汽车夜间安全行车的视觉增强装置--车辆辅助驾驶系统

车辆辅助驾驶系统最初来源于军事需求。为了实现战场夜间闭灯驾驶，降低被敌方发现的概率，满足战场上夜间快速隐蔽运输的需要，增强驾驶员的视野和视觉强度，一种车辆辅助驾驶系统——夜间安全行车视觉增强装置应运而生。例如，美军研制成功的驾驶员视觉增强器——一种安装在车辆上的红外影像仪，能够提高陆军战术轮式车辆的运输能力。     

美军M977重型扩大机动性战术车简介

战争中使用的车辆可以分为两种，一种是前方进攻支援用的军车，另一种是后勤支援保障车，其中重型运输车是后勤保障车的代表。美军轮式车辆中的重型运输车是指载质量10吨级以上的运输车辆。     

碰撞检测在交通事故模拟中的应用

建立了车辆碰撞检测的一种简化数学模型，叙述了车辆碰撞检测模拟的预处理技术和流程。     

重型汽车专利摘编(9)

悬挂牵引臂，大型车辆用的无线传输式倒车雷达装置，一种油田专用重型汽车驾驶室，重型汽车取力器，一种改进的摆臂式自装卸车，一种中型／重型载货车辆转向桥结构     

车辆技术状况等级鉴定方法的探讨

交通部１３号令要求有关部门制定和建立车辆技术状况鉴定，做好车辆技术状况等级的鉴定工作，本文以“模糊数学”为理论基础，提出了一种车辆技术状况等级鉴定的“综合判法”。     

模糊控制在二次调节静液传动车辆中的应用

介绍一种二次调节静液传动车辆和其车速控制原理，并根据实际情况建立了整个系统的数学模型。提出一种带修正因子规则的模糊PID控制，分别用这种控制器和常规PID控制器对阶跃信号和车辆的15工况进行仿真分析。结果表明：采用模糊PID控制具有响应速度快，调节时间短等优点，更能满足实际车辆的驾驶要求。     

车载限速器能降低两成事故率

车载限速器分为两种：一种是在车辆超速时发出语音警报，提醒驾驶者减速；另一种是在车辆超过限定速度后，通过车载电脑发出指令，强制降低车辆行驶速度。英国伦敦交通部门的研究显示，私人汽车安装车载限速器后，发生撞车事故的几率将会下降19％。我国每年有数十万起交通事故发生，如果汽车限速器能够在国产车中普及，势必会降低国内交通事故发生率，从而挽回不必要的财产和生命损失。     

分组无线数据网在GPS车辆监控中的应用研究

介绍分组无线数据网和GPS车辆监控系统的组成和结构，提出分组无线数据网应用在车辆监控系统中的方案。从而为分组无线数据网应用于GPS车辆监控提供一种简单可行的设计方法。     

4轮转向车辆主动鲁棒抗侧倾操纵研究

基于4轮转向车辆，提出了一种新的主动抗侧倾方法。这种方法通过主动操纵车辆前后轮转角，就可以实现车辆侧倾控制。设计了鲁棒H∞操纵控制器。仿真表明，通过合理选择加权函数，车辆状态能精确地跟随理想车辆模型，且能有效地抑制侧倾角速度。     

美军新型轮式防地雷反伏击车辆扫描

防地雷反伏击车辆（MRAP）是一种为士兵提供抵御地雷、简易爆破器材和其它威胁的改进防护战斗车辆。在现代反恐战争中，简易爆炸装置造成了美军大量伤亡事故，并且爆炸装置变得越来越精致、威力越来越大，因此防地雷反伏击车辆必将成为未来战术地面车辆武器库的重要组成部分。     

隧道交通噪声数值模拟及调查研究

隧道交通噪声主要来源于轮胎与路面接触噪声,建立隧道内交通噪声数值模拟模型,通过有限元计算,分析了隧道不同位置交通噪声的变化规律.数值模拟结果表明,隧道内不同位置的交通噪声大小差别较大,随着距隧道洞口的距离增大,噪声水平增加,隧道中部比隧道进出口处噪声高约8～10 dB,比隧道外高16～18 dB,隧道洞体对隧道内交通噪声影响较大.通过现场测试隧道交通噪声,结果表明隧道内交通噪声数值模拟结果与实测结果较为吻合,说明所采用的数值模拟模型是可靠的.     

