双车道公路弯坡组合路段行车轨迹特性研究

为研究双车道公路弯坡组合路段行车轨迹特性,以大型车和小型车作为研究对象,选取某山区公路的基本型曲线和S型曲线路段进行了现场试验。采用特征断面法及摄像法,获取了1 700组"前轮-后轮"数据,以轨迹交叉面积和轨迹横向偏移量表征行车轨迹特性,并运用刚体运动理论和博弈论对数据进行分析。分析结果表明:行车轨迹在基本型曲线的ZH~HY断面、HZ断面及S型曲线的HZ_1/ZH_2断面、HZ_2断面高频相交;当曲线半径大于临界值时,基本型曲线和S型曲线在QZ断面弯道外侧的轨迹偏移量最大,内侧的轨迹横向偏移量最小;S型曲线中第二曲线的轨迹偏移量受前后曲线半径组合影响较大,在设计时应尽量使两个方向有一致的行驶轨迹。     

基于实车数据的高速公路行驶轨迹偏移和车道侧向余宽

为明确高速公路行驶环境下车辆在车道保持阶段的行驶轨迹特征，给车道宽度值确定提供参考，在重庆市主城区2段高速公路上开展了38名驾驶人的实车驾驶试验。使用车载设备采集自然驾驶状态下的车辆行驶速度、行驶轨迹和“车辆中心点-车道线”横向距离。基于以上数据，计算轨迹横向偏移值和“车身轮廓-车道线”侧向余宽等参数，分析高速公路直线/曲线路段的车辆轨迹横向偏移和侧向余宽变化特征及其影响因素。结果表明：曲线路段和直线路段的期望轨迹横向偏移存在差异，曲线路段行驶轨迹的本质特征是轨迹往曲线内侧偏移，而直线路段的车辆轨迹是倾向于往车道左侧偏移，但曲线路段紧贴车道线行驶的车辆占比要低于直线路段。直线路段车道左侧余宽最小值、期望值分别集中于[0.2 m, 0.6 m]和[0.3 m, 0.9 m],曲线路段车道左侧余宽的最小值和期望值主要分布在[0.2 m, 0.7 m]和[0.5 m, 0.9 m]范围内；车道位置对期望轨迹横向偏移和车道侧向余宽均有影响，左转弯路段的左侧余宽要低于直线路段和右转弯路段；在左转弯路段内侧车道行驶时车辆与中分带的距离更近，因此左转弯的事故风险更高；行驶速度增加时，内侧车道的车辆有...     

双车道二级公路小半径曲线段"运行速度一半径"模型研究

通过选取双车道二级公路典型路段,采用路段实测法,收集小半径曲线段的线形资料及速度数据.分析了小客车和中型货车在半径R为200 m、250 m、300 m、400 m、500 m、600 m、650 m的平曲线上的速度数据,得到相应的运行速度V85.分别对运行速度利用SPSS软件进行分析,建立双车道二级公路小半径曲线段小型车辆运行速度模型.统计分析表明,R与V85显著相关,显著性概率为0,统计显著性强,模型精度高.同时分析了汽车行驶特性,结合实地调查数据情况,确定二级公路小半径曲线临界半径R0=610 m.     

动态停车视距模型研究及应用

针对我国公路安全评价中停车视距检验只考虑路侧道路建筑设施或者跨线构造物等静态设施的现状,研究在公路弯道行车过程中由于道路平曲线曲率的存在而导致的相邻或者对向车道车辆遮挡驾驶员视线的情况,提出动态停车视距的概念。通过分析车辆实际行驶过程中的车辆位置、驾驶员视点位置、车身宽度、道路横断面宽度、圆曲线半径等因素,建立动态停车视距计算模型。并基于上述因素确定最不利和正常的驾驶情形,对双向四车道和双车道公路进行分类研究。根据《公路路线设计规范》(JTG D20-2006)中最小圆曲线半径的规定对各设计速度的公路动态停车视距进行安全评价,结果发现很多情况下不能满足安全行车的要求。最终,针对不同设计速度的公路提出最小圆曲线半径的建议值,并对不良路段提出安全改善措施。     

双车道公路小半径曲线段行车速度与行车轨迹关系研究

为研究双车道公路小半径曲线段中行车速度变化趋势及车速对行车轨迹的影响,建立了某村镇路段双车道公路3处曲线段的三维仿真场景,针对双车道公路运行车速离差大的特点,以小客车不同行车速度进行了驾驶模拟实验.为了保证数据精度,每段曲线提取31个断面.实验表明:车辆在车速较低时能以"减速—稳定—加速"的状态行驶,在车速较高时难以保持此状态;因驾驶员个体差异,曲线段行车轨迹主要分为"漂移"和"校正"两类;行车轨迹向弯道外侧最大偏移位于圆缓点处,向弯道内侧最大偏移位于曲中点处.同时行车轨迹侧向偏移量与行车速度呈正相关关系.     

