换道操作对智能车辆乘客舒适性的影响研究

乘坐舒适性是决定乘客对智能车辆接受度的重要因素之一。为了提升智能车辆的舒适性,服务智能驾驶控制算法的设计和优化,开展了基于乘客主观感知的实车乘坐舒适性试验,试验中驾驶人驾驶传统车辆执行多次换道操作,获取了60名被试乘客对换道操作的舒适性评价数据,并采集了车辆的运动数据。选取换道时横向最大加速度、回正时横向最大加速度、横向最大加加速度、横向加速度转换幅值以及横向加速度转换频率这5个车辆运动参数作为研究对象。采用二元Logistic回归单因素分析法分析了这5个车辆运动参数对乘坐舒适性的影响,采用接收者操作特征(ROC)曲线分析法为不同晕车易感性的乘客分别确立了这5个车辆运动参数的舒适性阈值,并根据岭回归分析法确定了不同参数对乘坐舒适性的影响权重。结果表明：所选取的5个车辆运动参数对乘坐舒适性具有显著影响,易晕乘客的舒适性阈值小于不易晕乘客的舒适性阈值,在换道过程中,换道时横向最大加速度、回正时横向最大加速度和横向加速度转换幅值是影响乘坐舒适性的主要因素。最后根据车辆运动参数和乘客生理特征参数建立了基于动态时间归整(DTW)和K最近邻(KNN)算法的乘坐舒适性预测模型,该模型对乘坐舒适性的预测准确率为84%,可用于智能车辆控制算法的舒适性判断。     

An Active Roll-Moment Control Strategy for Narrow Tilting Commuter Vehicles

An automatic tilt control strategy for a narrow commuter vehicle is described. Such a vehicle would be enclosed like a conventional car but would bank into turns like a motorcycle and so it would feel quite unconventional to drive. The proposed tilt control system uses the steering to tilt the car over like a motorcycle but this is augmented by actively generating a rolling moment about the pivot axis between the tilting upper body and non-tilting base. The provision of this active direct tilt control enables the vehicle to remain upright at low or zero speed and also permits the designer to fine tune the transient roll response. Although it appears complex the proposed tilting control relies on only a few simple sensor measurements, some modest, microprocessor based signal processing and low power, low bandwidth steering and tilt control actuators which might be derived from existing automotive components.     

An Active Roll-Moment Control Strategy for Narrow Tilting Commuter Vehicles

SUMMARY

An automatic tilt control strategy for a narrow commuter vehicle is described. Such a vehicle would be enclosed like a conventional car but would bank into turns like a motorcycle and so it would feel quite unconventional to drive. The proposed tilt control system uses the steering to tilt the car over like a motorcycle but this is augmented by actively generating a rolling moment about the pivot axis between the tilting upper body and non-tilting base. The provision of this active direct tilt control enables the vehicle to remain upright at low or zero speed and also permits the designer to fine tune the transient roll response. Although it appears complex the proposed tilting control relies on only a few simple sensor measurements, some modest, microprocessor based signal processing and low power, low bandwidth steering and tilt control actuators which might be derived from existing automotive components.     

A study on a dynamic model of a vehicle simulator with 6 DOF for the Korean tilting train

This article presents a dynamic model of a railway vehicle for the development of a 6-DOF (degrees of freedom) tilting-train simulator. It will be used to verify the tilting-electronics and tilting-control algorithm that are to be applied to the Korean tilting train. It is composed of 6 electrically driven actuators, a track generation system, a graphic user interface, and a visualization system with a 1600-mm-diameter dome screen. Each system shares the data by means of Ethernet network in real time. In this study, a train model of 9-DOF with a force generation system to tilt the train body has been used. Dynamic analysis for the straight track running and curve negotiation of a railway vehicle can be performed in the model. A verification study for the application of the model to the simulator has been conducted on curving tracks with different radii.     

