New Results from Full-Scale Vehicle-Pavement System Experiments on a Circular Test Track

SUMMARY

The paper deals with some new results obtained during a two-year research activity on a circular track, which was built in Czechoslovakia for testing the serviceability of different structural types of carriageways. During the testing process the influence on the growing dynamic response of three loading vehicles was also registered, so that experimental verification of the internal dynamic effects in the undercarriage system of loading vehicles according to the Czechoslovak hypothesis of the physical invariant dynamics could be obtained. This contribution presents the basic principles of the invariant theory. Very good agreement of the theoretical calculations with the experimental results on a typical two-mass dynamic system can be stated. For the prediction of serviceability of road pavements an empiricial relation has been derived based on statistical date obtained during a nearly one-year testing period.     

A Versatile Flat Track Tire Testing Machine

Summary A flat track tire testing machine developed by the IMMa group is described. It permits the simulation and study of the dynamic behavior of a great variety of tires under controllable and repetitive highly dynamic realistic working conditions in the laboratory for a diversity of vehicles, from motorcycles to light trucks. The machine incorporates: – a hydraulically operated tire support and loading system with wide operating ranges; – a computer controlled brake system to simulate braking maneuvers with ABS systems; – a complete sensorial system; – a data acquisition and control system continually monitoring and acting on the experimental variables, i.e., tire and belt speed, longitudinal slip, slip and camber angles, tire pressure, tire normal force, etc. As an application example, results are presented that adjust the parameter of the magic formula for a standard 175/70 R14 passenger vehicle tire. Accurate mathematical tire models are recognized as essential for the prediction of vehicle dynamic performances using simulation tools.     

A Versatile Flat Track Tire Testing Machine

Summary A flat track tire testing machine developed by the IMMa group is described. It permits the simulation and study of the dynamic behavior of a great variety of tires under controllable and repetitive highly dynamic realistic working conditions in the laboratory for a diversity of vehicles, from motorcycles to light trucks. The machine incorporates: - a hydraulically operated tire support and loading system with wide operating ranges; - a computer controlled brake system to simulate braking maneuvers with ABS systems; - a complete sensorial system; - a data acquisition and control system continually monitoring and acting on the experimental variables, i.e., tire and belt speed, longitudinal slip, slip and camber angles, tire pressure, tire normal force, etc. As an application example, results are presented that adjust the parameter of the magic formula for a standard 175/70 R14 passenger vehicle tire. Accurate mathematical tire models are recognized as essential for the prediction of vehicle dynamic performances using simulation tools.     

Fidelity of using scaled vehicles for chassis dynamic studies

There are many situations where physical testing of a vehicle or vehicle controller is necessary, yet use of a full-size vehicle is not practical. Some situations include implementation testing of novel actuation strategies, analysing the behaviour of chassis feedback control under system faults, or near-unstable situations such as limit handling under driver-assist feedback control. Historically, many have advocated the use of scale vehicles as surrogates for larger vehicles. This article presents analysis and experimental testing that examines the fidelity of using scaled vehicles for vehicle chassis dynamics and control studies. In support of this effort, this work introduces an experimental system called the Pennsylvania State University Rolling Roadway Simulator (the PURRS). In the PURRS, a custom-built scale-sized vehicle is freely driven on a moving roadway surface. While others have used scale-vehicle rolling roadway simulators in the past, this work is the first to attempt to directly match the planar dynamic performance of the scale-sized vehicle to a specific full-sized vehicle by careful design of the scale vehicle. This article explains details of this effort including vehicle dynamic modelling, detailed measurement of model parameters, conditions for dynamic similitude, validation of the resulting experimental vehicle in the time, frequency, and dimensionless domains. The results of the dynamic comparisons between scale- and full-sized vehicles clearly illustrate operational regimes where agreement is quite good, and other regimes where agreement is quite poor. Both are useful to understand the applicability of scale-vehicle results to full-size vehicle analysis.     

Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles

An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller.     

