速公路弯道下坡路段运行安全研究（双语出版）

为提升半挂汽车列车在高速公路弯道下坡路段的运行安全，采用TruckSim仿真软件，构建了车辆模型、道路模型和驾驶人动力学仿真模型；基于蒙特卡罗可靠性分析法，分别建立了半挂汽车列车发生侧滑失效、侧翻失效、折叠失效和系统失效的功能函数，并选取设计速度80 km·h^-1的高速公路为研究路段，通过进行大量车辆动力学仿真试验，对不同圆曲线半径、纵坡坡度、路面附着系数、车速和车辆总质量对半挂汽车列车的运行安全的影响进行了数值分析。研究结果表明：半挂汽车列车发生侧滑和侧翻的概率随着圆曲线半径的增加而显著降低，在一般最小半径400 m的情况下，半挂汽车列车发生侧滑失效和侧翻失效的概率趋近于0；随着下坡坡度的增加，半挂汽车列车发生侧滑失效和侧翻失效的概率基本呈线性增长趋势；车速对于半挂汽车列车运行安全的影响尤为显著，当车速均值由60 km·h^-1增加到90 km·h^-1时，发生侧滑失效和侧翻失效的概率分别增加了634倍和336倍；车辆总质量的增加对半挂汽车列车侧翻有显著影响；在路面附着系数较低的条件下，半挂汽车列车的主要事故形态为侧滑和折叠，在路面附着系数较高的情况下，半挂汽车列车的主要事故形态为侧翻。因此，在道路设计中，应避免极限最小半径与陡坡组合，严格限速和限载可确保半挂汽车列车的运行安全性能。     

坡道行驶工况下载货汽车换挡规律的研究

通过汽车在坡道上的实车数据采集,总结出带手动变速器的载货汽车在动力性、经济性模式下,上坡、下坡及坡道起步等工况的换挡规律,为制定和优化机械式自动变速器（AMT）控制策略提供了依据。     

基于车辆稳定性的改扩建高速公路横坡方案安全性评价研究

针对改扩建高速公路单侧加宽方案老路利用时可能存在的行车稳定性问题,应用基于车辆动力学的建模仿真方法,采用联合仿真技术,在Carsim/Trucksim仿真软件中得到车辆在横坡组合路段行驶过程中车轮的垂直载荷与车辆侧向加速度;在Simulink中计算车辆的横向载荷转移率和侧向加速度;通过上述指标分析车辆横向侧翻和侧滑稳定性,判断车辆在改扩建公路横坡组合路段上的行驶稳定性;联合仿真结果表明,车辆在横向坡度为2%和1.5%、换道路长为120 m和80 m的横坡组合路段上行驶均具有良好的横向稳定性;该方法可用于其他道路和驾驶行为的车辆稳定性分析.      

IntelliWay-变耦合模块化智慧高速公路系统一体化架构及测评体系

根据当前智慧高速公路系统的发展历程,总结一些典型的车路协同系统逻辑与物理模型。在总结国内外智慧高速公路系统的整体架构之后,提出新一代智慧高速系统的总体架构-IntelliWay,包括智慧高速公路系统分层模块化架构、基于变耦合程度的智能分级和基于事件驱动的数据分发机制。同时,根据当前智慧高速公路系统的主流应用技术,总结车载高精度定位、高级驾驶辅助系统(Advanced Driver Assistance System, ADAS)与车载总线、路侧设备优化、异构网络融合、网络负载均衡、网络信息安全、多传感器融合与协同感知、以用户为中心的场景自适应信息发布、车辆群体协同自动驾驶、基于大数据与人工智能的交通态势预测、车道级主动交通管理、组件式应用服务开发等驱动智慧高速公路系统快速发展的新兴技术研究现状,然后基于以上关键技术的特点提出未来智慧高速公路系统应用的实施建议;分析广播式交通信息服务、主动交通管理、伴随式信息服务、自动驾驶专用道、车辆队列协同驾驶等智慧高速公路系统的典型应用场景,进行智慧高速系统的测评方法分析和相关案例分析。最后,系统性地分析和预测智慧高速系统存在的挑战及未来发展趋势,以...