Active Dual Mode Tilt Control for Narrow Ground Vehicles

Small, narrow commuter vehicles have attracted considerable interest in recent years as a means to increase the utilization of existing freeways and parking facilities. However, conventional narrow track vehicles are likely to have reduced stability against overturning during hard cornering. A possible solution to this problem lies in vehicles which tilt toward the inside of a turn. Two different ways to achieve this tilt will be analyzed. For direct tilt control (DTC) an actuator forces the upper part of the vehicle to tilt. Steering tilt control (STC) uses steering to control the tilt as is done by motorcycle or bicycle riders. At low speeds, only the DTC system is effective while at high speeds the STC offers less lateral acceleration for the passenger during transient cornering and may seem more natural. The two methods of control will be studied separately and it will be shown that even though the same steady state tilt can be achieved with either system, the transient behavior of the systems is very different. It also will be shown that it is possible to switch from one system to the other at an arbitrarily chosen speed with virtually no transient effects even when the vehicle is not in a steady state. Regardless of which control system is active, the driver simply communicates his desire to follow the road by moving the steering wheel and the control systems take care of the tilting either by using the tilt actuator or by actively steering the road wheels. Thus the driver does not need to leam how to stabilize the tilt mode of the vehicle.     

Steady-state steering of a tilting three-wheeled vehicle

The design of a narrow-track enclosed vehicle for urban transport was the subject of the CLEVER project. Due to its narrow track and requirement for car-like controls, an actively controlled tilting system was integrated into the chassis to allow for high lateral accelerations without rolling over. The cornering behaviour of this unique vehicle concept is investigated and compared with the ideal Ackermann response. The steer kinematics of this 1F1T (one front wheel, one wheel tilting) configuration are assessed through the use of a steady-state steering model, with attention focused on how steer parameters such as tilt axis height and inclination can be tuned to provide the required response. A prototype vehicle was designed and built and the results of experimental testing are presented to illustrate the real balancing performance of the combined steering and tilting approach used for the CLEVER vehicle. The experimental results follow the trends demonstrated in the model.     

Establishment and verification of three-dimensional dynamic model for heavy-haul train–track coupled system

For the long heavy-haul train, the basic principles of the inter-vehicle interaction and train–track dynamic interaction are analysed firstly. Based on the theories of train longitudinal dynamics and vehicle–track coupled dynamics, a three-dimensional (3-D) dynamic model of the heavy-haul train–track coupled system is established through a modularised method. Specifically, this model includes the subsystems such as the train control, the vehicle, the wheel–rail relation and the line geometries. And for the calculation of the wheel–rail interaction force under the driving or braking conditions, the large creep phenomenon that may occur within the wheel–rail contact patch is considered. For the coupler and draft gear system, the coupler forces in three directions and the coupler lateral tilt angles in curves are calculated. Then, according to the characteristics of the long heavy-haul train, an efficient solving method is developed to improve the computational efficiency for such a large system. Some basic principles which should be followed in order to meet the requirement of calculation accuracy are determined. Finally, the 3-D train–track coupled model is verified by comparing the calculated results with the running test results. It is indicated that the proposed dynamic model could simulate the dynamic performance of the heavy-haul train well.     

Second-order sliding mode controller with model reference adaptation for automatic train operation

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.     

Partial range scaling method based washout algorithm for a vehicle driving simulator and its evaluation

Unlike an actual vehicle, a vehicle driving simulator (VDS) has limited kinematics, workspace, and bounded dynamic characteristics making it very difficult to simulate dynamic motions of an actual vehicle. To solve these problems, a washout algorithm was developed. The developed algorithm restricts the workspace of the VDS to within the kinematic limit and makes the person driving the VDS perceive movement of an actual vehicle. However, the classic washout algorithm contains several problems, such as time delay and the generation of a wrong motion signal caused by characteristics of the filters. So the driver feels “simulator sickness,” such as fatigue, nausea, headache and so on because of differences between the sense of movement of the VDS and that of a real vehicle. In this paper, a partial range scaling method based washout algorithm, including a tilt coordination system, is developed to enhance the perception of motion and reduce simulator sickness. It is verified by a simulation, a survey, and a bio signal analysis using an electrocardiogram (ECG).     

