前轮转角和车轮制动状态对汽车轨迹模拟的影响

对于碰撞后失去动力的汽车，建立其运动轨迹的计算机模型需要碰撞后汽车的初始速度和前轮转角，制动情况等初始值作为轨迹模型的输入参数，以便观察碰撞发生后的汽车运动情况。分析了碰撞后汽车车轮的受力情况，给出不同初始值情况下的轨迹模拟模型。分析结果得出，车轮在自由状态下，前轮的转角对汽车的运动距离有较大影响；当前轮转角为零时，汽车的质心运动几乎为一条直线；当车轮未完全抱死且前轮转角不为零时，汽车的质心运动为一条曲线。     

汽车行驶轨迹测试方法综述

针对汽车运动性能的道路试验，对汽车运动轨迹的测试方法进行了综述。将轨迹测试方法分为地上测试、地上—车上测试、车上测试、遥测等4种类型并分别作了介绍。着重对车上测试法中近期发展迅速的GPS测试法、捷联惯导测试法等新型测试方法分别作了论述。     

基于载波相位RTK的汽车运动性能试验第五轮仪研制

利用GPS载波相位RTK技术研制成功了汽车运动性能试验RTK第五轮仪。RTK五轮仪特别具有汽车曲线运动参数，如轨迹、速度等测量功能。应用该五轮仪进行了汽车的直线和曲线运动性能测试，结果表明可以更精确测取汽车运动性能参数，实现基于动态轨迹测量的汽车运动性能试验评价。RTK第五轮仪的研制为车辆运动性能试验研究提供了新的手段。     

平板式检测系统在汽车性能测试研究中的应用

介绍了平板式车辆检测系统的基本结构和功能，以典型的VAMAG系统为例，对平板式车辆检测系统在汽车制动性能、悬架减振性能和整车质心高度及簧上质量纵向转动惯量等性能指标测试中的作用作了分析说明，并给出了实车试验结果，研究表明，平板式车辆检测系统可为汽车综合性能测试研究提供新的方法。     

汽车质心位置测试方法的研究

在分析国内外汽车质心位置测试方法的基础上，介绍了采用质量反应法测定汽车质心位置的试验方法，并测试中的主要影响进行了理论分析和试验研究。结果表明，采用质量反应法测定汽车质心位置是完全可行的。     

汽车稳态回转性能仿真与正交试验研究

以某汽车稳态回转试验为例,采用多体动力学仿真软件ADAMS建立了虚拟样机模型.利用正交试验设计方法设计试验方案并进行了仿真试验.通过对试验数据的处理与分析.得出了最优试验方案和各试验因素的影响程度,即对汽车稳态回转性能影响较大的因素依次为质心前后位置、轮胎的侧偏刚度、质心高度和前螺旋弹簧刚度.     

基于频域积分的汽车动力总成运动姿态监测方法研究

动力总成的运动姿态直接影响着汽车振动性能和舒适性能,而常规的加速度信号特征往往无法有效表征出动总的低频运动特征。文章基于频域二次积分原理和多点运动合成方法,提出了一种汽车动力总成质心运动姿态监测算法。对加速度信号进行频域二次积分,同时对超低频成分置零处理,从而较好地消除传感器零漂和温漂的误差,提高了位移信号的获取精度;对多测点信号进行运动合成,获取了动总刚体六自由度运动特征信息。汽车加速窜动工况和静态点熄火工况的工程应用表明:所提算法能够有效并直观地合成出动力总成质心刚体的运动特征信息。     

基于Carsim的车辆运动轨迹跟踪算法

车辆质心运动轨迹作为车辆最为直观的运动结果,对车辆行驶安全性和操纵稳定性的研究十分重要,且准确计算车辆的行驶轨迹对驾驶员准确操控车辆很有帮助。但是由于技术水平的制约,当前车载定位系统的精度和稳定性较差,且价格昂贵。文中以二自由度车辆模型为基础,通过坐标系变换,建立质心坐标的微分方程,运用Kalman滤波技术对输入变量进行滤波,通过MATLAB/SIMULINK和Carsim进行联合仿真,试验结果与真实车辆行驶轨迹相吻合。     