双车道公路平曲线段行车轨迹偏移实验研究

双车道公路弯道处行车轨迹是车辆自由行驶时的重要特征,通过对行车轨迹及运行速度综合效应的分析,得出双车道公路自由行驶的车辆在弯道上行驶时行车轨迹偏移规律,并建立了自由行驶状态下道路线形与行车轨迹和速度之间的相关模型.据此可对弯道处行驶时的驾驶行为及行车安全进行分析,并对道路弯道处线形和断面进行改善.     

基于车轴图谱的城市道路汽车运行轨迹特性分析

为探究城市道路行车轨迹与路侧之间的横向距离对车辆运行的影响,提高驾驶员行车安全,在某市滨海路进行汽车运行轨迹样本采集试验,使用AxleLight RLU11系列路侧交通数据采集系统分车道采集试验路段汽车运行轨迹样本,利用SPSS Statistics对试验路段不同车道车辆运行轨迹样本进行数据处理,绘制不同行车道运行车辆横向距离的累积频率曲线,计算得到汽车运行轨迹与路侧的横向距离D85,通过绘制行驶车辆距路侧的横向距离直方图,得到不同车道的车辆分布规律。结果显示,驾驶员大多数偏向选择在内侧车道运行。根据试验路段内外2条车道车辆横向距离和运行轨迹特性,可为城市道路交通安全设施的设置提供理论依据,以期提高城市道路交通运行安全。     

多车道高速公路不同车道驾驶人视点位置研究

受路侧环境与障碍物的影响,在不同车道上的行车位置分布差异会导致驾驶人视点位置不同。驾驶人视点位置与平曲线横净距密切相关,平曲线横净距是停车视距的重要参数,其大小直接影响平曲线路段圆曲线半径的设置和交通安全措施的选择。在分析多车道高速公路管理方式因素对驾驶人视点横向位置影响和国内外驾驶人视点位置相关研究的基础上,采用无人机调查多车道高速公路不同车道、不同车型的车辆横向位置分布数据,通过数据采集处理和数据检验,得出了相应结论。结果表明:多车道高速公路不同车道、不同车型的车身横向位置为正态分布;现有视点位置统一取1.2 m或1.5 m或行车道中心线存在不合理之处,应分车型、分车道考虑;第1车道小客车驾驶人视点位置为1.2 m,第4车道大型车驾驶人的视点位置取1.5 m,中间车道驾驶人的视点位置宜取1.2 m。     

基于运行速度的双车道公路平面线形安全评价

为解决目前双车道公路安全平面线形安全设计与评价缺乏科学可靠的方法问题,从几何设计标准以及双车道公路平面线形指标与交通安全的关系出发,提出以平曲线半径和曲率变化率作为平面线形安全评价的几何指标,通过运行速度反映几何指标与事故关系。基于双车道公路不同平曲线半径下大量运行速度实测数据,利用统计分析的方法,得到了运行速度分布规律,建立了双车道公路运行车速预测模型。基于运行速度一致性评价标准和跟驰理论,将曲线间直线长度区分为独立直线和非独立直线,对于非独立直线,曲线与曲线的关系是安全评价的控制因素;对于独立直线,直线与曲线的关系是安全评价的控制因素。提出了基于运行速度和直线独立性分析的平面线形安全性评价程序,可用于指导双车道公路安全设计与评价。     

城市干路交叉口右转车辆轨迹流线与曲率特性分析

为明确城市干路交叉口汽车右转的轨迹特性和轨迹曲率模式,使用无人机在重庆市4个城市道路交叉口上方进行高空拍摄。利用图像分析方法采集了右转车辆的轨迹数据,包括时间、行驶速度和轨迹坐标等,通过对相邻轨迹点外接圆半径的计算得到轨迹曲率。运用轨迹线-车道边缘线的间距值分析了右转车辆轨迹通过位置分布与交叉口几何布局之间的关系,明确了交叉口右转车辆轨迹的曲率特性。运用聚类方法识别了右转车辆的6种轨迹曲率形态,确定了不同轨迹曲率形态下的常见驾驶行为,并研究了车辆行驶速度与轨迹曲率的相关关系。研究结果表明：①交叉口几何布局（包括路缘半径、车道宽度和出口车道数）对右转轨迹通过位置分布存在影响;②带渠化设计的右转专用道可以限制轨迹分布范围,减少右转交通的冲突和延误;③在右转过程中公交车辆较小型汽车所需侧向空间更大,轨迹分布的离散程度更低;④轨迹曲率的关键点与圆曲线设计中的主要点变化趋势不一致;⑤车辆加速度与轨迹曲率变化率呈负相关关系,相关系数为-0.843 5;⑥行驶速度与等效半径存在正相关关系,车辆行驶速度越快,圆曲线内轨迹的等效半径越大。     