无人驾驶车辆解耦混合运动规划方法研究

高速公路无人驾驶车辆运动规划要充分考虑车辆的动力学特性和道路环境构成的复杂约束,优先确保车辆的无碰撞行驶轨迹,同时算法实时性比常速情况下要求更高,要充分考虑计算的复杂性。提出一种可生成横纵向最优解逼近群的解耦增强混合运动规划方法,引入Frent坐标系将运动规划问题进行横纵向解耦,在横向偏移规划中融合数值优化和多项式规划算法,在纵向速度规划中融合围绕速度和围绕避障规划算法,解耦规划完成后使用代价函数和碰撞检测方法对生成的轨迹群进行评估和选择。搭建Apollo-LGsvl无人驾驶联合仿真测试平台,对所提出的运动规划方法进行仿真验证。结果表明,提出的横纵向解耦增强混合运动规划算法在高速公路各工况中所生成的运动轨迹能够有效避免车辆发生碰撞,其横向偏移和纵向速度均能满足二阶平滑,最大横向加速度、最大纵向加速度、最大纵向jerk等满足动力学约束。该方法有效减少了最优解逼近群内的轨迹数量,使轨迹评估阶段计算复杂度降低了46%,证明提出的方法具备一定的应用价值。     

地铁列车荷载作用下地铁车辆段桩承式复合地基动力响应数值分析

为探讨软土地基经桩体加固后，地铁列车荷载作用下地铁车辆段轨道下部结构的复合地基动力特性及分布规律，采用有限元显式动力学方法，分析比较了广州地铁某车辆段轨道下部软基区域经桩体加固前后以及桩体模量对土体动力特性的影响。数值分析结果表明:(1)经桩体加固后，土体的振动加速度比无桩体加固时衰减更快，土体的动应力幅值有所减小，且土体动应力随桩体模量的增大而减小；(2)土体动应力随横向距离和深度方向变化过程中，局部区域呈现先增大再减小的趋势，说明桩顶和桩底附近出现了应力集中现象；(3)软黏土的动应力幅值和振动加速度幅值沿深度方向先快速衰减，后衰减趋于稳定，说明计算动力附加沉降时主要考虑软土浅层区域。     

Dynamics of a railway vehicle on a laterally disturbed track

In this article a theoretical investigation of the dynamics of a railway bogie running on a tangent track with a periodic disturbance of the lateral track geometry is presented. The dynamics is computed for two values of the speed of the vehicle in combination with different values of the wavelength and amplitude of the disturbance. Depending on the combinations of the speed, the wavelength and the amplitude, straight line forward motion, different modes of symmetric or asymmetric periodic oscillations or aperiodic motions, which are presumably chaotic, are found. Statistical methods are applied for the investigation. In the case of sinusoidal oscillations they provide information about the phase shift between the different variables and the amplitudes of the oscillations. In the case of an aperiodic motion the statistical measures indicate some non-smooth transitions.     

Flange Force Effects on the Motion of a Train Wheelset

The motion of a train wheelset is investigated using Hopf bifurcation theory. The method takes full account of the nonlinear effects of the flange-rail contact forces which are incorporated in the model; The numerical solution is obtained over a wide range of forward speeds by transforming the bifurcation problem into a regular nonlinear boundary value problem, which is solved by standard methods. This solution is shown to be orbitally, asymptotically stable. The algorithm supplies complete information on the lateral and yaw motions and on the period of oscillation, even for very high forward speeds.     

Dynamic Train-Track Interaction: Variability Attributable to Scatter in the Track Properties

A numerical method to simulate vertical dynamic interaction between a rolling train and a railway track has been used to investigate the influence of stochastic properties of the track structure. A perturbation technique has been used to investigate the influence of the scatter in selected track properties. The train-track interaction problem has been numerically solved by use of an extended state-space vector approach in conjunction with a complex modal superposition for the whole track structure. All numerical simulations have been carried out in the time-domain with a moving mass model. Properties such as rail pad stiffness, ballast stiffness, dynamic ballast-subgrade mass and sleeper spacing have been studied. To obtain sufficient statistical information from track structures, full-scale measurements in the field and laboratory measurements have been carried out. The influence of scatter in the track properties on the maximum contact force between the rail and the wheel, the maximum magnitude of the vertical wheelset acceleration, and the maximum sleeper displacement have been studied. Mean values and standard deviations of these quantities have been calculated. The effects of the variation of the investigated track properties are discussed.     