考虑侧倾影响的汽车横摆角速度与质心侧偏角滤波估计

为准确识别汽车前方弯道路段曲率信息,考虑侧倾运动的实际影响,建立了汽车质心运动、横摆运动及侧倾运动具有非线性特征的3自由度车辆操纵稳定性模型,设计了汽车质心侧偏角与横摆角速度扩展卡尔曼滤波估计器,实现了巡航车辆运动特征的在线实时估计。采用双移线输入,通过Car Sim与Matlab/Simulink的联合仿真进行验证,结果表明,即使在大噪声条件下,所设计的扩展卡尔曼滤波估计器也能较好地实现车辆横摆角速度与质心侧偏角的准确估计。     

试验平台测量汽车质心高度的误差分析

汽车质心高度是影响汽车纵向稳定性，横向稳定性及轴荷转移的重要参数。如何准确地测定汽车质心高度对汽车设计有定型试验都很重要国内已制定了一系列的汽车质心测定方法，包括摇摆法和重量反应法，但是都比较落后，本文提及的试验平台采用日本规定的作倾斜试验台测质心高度的标准ＴＲＩＡＳ２－１９７１。     

Improvement of Vehicle Maneuverability by Direct Yaw Moment Control

This paper deals with a study to theoretically formulate an effective method of improving vehicle performance, particularly, its characteristics in the nonlinear region, and to verify the feasibility of the proposed method by calculations and examinations. In order to analyze vehicle characteristics in the nonlinear region, a new method of analysis was developed for determining yaw moment and side force of the vehicle with a parameter of the side slip angle at the center of gravity when its center of gravity point was fixed. The study with this new method found that direct yaw moment control by proper distribution of traction and braking forces on the right and left tires could provide a very effective means of stabilizing vehicle characteristics, specifically for acceleration and deceleration, and enlarging the limit of vehicle maneuverability.     

波形梁护栏加高改造方案研究

针对公路罩面导致的路侧波形梁护栏防护高度不足,研究并提出了基于内套管节点加高法的波形梁护栏加高改造方案,该方案可实现护栏随路面升高调节高度。采取HyperMesh和LS-DYNA联合仿真的方式开展了皮卡车、货车的有限元仿真试验对该种加高方案的可行性进行验证。通过对车辆重心加速度、车辆重心速度、车辆驶出角度、护栏最大动态变形量4个指标对护栏的防撞性能进行评价。通过各指标的分析结果以及对加高方案的阻挡功能、缓冲功能、导向功能、吸能作用的综合评价,证明了经过内套管节点加高法改造后的护栏满足B级波形梁护栏标准,适用于我国现行公路旧有波形梁护栏改造。     

Improvement of Vehicle Maneuverability by Direct Yaw Moment Control

SUMMARY

This paper deals with a study to theoretically formulate an effective method of improving vehicle performance, particularly, its characteristics in the nonlinear region, and to verify the feasibility of the proposed method by calculations and examinations. In order to analyze vehicle characteristics in the nonlinear region, a new method of analysis was developed for determining yaw moment and side force of the vehicle with a parameter of the side slip angle at the center of gravity when its center of gravity point was fixed. The study with this new method found that direct yaw moment control by proper distribution of traction and braking forces on the right and left tires could provide a very effective means of stabilizing vehicle characteristics, specifically for acceleration and deceleration, and enlarging the limit of vehicle maneuverability.     

