Development of a path planning system using mean shift algorithm for driver assistance

The longitudinal and lateral vehicle control techniques have been widely used in several active driver assistance systems. The adaptive cruise control, lane keeping assistant control, vehicle platooning and stop-and-go control are typical examples of the most important applications. In this study, a novel path planning method is proposed considering the driving environment such as road shape, ego vehicle and surrounding vehicles’ movement. The relative distance and velocity between the ego vehicle and surrounding vehicles are identified with respect to the predicted lane shape in front of the ego vehicle. Based on the identified information, the road shape and surrounding vehicles are mapped into the intensity image and the desired vector for the ego vehicle’s movement is determined by the maximum intensity density tracing method. The desired vehicle path is followed by the acceleration/deceleration control and the steering assist control, respectively. In order to evaluate the performance of the proposed system, simulations are conducted and compared with ACC systems.     

某款货车传动系匹配研究与分析

针对货车动力性和燃油经济性,依照柴油机稳态燃油MAP图,重点分析了在传动系最高挡下,整车在满载、超载、平路面、遇正面风和主要行驶道路的坡道等条件下驱动的可行性,并选取不同规律的传动系速比方案,针对整车动力性与燃油经济性的影响展开分析,从中得到优化的传动系速比方案。     

轮毂电机驱动电动微型车车内噪声道路试验分析

通过道路试验的方法针对四轮轮毂电机驱动电动微型车车内噪声问题进行振源、传递途径以及主要贡献板件识别.分析中分别加速工况、回馈制动工况和匀速行驶工况下车内噪声和结构振动信号进行测量,通过对试验数据时间域、频率域、阶次跟踪分析发现:轮毂电机引起的6阶振动是车身结构振动和车内噪声的振源;不同频率范围内车身各结构板件对车内噪声有不同的影响并进行了相关的分析.试验结果对轮毂电机驱动电动车的进一步开发具有参考价值.     

基于A柱-后视镜车内气动噪声数值模拟与预测

针对后视镜引起的前侧窗与车内气动噪声问题,采用计算流体力学(CFD)方法对某商用车进行车外后视镜区域数值模拟和车内噪声预测的研究。稳态分析采用RANS模型中SST(Menter)k-ω模型,瞬态分析采用基于SST(Menter)k-ω的分离涡模拟(DES);通过分析后视镜侧窗区域的稳态静压力与瞬态动压力、速度和涡量云图,揭示了因A柱后视镜而产生车窗表面的湍流压力脉动的机理;同时求解瞬态流场获得两侧车窗表面湍流压力脉动载荷。采用声学FEM方法将车窗表面湍流压力脉动作为边界条件来计算气动噪声的传播,基于车内声学空间不同频率的声压级云图分布规律,说明了车内气动噪声主要集中在中低频段和声压级最大的分布区域;驾驶员左耳旁声压级曲线展示了20-2500 Hz频段内声压级变化规律。最后进行实车道路滑行测试,证实了气动噪声在车速80-110 km/h时较为明显的结论;采用CFD结合声学有限元的方法可较为准确地预测车内100-2500 Hz气动噪声的声压级,为优化后视镜、降低驾驶室内气动噪声提供仿真和试验的技术方案。     

某车型发动机怠速降低对整车用电平衡的影响

阐述汽车整车电气系统电量平衡发电机、蓄电池和用电器三者之间的关系。列出整车电气系统负载情况,以某车型负载5为例,分析在模拟城市工况、60km/h匀速行驶工况和试验场综合路循环工况下,怠速降低前后整车用电设备试验数据,论证发动机怠速情况整车电平衡存在差异。     

桥面侧风对行车安全性影响的概率评价方法

针对高速公路综合管理需求,研究强风天气的大跨度桥梁行车安全性问题。在考虑风速、车型、路面条件和车速的基础上,分析了4种典型车辆的安全行车临界风速,结合桥位风速观测资料统计和桥梁结构对桥面风速的影响,建立桥面行车高度的等效风速概率模型,提出了概率评估方法,并将此方法应用于杭州湾跨海大桥和苏通长江公路大桥的桥面行车安全性分析。研究结果表明:侧滑是行车安全性的主要问题,大跨度桥塔附近的侧风影响最为严重。     

并联混合动力汽车整车控制仿真

新能源汽车3大关键技术包括动力电池及其电池管理系统、驱动电机及其电机控制以及整车能量管理控制策略,整车控制策略直接决定能量流在汽车内部的流动及整车性能的好坏。文章利用模糊控制策略建立了详细的动力总成多能源能量管理控制模块,并通过ADVISOR仿真平台对所设计的控制策略进行仿真分析。仿真结果显示100km油耗仅5．1L,0-100km／h加速时间为23．1s,最大行驶速度168.3km／h;表明该能量管理策略能明显改善燃油经济性。动力性也具有较好表现。     