轮胎包容特性分析及其在汽车振动系统建模中的应用

本文分析了轮胎与路面的接触特点，将汽车承载系统简化为二自由度垂直振动系统，建立了同时考虑轮胎几何滤波效应与弹性滤波效应的弹性滚子接触模型。基于刚性滚子模型和弹性滚子模型，仿真出滚子包容后的有效路形。     

公路钢拱塔斜拉桥车致振动试验与数值分析

为了研究沈阳市三好桥(公路钢拱塔斜拉桥)在汽车荷载作用下的动态响应,通过测试得到不同速度的车辆通过时桥梁的竖向振幅和冲击系数,通过数值分析得到不同阻尼桥梁相应的动态响应和动力放大系数。分析结果表明:桥面平整的桥梁可采用数值方法计算桥梁的动态响应及其动力放大系数;主梁的位移和弯矩的冲击系数与车速呈波动变化,塔根弯矩的冲击系数、斜拉索和水平索最大索力和应力幅的冲击系数随着车速的增大而增大;不考虑阻尼时,桥梁各响应量的冲击系数的值偏大;考虑阻尼比时,各响应量的冲击系数随着桥梁阻尼比的增大而减小;阻尼比较小的桥梁,阻尼比对其动力响应影响较小。     

Vergleich einiger Rechen- und Messergebnisse zum Fahrverhalten von Sattelzügen

In this paper some results of theoretical and experimental investigations on the dynamic directional properties of heavy tractor-semitrailer vehicles are presented.

A nonlinear digital computer model was developed on which the theoretical system analysis is based. This model takes account of the nonUnear tire properties and the friction couple of the fifth wheel. A combination of numerical computation methods (Runge-Kutta and Newton-Raphson techniques) is used for the digital computer simulation.

Full scale road tests with articulated vehicles of 38 ton total weight were conducted for experimental validation of the used theoretical model. As input signals to the vehicle, predetermined steering wheel angle functions were used. The system output signals corresponding to these input functions were measured and stored.

A comparison of the obtained theoretical and experimental results shows a very good qualitative agreement and hence leads to the conclusion that the developed theoretical model can give consistent estimates of the basic dynamic vehicle properties.     

Experimental studies on the heating performance of the PTC heater and heat pump combined system in fuel cells and electric vehicles

In this study, a combined system consisting of a heat pump and a PTC heater was developed as a heating unit in electric vehicles. The system consists of a compressor, a condenser, an evaporator, an expansion device and a PTC heater. Experiments were conducted to examine the steady-state performance and dynamic characteristics of this system. The compressor speed, outdoor air inlet temperature, and indoor air inlet temperature were varied, and the performance of the system was experimentally investigated. The heating capacity, compressor power consumption and COP were obtained. Warm-up experiments were performed to investigate the dynamic characteristics of the system with a heat load of 1.5 kW in the indoor chamber. For the heat pump system, the PTC heater and the combined system, the heating performance and efficiency were investigated to determine an optimal control method. The results of this study agree well with the experimental results available in literature. This study provides experimental data of good quality for heating system design and the development of electric vehicles.     

Vergleich einiger Rechen- und Messergebnisse zum Fahrverhalten von Sattelzügen

SUMMARY

In this paper some results of theoretical and experimental investigations on the dynamic directional properties of heavy tractor-semitrailer vehicles are presented.

A nonlinear digital computer model was developed on which the theoretical system analysis is based. This model takes account of the nonUnear tire properties and the friction couple of the fifth wheel. A combination of numerical computation methods (Runge-Kutta and Newton-Raphson techniques) is used for the digital computer simulation.

Full scale road tests with articulated vehicles of 38 ton total weight were conducted for experimental validation of the used theoretical model. As input signals to the vehicle, predetermined steering wheel angle functions were used. The system output signals corresponding to these input functions were measured and stored.

A comparison of the obtained theoretical and experimental results shows a very good qualitative agreement and hence leads to the conclusion that the developed theoretical model can give consistent estimates of the basic dynamic vehicle properties.     

中小跨径公路混凝土简支梁桥冲击系数研究及建议取值

为弥补中国现行桥梁规范中计算动力冲击系数时考虑因素单一的不足,对冲击系数的影响因素进行研究,并提出更合理的冲击系数建议值。首先,根据中国桥梁通用图集建立13座不同截面形式和不同跨径的常见中小跨径公路混凝土简支梁桥的有限元模型,结合能表征中国设计车辆荷载动力特性的三维车辆数值模型,建立车桥耦合振动分析系统。然后,基于车桥耦合振动分析系统,研究桥梁基频、桥面不平整度、车速和车质量等因素对动力冲击系数的影响,并与中国现行桥梁设计规范中的动力冲击系数取值进行对比分析。最后,提出冲击系数的建议值,并与世界各国桥梁规范中的冲击系数取值进行对比,讨论建议值的合理性。结果表明:桥面不平整度是影响冲击系数的重要因素,在桥面好的情况下,冲击系数均在0.1以下,低于规范中规定的冲击系数,而桥面很差时,冲击系数可达0.5,远大于中国现行规范中的冲击系数设计值,因此,定期对桥面进行维护能有效减小车辆对桥梁的冲击效应;质量轻的车辆引起更大的冲击系数,但由于车辆总质量轻,其导致的总荷载效应仍然较小,而重车虽然引起的冲击系数较小,但由于其导致的总荷载效应较大,更易对桥面造成损伤,因此,限制超载尤为重要。     