基于非参数假设检验的高速公路车辆分类研究

为获得高速公路车辆分类的量化方法,根据典型测点的各车型轴载谱数据,归纳了高速公路的主要车型,并研究了高速公路车辆分类方法。采用2个独立样本的非参数假设检验,研究了客车与各型货车前轴及单后轴的称重数据是否来自同一总体,在此基础上,采用多个独立样本的非参数假设检验方法研究了各型货车间相同轴型的称重数据是否来自同一总体。研究表明,各型货车力学特性接近,属于同一大类型;而客车与货车的力学特性差异明显,因此可将客车与货车划分为两大类型。非参数假设检验方法为高速公路车辆划分提供了量化的依据。     

基于车流结构的计重收费可变附加值模型研究

计重收费是一种最主要的货车收费形式。为了分析货车流对公路交通的影响,均衡货车交通量的时空分布,需对传统计重收费方式进行优化。分析车流结构对公路使用寿命、通行能力、交通安全的影响,建立可变附加值模型,并分别对按车型收费、轮轴收费、计重收费、可变附加值计重收费4种方式在不同车流结构或货车总质量下的100km收费额度进行对比分析。分析表明,若按车型收费,在货车总质量和流量较小的情况下适用性较好;而按可变附加值计重收费则可更加合理地反映货车对道路及交通流的影响。     

Wear/comfort Pareto optimisation of bogie suspension

Pareto optimisation of bogie suspension components is considered for a 50 degrees of freedom railway vehicle model to reduce wheel/rail contact wear and improve passenger ride comfort. Several operational scenarios including tracks with different curve radii ranging from very small radii up to straight tracks are considered for the analysis. In each case, the maximum admissible speed is applied to the vehicle. Design parameters are categorised into two levels and the wear/comfort Pareto optimisation is accordingly accomplished in a multistep manner to improve the computational efficiency. The genetic algorithm (GA) is employed to perform the multi-objective optimisation. Two suspension system configurations are considered, a symmetric and an asymmetric in which the primary or secondary suspension elements on the right- and left-hand sides of the vehicle are not the same. It is shown that the vehicle performance on curves can be significantly improved using the asymmetric suspension configuration. The Pareto-optimised values of the design parameters achieved here guarantee wear reduction and comfort improvement for railway vehicles and can also be utilised in developing the reference vehicle models for design of bogie active suspension systems.     

A Qualitative Analysis of the Dynamics of Self-Steering Locomotive Trucks

The primary purpose of this study is to provide a qualitative analysis of the dynamics of the self-steering trucks that are commonly used for freight locomotives – namely, EMD's Radial Truck and GE's Steerable Truck – on improving curving performance and increasing adhesion in curves. Although there exists a number of anecdotal statements on the ability of steerable trucks to reduce curving forces and increase adhesion in curves, to the best of our knowledge, there exists no study that provides a qualitative or quantitative analysis of these features of steerable trucks. Two aspects of locomotive trucks are essential for their ability to deliver small curving forces and high adhesion in curves. First, the ability to allow the axles to yaw sufficiently relative to the truck frames, such that they can hold a small angle of attack with the rail. Second, providing sufficiently large longitudinal stiffness between the end axles and the axles and truck frame, to accommodate high adhesions. An equivalent stiffness analysis is used to show that the two steerable trucks that are considered for this study are far superior to conventional, three-axle, straight trucks in providing both a smaller angle of attack and a higher longitudinal stiffness for better curving and adhesion characteristics. The qualitative analysis of this study agrees with the experience the railroads have had with their self-steering trucks. The findings of this study indicate that self-steering trucks can result in lower lateral forces, accommodate tighter curves, and deliver higher adhesion in curves; without lowering the critical hunting speed of the locomotive. The results further show that the steering mechanism stiffness can have a large effect on the lateral, longitudinal, and yaw stiffness between the end axles; therefore, significantly lowering curving forces, and increasing adhesion and critical hunting speed of the truck.     