基于复式伸缩窗的车辆排队与消散快速检测算法

基于视频图像处理方法,提出了一种复式伸缩窗来实时跟踪交叉口排队车辆队尾和队头的位置变化,从而准确描述交叉口车辆排队形成和消散过程。通过检测指定区域内车辆是否存在和是否运动,分别构建跟踪排队队尾和队头的队尾伸缩窗和队头伸缩窗。描述排队首尾伸缩变化的复式伸缩窗则由这两个伸缩窗相互协作所构成。根据跟踪队尾和队头的结果,车辆排队长度和停车延迟时间等重要参数就可以轻易得到。试验结果表明本文算法能实时准确地跟踪队尾和队头的位置,能适应不同天气环境和光照变化,其准确率达到92%以上,较好地满足车辆堵塞监控和交通信号灯控制的需要。     

质量反应法在汽车质心高度测试中的应用

在汽车的设计计算和定型试验中，汽车的质心高度是一个重要的参数。本文介绍了质量反应法对汽车质心高度测试的应用情况，从测试的技术准备，测试方法，数据处理，计算举例等方面，论述了汽车质心高度的测试与应用。     

车辆移动监控系统并发调度机制的研究

在车辆移动监控系统运行过程中,监控中心将同时接收到从不同车载终端发送过来的大量信息,这些信息分别对应着不同的事件。监控中心如何针对这些事件,及时做出不同的响应和处理是极为重要的。在对监控中心并发处理的性能要求进行分析的基础上,提出了优先数事件队列算法来实现车辆监控中心的并发调度机制,并给出了算法实现。     

Probabilistic assessment of railway vehicle-curved track systems considering track random irregularities

The randomness of track irregularities directly leads to the random vibration of the vehicle–track systems. To assess the dynamic performance of a railway system in more comprehensive and practical ways, a framework for probabilistic assessment of vehicle-curved track systems is developed by effectively integrating a vehicle–track coupled model (VTCM), a track irregularity probabilistic model (TIPM) with a probability density evolution method (PDEM). In VTCM, the railway vehicle and the curved track are coupled by the nonlinear wheel–rail interaction forces, and through TIPM, the ergodic properties of random track irregularities on amplitudes, wavelengths and probabilities can be properly considered in the dynamic calculations. Lastly, PDEM, a newly developed method for solving probabilistic transmissions between stochastic excitations and deterministic dynamic responses, is introduced to this probabilistic assessment model. Numerical examples validate the correctness and practicability of the proposed models. In this paper, the results of probabilistic assessment are presented to illustrate the dynamic behaviours of a high-speed railway vehicle subject to curved tracks with various radii, and to demonstrate the importance of considering the actual status of wheel–rail contacts and curve negotiation effects in vehicle-curved track interactions.     

Study of the post-derailment safety measures on low-speed derailment tests

Prevention of train from derailment is the most important issue for the railway system. Keeping derailed vehicle close to the track centreline is beneficial to minimise the severe consequences associated with derailments. In this paper, the post-derailment safety measures are studied based on low-speed derailment tests. Post-derailment devices can prevent deviation of the train from the rail by catching the rail, and they are mounted under the axle box. Considering the different structures of vehicles, both trailer and motor vehicles are equipped with the safety device and then separately used in low-speed derailment tests. In derailment tests, two kinds of track, namely the CRTS-I slab ballastless track and the CRTS-II bi-block sleeper ballastless track, are adopted to investigate the effect of the track types on the derailment. In addition, the derailment speed and the weight of the derailed vehicle are also taken into account in derailment tests. The test results indicate that the post-derailment movement of the vehicle includes running and bounce. Reducing the derailment speed and increasing the weight of the head of the train are helpful to reduce the possibility for derailments. For the CRTS-I slab ballastless track, the safety device can prevent trailer vehicles from deviating from the track centreline. The gearbox plays an important role in controlling the lateral displacement of motor vehicle after a derailment while the safety device contributes less to keep derailed motor vehicles on the track centreline. The lateral distance between the safety device and rails should be larger than 181.5?mm for protecting the fasteners system. And for the CRTS-II bi-block sleeper ballastless track, it helps to decrease the post-derailment distance due to the longitudinal impacts with sleepers. It can also restrict the lateral movement of derailed vehicle due to the high shoulders. The results suggest that, CRTS-II bi-block sleeper ballastless track should be widely used in derailment prone areas.