基于多因素的公路弯道停车视距计算模型研究

为了厘清弯道路段相关线形参数对停车视距的影响,在对弯道路段车辆行驶动力学分析的基础上,建立以制动初速度、平曲线半径、弯道超高、弯道纵坡及道路附着系数为自变量的弯道路段车辆制动模型;结合驾驶人和车辆的反应时间,根据运动学原理,构建弯道路段车辆安全停车视距修正模型,通过数值分析,提出弯道路段车辆停车视距计算方法,并将弯道路段车辆停车视距计算结果与《公路路线设计规范》规定值进行对比。结果表明,随着弯道纵坡坡度、超高的增大及弯道半径的减小,停车视距逐渐增加;模型计算值普遍大于规范规定值,特别是在高车速时二者的差别较大。     

积雪冰冻地区城市快速路纵坡坡度分析研究

设计速度是满足道路建设预期的重要指标,所有设计参数都应与之相适应,以便取得均衡的设计,纵坡坡度是道路纵断面设计的关键参数之一。本文根据车辆行驶理论,结合通行的主要车型和冰雪条件下大连市城市快速路特征路况,建立车辆最大爬坡能力模型,计算不同档位条件下的小客车和大客车代表车型的最大爬坡度。这可以为类似区域市政道路纵坡设计提供一定参考依据。     

V形冲沟超高路堤稳定性三维效应研究

为分析V形冲沟特有的地形条件对超高路堤稳定性与变形的影响,运用数值计算方法,选取不同的冲沟岸坡坡度、沟底宽度、沟谷纵坡、路基边坡坡度,对V形冲沟超高路堤的安全系数及变形进行了系统分析.结果表明:相同条件下边坡的三维安全系数高于二维安全系数,且均由冲沟岸坡、冲沟宽度尺寸、沟底宽度引起,可将其称为三维效应,而沟谷纵坡坡度和路基边坡坡度引起的三维安全系数和二维安全系数的变化规律一致,不能称为三维效应;与二维柱状滑动面相比,单级边坡和多级边坡三维滑裂面的形状均为三维曲面;研究成果对于V形冲沟超高路堤稳定性的分析和设计方法的完善具有理论和工程应用价值.     

考虑附加纵坡的高等级公路纵横向组合稳定性研究

深入研究和推导了在高等级公路纵、横向组合条件下汽车不发生倾覆和滑移等行为的稳定条件,并分析了在超高渐变段行车道外缘附加纵坡对合成坡度的影响以及附加坡度取值的决定因素。在汽车纵横向组合平衡方程的基础上提出对纵坡的进一步折减以优化合成坡度的计算方法。     

超高渐变段路面径流特征研究

超高渐变段路面径流特征研究有助于从几何设计上改善路面排水。对采用线性过渡的超高渐变段,通过零纵坡轴的确定,推导路面等高线可用反比例函数xy=k表示,经Mathematica软件建模印证,路面径流曲线为等轴双曲线,具有以下特征,径流运行坡度持续变化,从高向低运动经历陡-缓-陡过程,与零坡轴相交处为最小坡度;超高渐变段路面径流必然出现折返现象,折返区域径流行程翻倍。路面径流与几何设计高度关联,路面宽度对径流折返面积的影响比纵坡、超高渐变率大。     

山区陡坡水泥混凝土路面的应力分析

根据水泥混凝土路面的受力特点,运用三维有限元方法,分析在标准荷载作用下,不同道路纵坡面层层底最大拉应力、层底最大剪应力的变化规律,以及不同超载率对不同坡度下面层力学指标的影响。分析结果表明,拉应力和剪应力都随道路纵坡的增大而增加。其中,剪应力影响幅度较大,更易使面层开裂;超载情况下,应力指标均显著上升。因此,应尽量提高水泥混凝土面层的抗拉强度和抗剪强度,并严格限制陡坡路段车辆超载。     

长大纵坡路段轮胎接地压力分布的研究

轮胎形式与长大纵坡对于沥青路面的影响难以通过目前的均布荷载的分析得出,从而会低估荷载对路面造成的损伤.为此,利用有限元软件建立载重子午线轮胎与纵坡路段路面结构耦合的有限元模型,分析不同坡度条件下的轮胎接地压力分布,并模拟车辆爬坡过程,分析一定坡度条件下车辆受不同牵引力作用的轮胎接地压力分布.结果表明,通过建立轮胎-路面耦合的有限元模型,在路面模型建立过程中通过设置纵坡进行长大纵坡段轮胎接地压力分布的研究,在长大纵坡条件下的行车荷载对于路面的作用力在切向以及法向上都呈现出非均布特征,数值也都大大高于标准胎压.在坡度为6％,考虑牵引力系数为0.5时,坡面切向接地压力最大值达到法向接地压力最大值的95％,即达到1.23 MPa.     