A Qualitative Analysis of the Dynamics of Self-Steering Locomotive Trucks

The primary purpose of this study is to provide a qualitative analysis of the dynamics of the self-steering trucks that are commonly used for freight locomotives - namely, EMD's Radial Truck and GE's Steerable Truck - on improving curving performance and increasing adhesion in curves. Although there exists a number of anecdotal statements on the ability of steerable trucks to reduce curving forces and increase adhesion in curves, to the best of our knowledge, there exists no study that provides a qualitative or quantitative analysis of these features of steerable trucks. Two aspects of locomotive trucks are essential for their ability to deliver small curving forces and high adhesion in curves. First, the ability to allow the axles to yaw sufficiently relative to the truck frames, such that they can hold a small angle of attack with the rail. Second, providing sufficiently large longitudinal stiffness between the end axles and the axles and truck frame, to accommodate high adhesions. An equivalent stiffness analysis is used to show that the two steerable trucks that are considered for this study are far superior to conventional, three-axle, straight trucks in providing both a smaller angle of attack and a higher longitudinal stiffness for better curving and adhesion characteristics. The qualitative analysis of this study agrees with the experience the railroads have had with their self-steering trucks. The findings of this study indicate that self-steering trucks can result in lower lateral forces, accommodate tighter curves, and deliver higher adhesion in curves; without lowering the critical hunting speed of the locomotive. The results further show that the steering mechanism stiffness can have a large effect on the lateral, longitudinal, and yaw stiffness between the end axles; therefore, significantly lowering curving forces, and increasing adhesion and critical hunting speed of the truck.     

Advanced vehicle dynamics of heavy trucks with the perspective of road safety

ABSTRACT

This paper presents state-of-the art within advanced vehicle dynamics of heavy trucks with the perspective of road safety. The most common accidents with heavy trucks involved are truck against passenger cars. Safety critical situations are for example loss of control (such as rollover and lateral stability) and a majority of these occur during speed when cornering. Other critical situations are avoidance manoeuvre and road edge recovery. The dynamic behaviour of heavy trucks have significant differences compared to passenger cars and as a consequence, successful application of vehicle dynamic functions for enhanced safety of trucks might differ from the functions in passenger cars. Here, the differences between vehicle dynamics of heavy trucks and passenger cars are clarified. Advanced vehicle dynamics solutions with the perspective of road safety of trucks are presented, beginning with the topic vehicle stability, followed by the steering system, the braking system and driver assistance systems that differ in some way from that of passenger cars as well.     

Forced Steering of Rail Vehicles: Stability and Curving Mechanics

A forced steering rail vehicle employs linkages between.the carbody and wheelsets to force a more radial wheelset alignment. It is shown that the curve negotiation capability of forced steering trucks is significantly improved over conventional and self steering radial trucks. Parametric curves are presented showing angle-of-attack and lateral flange force as a function of steering gain parameters and truck bending stiffness. It is also shown that the forced steering concept can produce kinematic instability and severely reduced critical speeds for low conicities and creep coefficients. Analytic expressions are derived that illustrate how these kinematic instabilities can be avoided.     

High fidelity quasi steady-state aerodynamic model effects on race vehicle performance predictions using multi-body simulation

We described in this paper the development of a high fidelity vehicle aerodynamic model to fit wind tunnel test data over a wide range of vehicle orientations. We also present a comparison between the effects of this proposed model and a conventional quasi steady-state aerodynamic model on race vehicle simulation results. This is done by implementing both of these models independently in multi-body quasi steady-state simulations to determine the effects of the high fidelity aerodynamic model on race vehicle performance metrics. The quasi steady state vehicle simulation is developed with a multi-body NASCAR Truck vehicle model, and simulations are conducted for three different types of NASCAR race tracks, a short track, a one and a half mile intermediate track, and a higher speed, two mile intermediate race track. For each track simulation, the effects of the aerodynamic model on handling, maximum corner speed, and drive force metrics are analysed. The accuracy of the high-fidelity model is shown to reduce the aerodynamic model error relative to the conventional aerodynamic model, and the increased accuracy of the high fidelity aerodynamic model is found to have realisable effects on the performance metric predictions on the intermediate tracks resulting from the quasi steady-state simulation.     

Forced Steering of Rail Vehicles: Stability and Curving Mechanics

SUMMARY

A forced steering rail vehicle employs linkages between.the carbody and wheelsets to force a more radial wheelset alignment. It is shown that the curve negotiation capability of forced steering trucks is significantly improved over conventional and self steering radial trucks. Parametric curves are presented showing angle-of-attack and lateral flange force as a function of steering gain parameters and truck bending stiffness. It is also shown that the forced steering concept can produce kinematic instability and severely reduced critical speeds for low conicities and creep coefficients. Analytic expressions are derived that illustrate how these kinematic instabilities can be avoided.     

动态交通分配中一种多模式动态决定式点排队模型及其特性分析

提出了一个可应用于动态交通分配中的多模式决定式点排队模型。模型中不同的交通模式(如小汽车、卡车和公交车等)由于车辆特性以及长度的差异在路网中将分别具有不同的行驶特性。为了能够反映不同模式车辆在路段上的相互作用,将单模式点排队模型扩展为多模式点排队模式。并对这个模型的相关特性进行了研究,如:反映不同模式车辆在路段上的速度收敛特性,在路段上每一模式车辆的先入先出特性(FIFO)以及路段上不同模式车辆的因果特性。