基于数据驱动的人机混驾多车协同控制算法

针对多车协同控制系统中，传统控制算法需要准确获取系统中与驾驶员驾驶行为相关的参数以及与车辆系统动力学相关参数等问题，提出基于数据驱动的自适应动态规划控制算法。以有人与无人驾驶车辆混行的多车协同控制系统为研究对象，通过分析系统的横纵向控制模型，推导出系统状态方程，采用递推数值方法在线逼近最优解，并通过对最优反馈控制矩阵进行优化求解，得到最优控制输入。该算法简化了系统的控制输入参数，仅仅利用V2X通信获得的车辆的前轮转角以及车辆期望的纵向加速度作为控制输入，即可实现无人驾驶车辆的优化控制。基于Carsim和Simulink进行联合仿真测试验证，结果表明，该算法控制参数简单、收敛速度快、控制精度高、适应性强，能够控制无人驾驶车辆在多车系统中保持期望的车速并且与前车保持期望的车间距，同时在任意曲率道路上行驶时与车道中心线之间的横向误差趋于0。      

机械传动车辆起步及连续加速过程性能仿真研究

基于部件的工作原理或试验结果,在Matlab/Simulink环境下,建立了某型机械传动车辆动力传动系统的模块化动态仿真模型,采用该仿真模型模拟了在不同驾驶模式下,车辆起步及连续加速过程中的动力性和燃油经济性。     

考虑粗糙度影响的桥梁损伤识别间接测量方法

基于间接测量技术,采用国际标准化组织建议的功率谱密度函数（PSD）模拟路面粗糙度等实际因素在车桥耦合模型中的影响,提出一种通过检测车辆在桥梁上运行,并利用安装在检测车辆上的传感器所得的动力响应信号来识别梁弯曲刚度,进而进行结构损伤识别的间接测量新方法。考虑到应用该新方法过程中路面粗糙度等实际因素易产生不利影响,提出利用车频及车辆阻尼比相同的2辆检测车位移信号相减的方法来消除路面粗糙度产生的影响。首先通过理论推导对该方法进行理论验证,接着采用数值模拟的方法分别对采用该方法消除路面粗糙度影响的可行性、桥梁损伤位置识别的可行性以及损伤程度识别的可行性进行验证,最后采用该方法进行实桥实测试验。研究结果表明：所提方法可以有效消除路面粗糙度等实际因素对间接测量技术的不利影响,可以有效地识别梁弯曲刚度,进而达到桥梁损伤识别的目的,有助于推动基于动力测试的间接测量技术在桥梁结构损伤识别工作中的实际应用。     

车辆动荷载作用下黄土暗穴对路基稳定性影响的数值分析

针对车辆动荷载作用下黄土暗穴对路基稳定性的影响,运用有限元方法对其进行了动力响应分析。分析中将车辆通过时路面所承受的动荷载简化为落锤式弯沉仪(FWD)产生的动态冲击荷载,考虑了路面的实际结构体系以及车速、洞径、埋深和偏移距离等主要因素的影响。找出了临界洞室埋深随洞径和偏移距离变化的规律,并确定出了路基下伏暗穴治理范围,同时对动、静荷载效应进行了对比分析。结果表明:在实际计算中,可以将静载乘以某一“放大系数”作为计算荷载进行拟静力分析。     

基于结构固有频率的沥青混合料动态模量及预估模型研究

为实现沥青混合料动态模量的快速、无损检测,开展了基于无约束共振法的沥青混合料动态模量研究。首先,基于固有频率计算原理和时温等效原理,分别采用无约束共振法和重复加载法构建动态模量主曲线,阐明无约束共振法测试动态模量的可行性;然后,基于无约束共振法揭示温度、级配类型和空隙率对沥青混合料动态模量的影响规律。基于此,构建包含584组试验数据的动态模量预估模型数据库,采用BP神经网络方法建立动态模量预估模型,并与传统Witczak预估模型进行对比。结果表明：采用沥青混合料固有频率表征动态模量合理可行;无约束共振法可将重复加载法构建的动态模量主曲线最大换算频率10⁷ Hz扩大至10¹⁴ Hz,构建更宽频域范围的动态模量主曲线,提高高频模量预估的准确性;BP神经网络预估模型的预测效果明显优于Witczak模型。研究为动态模量的快速、无损检测提供了技术基础。     