Dynamic Train-Track Interaction: Variability Attributable to Scatter in the Track Properties

A numerical method to simulate vertical dynamic interaction between a rolling train and a railway track has been used to investigate the influence of stochastic properties of the track structure. A perturbation technique has been used to investigate the influence of the scatter in selected track properties. The train-track interaction problem has been numerically solved by use of an extended state-space vector approach in conjunction with a complex modal superposition for the whole track structure. All numerical simulations have been carried out in the time-domain with a moving mass model. Properties such as rail pad stiffness, ballast stiffness, dynamic ballast-subgrade mass and sleeper spacing have been studied. To obtain sufficient statistical information from track structures, full-scale measurements in the field and laboratory measurements have been carried out. The influence of scatter in the track properties on the maximum contact force between the rail and the wheel, the maximum magnitude of the vertical wheelset acceleration, and the maximum sleeper displacement have been studied. Mean values and standard deviations of these quantities have been calculated. The effects of the variation of the investigated track properties are discussed.     

The mechanism for the coupler and draft gear and its influence on safety during a train collision

A mechanical model of the coupler and draft gear was established to study the mechanism during an intercity train collision. The model includes four rigid bodies, one spherical joint, two nonlinear torsion spring units and two nonlinear hysteresis units. Simulation and test results show that the axial characteristics of the model are reasonable and the model can reasonably simulate the pitching movement of the coupler. The influence of the coupler and draft gear on the collision behaviour of the train is analysed considering a four-section intercity train. The results show that during the collision process, the amount of compression of the middle coupler is an important factor influencing the pitching deflection angle. The pitching motion posture of the coupler changes with the initial pitching deflection angle, but the initial pitching deflection angle has little effect on its yawing deflection angle. When the pitching angle of the middle coupler is elevated, as the elevation angle increases, the derailment risk of the ‘A’ end bogie of the previous vehicle increases, whereas the risk of derailment of the ‘B’ end bogie of the subsequent vehicle decreases. When the pitching angle of the middle coupler is depressed, the derailment trends for the front and rear bogies exhibit the opposite trend from that of the elevation angle. As the train collision speed increases, the pitching motion of the middle coupler is limited to forcing a yawing motion, causing the yawing deflection angle to increase sharply, which causes the wheel–rail lateral force to increase rapidly. From this, the derailment risk of the bogie increases, which further causes large displacement lateral buckling of the train. An anti-lateral buckling device can limit the yawing deflection angle of the middle coupler, preventing lateral buckling from large displacement and decreasing the risk of derailment.     

Modeling and model predictive control for hybrid electric vehicles

This paper builds up a typical model of a parallel hybrid electric vehicle and develops model predictive controllers for this model to control the speeds and torques for fast clutch engagement with high driving comfort and low jerk. Some modified algorithms for model predictive controllers are studied to improve their ability to track the desired speed setpoints, subject to input and output constraints.     

市域轨道交通“桥建合一”高架车站车致振动响应分析

为探究列车在不同车速以及空载、满载情况下通过“桥建合一”型车站时所引起的结构振动问题,以某“桥建合一”高架越行车站为例,建立车-轨道-车站的有限元结构耦合动力分析模型,分析B型车在80~120 km/h速度下作用于站房结构及结构反作用于列车的动力响应结果,并进行舒适度评价。结果表明：当B型车以80~120 km/h通过该车站时,列车竖、横向振动加速度以及列车的乘坐舒适性均满足相关规范限值要求;承轨层竖向响应均大于横向响应,且竖向位移和竖向加速度随着车速的增加变化较小,横向位移和横向加速度随着车速的增加呈现先增大后减小的趋势;候车厅楼板的最大竖向响应均大于其横向响应,最大横向位移随着车速的增大呈现先增大后减小的趋势,最大横、竖向加速度均随着车速的增加呈现变大的趋势。通过理论计算结果与“桥建合一”车站现场实测数据的比对,验证了空间耦合振动有限元模拟计算的可靠性,可为同类高架车站结构的计算与分析提供参考。