Understanding the limitations of different vehicle models for roll dynamics studies

An accurate and realistic vehicle model is essential for the development of effective vehicle control systems. Many different vehicle models have been developed for use in various vehicle control systems. The complexity of these models and the assumptions made in their development depend on their application. This article looks into the development and validity of vehicle models for prediction of roll behavior and their suitability for application in roll control systems. A 14 DOF vehicle model that includes dynamics of roll center and nonlinear effects due to vehicle geometry changes is developed. The limitations, validity of simplified equations, and various modeling assumptions are discussed by analyzing their effect on the model roll responses in various vehicle maneuvers. A formulation of the popular 8 DOF vehicle model that gives good correlation with the 14 DOF model is presented. The possible limitations of the 14 DOF model compared with an actual vehicle are also discussed.     

Understanding the limitations of different vehicle models for roll dynamics studies

An accurate and realistic vehicle model is essential for the development of effective vehicle control systems. Many different vehicle models have been developed for use in various vehicle control systems. The complexity of these models and the assumptions made in their development depend on their application. This article looks into the development and validity of vehicle models for prediction of roll behavior and their suitability for application in roll control systems. A 14 DOF vehicle model that includes dynamics of roll center and nonlinear effects due to vehicle geometry changes is developed. The limitations, validity of simplified equations, and various modeling assumptions are discussed by analyzing their effect on the model roll responses in various vehicle maneuvers. A formulation of the popular 8 DOF vehicle model that gives good correlation with the 14 DOF model is presented. The possible limitations of the 14 DOF model compared with an actual vehicle are also discussed.     

基于前车轨迹预测的高速智能车运动规划

针对现有运动规划算法大多只考虑障碍车当前状态,本文中提出一种基于前车运动轨迹预测的高速车辆运动规划算法。首先,融合考虑驾驶意图与基于车辆运动模型的方法对前车轨迹进行预测;然后,采用贝塞尔曲线(Bezier)规划主车运动轨迹,结合避撞过程中与前车碰撞风险概率,高速避撞车辆速度变化特点以及车辆运动稳定性等因素建立目标函数,并考虑车辆动力学与运动学约束,使用序列二次规划(SQP)方法对Bezier曲线的控制点和主车运动目标点位置进行优化求解,得到最优避撞运动轨迹;最后,以前车直行和换道两种工况为例,对主车的避撞运动轨迹进行规划,分析不同工况下主车避撞过程中的运动状态变化以及与前车碰撞风险概率变化。结果表明,所提出的运动规划算法能够保证车辆的避撞安全性与运动稳定性。     

Dynamics of Automated Guideway Transit Vehicle with Single-axle Bogies

Summary The steering type of a mechanical guidance system has been used for Automated Guideway Transit (AGT) system in Japan. Recently, the single-axle bogie system has developed for AGT vehicle and applied to Yurikamome 7200 type vehicle. This paper describes dynamic characteristics of AGT vehicle with single-axle bogies. Introducing a nonlinear, 15 degree-of-freedom dynamic model, a computer simulation study on the lateral motion of the AGT vehicle with single-axle bogies are carried out. In order to show the dynamic characteristics of the single-axle bogie clearly, it is compared to that of the AGT vehicle with conventional steering system. The simulation study with actual vehicle parameters shows that single-axle bogie has suitable characteristics for AGT system. The multi-body dynamics modeler, DADS, is used to build the dynamic model of AGT vehicle with single-axle bogies and this is used to demonstrate the vehicle motion in actual guideway. Obtained results are compared to that of the field test. It is shown that the vehicle dynamic response can be obtained in realistic situation by using multibody dynamics code, that is useful for designing both vehicle and guideway.     