Vehicle sideslip estimation and compensation for banked road

The sideslip driving status is of fundamental importance to the stability of a vehicle. This paper presents a practical vehicle sideslip driving status estimation method that uses ESP (electronic stability program) sensors. ESP sensors such as wheel speed, lateral acceleration, yaw rate and steering wheel angle sensors are used to determine the sideslip driving status and distinguish a banked road. This estimation algorithm contains front-rear sideslip and banked road detection methods. The proposed sideslip estimation algorithm was designed to use the analytical redundancy of these sensors and Lagrange interpolation methods. The performance and effectiveness of the proposed estimation and compensation algorithm were investigated using vehicle tests. This paper presents the results of two cases that were used for the experimental verification: a curved flat road and banked road.     

基于SST-DDES方法的汽车外气动噪声模拟与风洞试验对标分析

随着新能源汽车行业的迅猛发展,行驶过程中发动机噪声的贡献消失,气动噪声成为了最容易引起顾客抱怨的问题。相关研究表明,通过侧窗玻璃表面脉动压力产生的湍流脉动和声场是汽车在高速行驶时的主要噪声源。基于开源软件OpenFOAM,采用SST- DDES湍流模型,分别对两款不同车型的前后侧窗玻璃24个点的表面脉动压力进行了数值模拟计算,并与风洞试验测试相结合进行验证。结果表明,仿真结果与试验结果基本吻合,证明了该方法可以有效捕捉侧窗玻璃的表面脉动压力结果,为后续的车内噪声计算打下基础,同时也有效缩短了开发周期,并降低了后期实车风洞试验的测试成本。     

Desired yaw rate and steering control method during cornering for a six-wheeled vehicle

This paper proposes a steering control method based on optimal control theory to improve the maneuverability of a six-wheeled vehicle during cornering. The six-wheeled vehicle is believed to have better performance than a four-wheeled vehicle in terms of its capability for crossing obstacles, off-road maneuvering and fail-safe handling when one or two of the tires are punctured. Although many methods to improve the four-wheeled vehicle’s lateral stability have been studied and developed, there have only been a few studies on the six-wheeled vehicle’s lateral stability. Some studies of the six-wheeled vehicle have been reported recently, but they are related to the desired yaw rate of a four-wheeled vehicle to control the six-wheeled vehicle’s maneuvering during corning. In this paper, the sideslip angle and yaw rate are controlled to improve the maneuverability during cornering by independent control of the steering angles of the six wheels. The desired yaw rate that is suitable for a six-wheeled vehicle is proposed as a control target. In addition, a scaled-down vehicle with six drive motors and six steering motors that can be controlled independently is designed. The performance of the proposed control methods is verified using a full model vehicle simulation and scaled-down vehicle experiment.     

基于比功率参数的北京市柴油公交车行驶和排放特征研究

利用车载尾气检测设备和GPS系统收集了北京市重型柴油公交车实际行驶和排放数据,引入汽车比功率(VSP)参数,建立柴油公交车排放预测方法,并对柴油公交车的实际运行和排放特征进行了分析.行驶特征分析表明,公交车在北京市五环内的平均速度为17.17km/h,其80%以上行驶处于VSP区间[-1,3]kW/t;排放特征分析表明,柴油公交车瞬时高排放集中在VSP≥lOkW/t区间,表明高加速或快速行驶是引起瞬时高排放的主要原因.     

车身简化模型中A-立柱和后视镜风噪的试验研究

为研究车身A柱和后视镜的风噪,建立汽车简化模型。基于气动声学风洞试验,设计了外形配置不同的5种模型。以A计权声压级和语音清晰度为评价指标,对侧窗外表面、远场和车内风噪展开对比分析。结果表明:A柱涡区域内高频风噪衰减较快;方形A柱对后视镜风噪具有明显掩蔽作用;后视镜风噪中存在压力级峰值,对应特征频率随风速升高而增加;随风速升高,各模型车窗、远场和车内风噪均明显增加;偏航时,车窗风噪在全频段内表现出迎风侧降低、背风侧升高的趋势,远场风噪与车内风噪在不同频段展现相同趋势。     

道路破坏的影响因素及悬架参数优化

本文建立了一个九自由度线性汽车模型来仿真汽车对路面随机输入的响应，以改进的四次幂定律为评定汽车对道路破坏的指标，分析了装载量、车速以及车身和悬架参数对道路破坏的影响，并对悬架系统的参数进行了优化。为具有道路友好性的汽车的设计提供了依据。     

Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen

Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis

A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14).     