公路工程设计准则若干问题解说(五)

1、为什么要折减纵坡(1213)? 当小半径的平曲线位于大的纵坡上时,对行车条件来说是不利的。因为在这种情况下,路线纵坡与超高横坡度的综合坡度(在对角线方向上)将大于路线纵坡,如果纵坡为该级路的最大纵坡,那么纵合坡度将大于该级路的最大纵坡。从下表所列数值可以看出由于横坡度的影响而综合坡度超过各级路最大纵坡的数值:     

多轴车辆操纵稳定性研究

采用基于综合曲率误差的预瞄PID驾驶员模型对HTF6轴车辆的稳态回转、车道变换和转弯制动3种典型操纵稳定性试验工况进行了仿真分析,对多轴车辆不同设计参数对整车操纵稳定性的影响进行了对比分析.结果表明,标准配置的1500×600轮胎可以综合平衡整车操纵稳定性;采用根据车速控制后桥转向模式的电控转向系统可同时满足多轴车辆几何通过性和高速侧倾稳定性的要求;车辆质心高度增加100 min对仿真计算结果无明显影响.     

公路纵坡坡度和坡长限制指标的确定

针对我国的主流货运车型与载重吨位,根据实车装载上坡试验,研究车辆在上坡行驶时,纵坡坡度与车辆行驶速度以及速度随坡长的变化规律,确定典型货车在不同坡度下的上坡性能曲线;通过速度折减量与坡长之间的关系曲线,提出基于运行速度差和满足公路服务水平要求的各级公路最大纵坡坡度与坡长限制值。     

A combined use of phase plane and handling diagram method to study the influence of tyre and vehicle characteristics on stability

This paper deals with in-curve vehicle lateral behaviour and is aimed to find out which vehicle physical characteristics affect significantly its stability. Two different analytical methods, one numerical (phase plane) and the other graphical (handling diagram) are discussed. The numerical model refers to the complete quadricycle, while the graphical one refers to a bicycle model. Both models take into account lateral load transfers and nonlinear Pacejka tyre–road interactions. The influence of centre of mass longitudinal position, tyre cornering stiffness and front/rear roll stiffness ratio on vehicle stability are analysed. The presented results are in good agreement with theoretical expectations about the above parameters influence, and show how some physical characteristics behave as saddle-node bifurcation parameters.     

Roll and pitch independently tuned interconnected suspension: modelling and dynamic analysis

In this paper, a roll and pitch independently tuned hydraulically interconnected passive suspension is presented. Due to decoupling of vibration modes and the improved lateral and longitudinal stability, the stiffness of individual suspension spring can be reduced for improving ride comfort and road grip. A generalised 14 degree-of-freedom nonlinear vehicle model with anti-roll bars is established to investigate the vehicle ride and handling dynamic responses. The nonlinear fluidic model of the hydraulically interconnected suspension is developed and integrated with the full vehicle model to investigate the anti-roll and anti-pitch characteristics. Time domain analysis of the vehicle model with the proposed suspension is conducted under different road excitations and steering/braking manoeuvres. The dynamic responses are compared with conventional suspensions to demonstrate the potential of enhanced ride and handling performance. The results illustrate the model-decoupling property of the hydraulically interconnected system. The anti-roll and anti-pitch performance could be tuned independently by the interconnected systems. With the improved anti-roll and anti-pitch characteristics, the bounce stiffness and ride damping can be optimised for better ride comfort and tyre grip.     

State observer-based sliding mode control for semi-active hydro-pneumatic suspension

This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high-speed condition. Suspension state observer based on unscented Kalman filter is designed. A sliding mode controller (SMC) is developed to track the states of the reference model. The stability of the SMC strategy is proven by means of Lyapunov function taking into account the nonlinear damper characteristics and sprung mass variation of the vehicle. Finally, the performance of the controller is demonstrated under three typical working conditions: the random road excitation, speed bump road and sharp acceleration and braking. The simulation results indicated that, compared with the traditional passive suspension, the proposed control algorithm can offer a better coordination between vehicle ride comfort and handling stability. This approach provides a viable alternative to costlier active suspension control systems for commercial vehicles.     

An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

In this paper, an optimal torque distribution approach is proposed for electric vehicle equipped with four independent wheel motors to improve vehicle handling and stability performance. A novel objective function is formulated which works in a multifunctional way by considering the interference among different performance indices: forces and moment errors at the centre of gravity of the vehicle, actuator control efforts and tyre workload usage. To adapt different driving conditions, a weighting factors tuning scheme is designed to adjust the relative weight of each performance in the objective function. The effectiveness of the proposed optimal torque distribution is evaluated by simulations with CarSim and Matlab/Simulink. The simulation results under different driving scenarios indicate that the proposed control strategy can effectively improve the vehicle handling and stability even in slippery road conditions.     