Dynamics of Automated Guideway Transit Vehicle with Single-axle Bogies

Summary The steering type of a mechanical guidance system has been used for Automated Guideway Transit (AGT) system in Japan. Recently, the single-axle bogie system has developed for AGT vehicle and applied to Yurikamome 7200 type vehicle. This paper describes dynamic characteristics of AGT vehicle with single-axle bogies. Introducing a nonlinear, 15 degree-of-freedom dynamic model, a computer simulation study on the lateral motion of the AGT vehicle with single-axle bogies are carried out. In order to show the dynamic characteristics of the single-axle bogie clearly, it is compared to that of the AGT vehicle with conventional steering system. The simulation study with actual vehicle parameters shows that single-axle bogie has suitable characteristics for AGT system. The multi-body dynamics modeler, DADS, is used to build the dynamic model of AGT vehicle with single-axle bogies and this is used to demonstrate the vehicle motion in actual guideway. Obtained results are compared to that of the field test. It is shown that the vehicle dynamic response can be obtained in realistic situation by using multibody dynamics code, that is useful for designing both vehicle and guideway.     

Vehicle velocity estimation using effective inertia for an in-wheel electric vehicle

In this study, a vehicle velocity estimation algorithm for an in-wheel electric vehicle is proposed. This algorithm estimates the vehicle velocity using the concept of effective inertia, which is based on the motor torque, the angular velocity of each wheel and vehicle acceleration. Effective inertia is a virtual mass that changes according to the state of a vehicle, such as acceleration, deceleration, turning or driving on a low friction road. The performance of the proposed vehicle velocity estimation algorithm was verified in various conditions that included straight driving, circle driving and low friction road driving using the in-wheel electric vehicle that was equipped with an in-wheel system in each of its rear wheels.     

四轮转向汽车虚拟样机闭环控制操纵动力学仿真

运用ADAMS软件建立了新型四轮转向(4WS)汽车整车虚拟样机模型,利用该模型对比了基于横摆角速度多状态最优控制的4WS汽车同前轮转向(FWS)汽车及其它不同控制算法的阴轮转向汽车(后轮比例于前轮转角算法及后轮转角比例于横摆角速度算法)的操纵稳定性。仿真结果表明,基于横摆角速度多状态最优控制的4WS汽车,其各项评价指标优于FWS汽车以及采用另外两种控制方法的4WS汽车。     

Sideslip angle estimation considering short-duration longitudinal velocity variation

The accurate estimation of sideslip angle is necessary for many vehicle control systems. The detection of sliding and skidding is especially critical in emergency situations. In this paper, a sideslip angle estimation method is proposed that considers severe longitudinal velocity variation over the short period of time during which a vehicle may lose stability due to sliding or spinning. An extended Kalman filter (EKF) based on a kinematic model of a vehicle is used without initialization of the inertial measurement unit to estimate vehicle longitudinal velocity. A dynamic compensation method that compensates for the difference in the locations of the vehicle velocity sensor and the IMU in on-road vehicle tests is proposed. Evaluations with a CarSim™ 27-degree-of-freedom (DOF) model for various vehicle test scenarios and with on-road tests using a real vehicle show that the proposed sideslip angle estimation method can accurately predict sideslip angle, even when vehicle longitudinal velocity changes significantly.     

某PHEV车型动力总成的设计开发

插电式混合动力汽车(PHEV)综合了纯电动汽车(EV)和混合动力汽车(HEV)的优点,既可实现纯电动零排放行驶,也能通过混动模式增加车辆的续驶里程。本文从混合动力构型、关键总成方案对东风某PHEV混合动力总成技术方案进行分析,并对控制策略进行说明。试验表明,该混合动力总成搭载整车后,整车性能优于对比车型,有较强的竞争力。