基于场景的自动驾驶汽车虚拟测试研究进展

随着自动驾驶等级的提高,面向传统汽车的测试工具与测试方法已不能满足自动驾驶汽车测试的需要。基于场景的虚拟测试方法在测试效率、测试成本等方面具有巨大的技术优势,是未来自动驾驶汽车测试验证的重要手段,已成为当前的研究热点。通过对大量相关文献的系统梳理,综述了基于场景的自动驾驶汽车虚拟测试研究进展。对比分析了自动驾驶测试场景的不同定义方式,明确了测试场景的内涵,归纳了测试场景的要素种类,概述了测试场景的数据来源,总结了场景数据的处理方法。在此基础上,对自动驾驶汽车虚拟测试方法进行了总结,分析了典型的测试方式、测试平台和虚拟测试的技术要点,梳理了软件在环、硬件在环和车辆在环测试方案及其关键技术。针对自动驾驶汽车测试效率问题,研究了基于场景的加速测试技术,概述了典型的测试场景随机生成方法和危险场景强化生成方法。最后,对基于场景的自动驾驶汽车虚拟测试所面临的问题及未来发展趋势进行了分析和展望。研究结果表明：基于场景的虚拟测试是推动自动驾驶技术发展和产业落地的必由之路,未来研究应着力突破基于解构与自动重构的测试场景数据库、人-车-环境系统一体化高置信度建模、自动驾驶汽车虚拟测试标准工具链、不同自动驾驶汽车渗透率下的混合交通模拟与测试、测试案例动态自适应随机生成机制等核心共性技术,建立自动驾驶汽车虚拟测试标准体系。     

钢管混凝土系杆拱桥的结构检测与评估

对钢管混凝土系杆拱桥实施了常规检测和动、静载试验,并结合有限元建模与分析,最终对桥梁进行了安全评估。结论为：从荷载试验结果看,桥梁的各项检测指标符合试验规程要求,即当前满足于设计荷载等级,但由于该桥的结构特点,针对现存的安全隐患,应立即组织维修。     

降雨条件对车载激光雷达性能影响的试验研究

激光雷达是自动驾驶车辆最为关键的传感器之一，被广泛用于车辆定位、目标检测与跟踪等任务。然而，激光雷达的点云数据会受到恶劣天气（如雨、雾、雪等）的严重影响，致使自动驾驶全天候行驶仍然面临着巨大挑战。为了量化评估恶劣天气对激光雷达性能的影响，分析了降雨环境下激光雷达的性能，基于构建的场地降雨模拟系统控制降雨量，通过多视角的静、动态试验定性与定量分析激光雷达测距精度、典型目标点密度、有效检测距离等性能参数与降雨量之间的关系。试验结果表明：车辆作为目标物时，目标物上的激光点云受降雨的影响最大，相较于无雨环境，中雨时打在汽车上的激光点数降低幅度超过了60%，检测距离下降了69%，并且随着降雨量的增大激光雷达对目标的有效检测距离持续下降；试验方法和结果对于测试评价自动驾驶性能及提升降雨环境下的激光感知能力具有重要意义。     

Impact of Dynamic Fluid Slosh Loads on the Directional Response of Tank Vehicles

SUMMARY

A comprehensive directional dynamics model of a tractor-tank trailer is developed by integrating a non-linear dynamic fluid slosh model to the three-dimensional vehicle dynamics model. The nonlinear fluid slosh equations are solved in an Eulerian mesh to determine dynamic fluid slosh loads caused by the dynamic motion of the vehicle. The dynamic fluid slosh forces and moments are coupled with the vehicle dynamics model to study the directional response characteristics of tank vehicles. The directional response characteristics of partially filled tank vehicles employing dynamic slosh model are compared to those employing quasi-dynamic vehicle model, for steady as well as transient directional maneuvers. Simulation results reveal that during a steady steer maneuver, the dynamic fluid slosh loads introduce oscillatory directional response about a steady-state value calculated from the quasi-dynamic vehicle model. The directional response characteristics obtained using the quasi-dynamic and dynamic fluid slosh models during transient steer inputs show good correlation. Based on this study, it can be concluded that the quasi-dynamic model can predict the directional response characteristics of tank vehicles quite close to that evaluated using the comprehensive fluid slosh model.