智能汽车路径跟踪精度及操纵稳定性耦合机理分析

针对现有智能汽车路径跟踪算法研究中存在的智能汽车路径跟踪精度与操纵稳定性相互耦合和相互制约问题,在车辆二自由度模型基础上,设计了基于传统预瞄误差模型的PID控制方法,研究了智能汽车在蛇形道路工况、定曲率变车速工况和定车速变曲率工况下,车速及道路曲率对智能汽车路径跟踪精度和操纵稳定性的影响。仿真结果表明,随着车速和道路曲率的增加,智能汽车路径跟踪精度以及操纵稳定性降低;智能汽车的路径跟踪精度提高,操纵稳定性变差。     

Total dynamic response of a PSS vehicle negotiating asymmetric road excitations

A planar suspension system (PSS) is a novel automobile suspension system in which an individual spring–damper strut is implemented in both the vertical and longitudinal directions, respectively. The wheels in a vehicle with such a suspension system can move back and forth relative to the chassis. When a PSS vehicle experiences asymmetric road excitations, the relative longitudinal motion of wheels with respect to the chassis in two sides of the same axle are not identical, and thus the two wheels at one axle will not be aligned in the same axis. The total dynamic responses, including those of the bounce, pitch and the roll of the PSS vehicle, to the asymmetric road excitation may exhibit different characteristics from those of a conventional vehicle. This paper presents an investigation into the comprehensive dynamic behaviour of a vehicle with the PSS, in such a road condition, on both the straight and curved roads. The study was carried out using an 18 DOF full-car model incorporating a radial-spring tyre–ground contact model and a 2D tyre–ground dynamic friction model. Results demonstrate that the total dynamic behaviour of a PSS vehicle is generally comparable with that of the conventional vehicle, while PSS exhibits significant improvement in absorbing the impact forces along the longitudinal direction when compared to the conventional suspension system. The PSS vehicle is found to be more stable than the conventional vehicle in terms of the directional performance against the disturbance of the road potholes on a straight line manoeuvre, while exhibiting a very similar handling performance on a curved line.     

考虑路面不平度的汽车稳定性控制的研究

考虑路面不平度对汽车稳定性的影响，建立了一个含路面不平度激励的14自由度的汽车动力学模型。在主动悬架技术的基础上，运用直接的反馈控制制定了提高汽车操纵稳定性的控制策略。利用该模型进行了汽车稳定性的仿真研究。与没有稳定性控制系统的仿真结果相比，该控制器的应用能够较好地改善汽车的稳定性。     

Modelling of Driver/Vehicle Directional Control System

Different driver models and driver/vehicle/road closed-loop directional control systems are reviewed and compared. Evaluation methods of vehicle handling quality based on closed-loop system dynamics, stability of the closed-loop system, and optimization of vehicle design are discussed.     

Effective assessment of tyre–road friction coefficient using a hybrid estimator

Vehicle stability and active safety control depend heavily on tyre forces available on each wheel of a vehicle. Since tyre forces are strongly affected by the tyre–road friction coefficient, it is crucial to optimise the use of the adhesion limits of the tyres. This study presents a hybrid method to identify the road friction limitation; it contributes significantly to active vehicle safety. A hybrid estimator is developed based on the three degrees-of-freedom vehicle model, which considers longitudinal, lateral and yaw motions. The proposed hybrid estimator includes two sub-estimators: one is the vehicle state information estimator using the unscented Kalman filter and another is the integrated road friction estimator. By connecting two sub-estimators simultaneously, the proposed algorithm can effectively estimate the road friction coefficient. The performance of the proposed estimation algorithm is validated in CarSim/Matlab co-simulation environment under three different road conditions (high-μ, low-μ and mixed-μ). Simulation results show that the proposed estimator can assess vehicle states and road friction coefficient with good accuracy.     

Vehicle Motion Analysis in Relation to Vehicle Safety

The influence of vehicle handling on the possible avoidance of accident situations is discussed. lit is shown that accident reconstruction at present does not provide the necessary information to relate the cause of accidents to the lack of road worthiness of vehicles. It follows that the vehicle behavior in proximity of its performance limit must be determined in order to infer its accident avoidance potential.

The paper presents a review of the state-of-the-art of vehicle modeling, simulation of vehicle maneuvers and full scale testing. The application of the direct method of the stability theory is suggested as a possible means of obtaining performance limit envelopes which are necessary for establishing standards of the performance of vehicles.