普通公路驾驶员期望车速调查分析与建模

为了解普通公路驾驶员的车速选择机理,对驾驶员进行了期望车速问卷调查,对驾驶员的个人信息、车辆特征、以及驾驶员对超速10%的认可态度等可能影响期望车速的因素进行了重点调查。根据限速值的不同,分80、60和40 km/h 3个等级进行了调查,并为各等级公路选取了代表路段,由具有类似驾驶经历的驾驶员认真填写。对435份有效问卷进行了分析,发现期望车速广泛存在于驾驶员心中,驾驶员在行车过程中会使车速尽量维持在期望车速附近。期望车速主要受限速值、驾驶员的驾龄、对超速10%的态度以及车辆性能等因素的影响,驾驶员的性别和年龄对期望车速的影响不显著。采用逐步回归法,得到了期望车速的计算方法。对期望车速的特点、交通安全措施以及调查方案中可供改进的地方进行了总结。     

四轮独立驱动电动车自适应巡航滑模控制

为实现四轮独立驱动电动汽车的自适应巡航功能,采用基于趋近律的滑模控制理论设计了自适应巡航控制系统.上位控制器以实际车距与期望车距的偏差作为输入,采用滑模控制律获得主车期望加速度,然后将期望加速度作为下位控制器的输入,计算出电机期望转矩,用于实现自适应巡航控制.在CarSim中建立电动汽车整车模型,并与Simulink进...     

Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen

ABSTRACT

Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis

A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14).     

Characteristic analysis for cognition of dangerous driving using automobile black boxes

Automobile black boxes are devices that collect information regarding vehicle operation and the driver’s operating situation in the case of a traffic accident. The information collected from the automobile black box, which can also be used during normal driving, can provide information about dangerous driving cognition. This study was designed to analyze characteristics of dangerous driving data and build a dangerous driving cognition system as follows. First, dangerous driving is divided into four types by considering the vehicle’s movement, such as acceleration, deceleration, turning and statistical data of traffic accidents. Second, dangerous driving data were collected by vehicle tests using the automobile black box, and characteristics of the driving data were analyzed to classify dangerous driving. Third, a standard threshold was chosen to recognize dangerous driving, and an algorithm of dangerous driving cognition was created. Finally, verification was conducted by vehicle tests with automobile black boxes embedded with the developed algorithm. The presented recognition methods of dangerous driving can be used for on/off-line management of drivers and vehicles. Scientific traffic accident databases can be built with this driving and accident information, and can be used in various industrial areas.     

Comparative study between Korea and UK: relationship between driving style and real-world fuel consumption

It is known that differences in driving styles have a significant impact on fuel efficiency and driving styles are affected by various factors such as driver characteristics, street environment, traffic situation, vehicle performance, and weather conditions. However, existing knowledge about the relationship between driving style and fuel consumption is limited. Thus, the aim of this study was to analyze the relationship beteen driving style and fuel consumption. The analysis presented in this paper used data from three on-road experiments were conducted independently in two different countries, i.e. South Korea and the United Kingdom. In this study, 91 participants, consisting 44 UK drivers and 47 Korean drivers, were asked to drive approximately 28 km of UK road and 21 km of Korean road, respectively. Driving data, including real-time fuel consumption, vehicle speed, and acceleration pedal usage were collected. The results suggested that driving styles including average vehicle speed and average throttle position were highly correlated with the real-world fuel consumption, and the cultural factors, e.g. road environment, traffic design, and driver’s characteristics affected the driving styles and, consequently, fuel efficiency.     

Influence of shock absorber wearing on vehicle brake performance

In order to safely maintain a vehicle, it is necessary to verify the most important systems that affect safety during Periodic Motor Vehicle Inspections (PMVIs). In a previous paper, a test method and validation criteria were suggested by the authors to verify shock absorber status during PMVIs, as they are a fundamental component that may wear out during a vehicle’s life. In this paper, variations of the performance of the vehicle’s brakes resulting from shock absorber wearing have been analyzed, in order to confirm whether the suggested criteria is valid for taking into account longitudinal forces and pitch movement on the vehicle. A simulation-based study was conducted with several configurations of a worn damper on a vehicle driving on two virtual roads: smooth and undulating. The results confirmed that the damping coefficient established as an acceptable value to verify the shock absorber status in PMVIs is also valid considering the forces involved in a braking maneuver.