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汽车转向轻便性的计算机仿真模拟 总被引:5,自引:1,他引:5
对非独立悬架汽车的转向轻便性进行了计算机仿真模拟,其驾驶员模型采用“预瞄-跟随模型”。着重分析了转向系统下摩擦,并分析了若干结构参数对转向轻便性的影响,通过对CA091车的实车试验,验证了模拟计算结构的正确性。 相似文献
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预瞄跟随理论与人-车闭环系统大角度操纵运动仿真 总被引:4,自引:1,他引:3
本文是人-车闭环操纵系统“预瞄最优曲率模型”和“预瞄跟随理论”的进一步验证与推广应用。特别是通过更真实地模拟了驾驶员获取各种信息的参考系统随汽车运动而变化的过程,从而使原来只能模拟小角度转向运动的方法推广到各种大角度转向路径(包括各种封闭形路径)下闭环操纵运动。 相似文献
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基于横向预瞄偏差的驾驶员前视轨迹控制模型 总被引:5,自引:0,他引:5
文章给出了横向预瞄偏差的概念,提出了一种基于横向预瞄偏差的驾驶员前视轨迹控制模型。通过计算机仿真,验证了该控制模型的正确性。该模型与现行的预瞄驾驶员模型相比,具有理解容易,分析计算简单,实用性强的优点。 相似文献
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为提高汽车行驶安全性,设计了基于障碍物斥力场模型的汽车主动避撞系统,建立了道路算盘模型和驾驶员预瞄跟随模型,利用算盘模型可求解出避撞路径,使用驾驶员预瞄跟随模型可求解出汽车转向盘最优转角。通过动静态障碍物环境下的仿真试验表明,利用算盘模型规划出的路径平滑、安全、可跟踪;驾驶员预瞄跟随模型的路径跟随精度高,实现了汽车主动避撞。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(7):922-947
This paper describes a lateral disturbance compensation algorithm for an application to a motor-driven power steering (MDPS)-based driver assistant system. The lateral disturbance including wind force and lateral load transfer by bank angle reduces the driver's steering refinement and at the same time increases the possibility of an accident. A lateral disturbance compensation algorithm is designed to determine the motor overlay torque of an MDPS system for reducing the manoeuvreing effort of a human driver under lateral disturbance. Motor overlay torque for the compensation of driver's steering torque induced by the lateral disturbance consists of human torque feedback and feedforward torque. Vehicle–driver system dynamics have been investigated using a combined dynamic model which consists of a vehicle dynamic model, driver steering dynamic model and lateral disturbance model. The human torque feedback input has been designed via the investigation of the vehicle–driver system dynamics. Feedforward input torque is calculated to compensate additional tyre self-aligning torque from an estimated lateral disturbance. The proposed compensation algorithm has been implemented on a developed driver model which represents the driver's manoeuvreing characteristics under the lateral disturbance. The developed driver model has been validated with test data via a driving simulator in a crosswind condition. Human-in-the-loop simulations with a full-scale driving simulator on a virtual test track have been conducted to investigate the real-time performance of the proposed lateral disturbance compensation algorithm. It has been shown from simulation studies and human-in-the-loop simulation results that the driver's manoeuvreing effort and a lateral deviation of the vehicle under the lateral disturbance can be significantly reduced via the lateral disturbance compensation algorithm. 相似文献
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W. Z. Zhao Y. J. Li C. Y. Wang Z. Q. Zhang C. L. Xu 《International Journal of Automotive Technology》2013,14(6):913-919
The differential steering system (DSS) of electric wheel vehicle gets rid of the restrictions of traditional steering system completely. As an ideal steering technology, it not only realizes the perfect combination of the road feel and the steering portability, but also realizes the harmony and unification between the steering maneuverability and safety. The structure and basic theory of the DSS of electric wheel vehicle are discussed in this paper. Based on these, the dynamic model of the steering system is built. Considering of the uncertainties and disturbances existing in the model, the H∞ mixed sensitivity control theory is applied to achieve better tracking performance and road feel in the process of steering. Then, a H∞ mixed sensitivity controller is designed to restrain the effect of the road disturbance and model uncertainties. The simulation results indicate that the DSS with the designed controller can effectively restrain the effect of noises and disturbances caused by random motivation from road, torque sensor measurement and model parameter uncertainty, and enable the driver to obtain satisfactory road feel. 相似文献
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In this paper, evolving Takagi-Sugeno (eTS) fuzzy driver model is proposed for simultaneous lateral and longitudinal control of a vehicle in a test track closed to traffic. The developed eTS fuzzy driver model can capture human operator’s driving expertise for generating desired steering angle, throttle angle and brake pedal command values by processing only information which can be supplied by the vehicle’s on-board control systems in real time. Apart from other fuzzy rule based (FRB) models requiring human expert knowledge or off-line clustering, the developed eTS driver model can adapt itself automatically, even ‘from scratch’, by an on-line learning process using eTS algorithm while human driver is supervising the vehicle. Proposed eTS fuzzy driver model’s on-line human driver identification capability and autonomous vehicle driving performance were evaluated on real road profiles created by digitizing two different intercity express ways of Turkey in IPG© CarMaker® software. The training and validation simulation results demonstrated that eTS fuzzy driver model can be used in product development phase to speed up different tests via realistic simulations. Furthermore eTS fuzzy driver model has an application potential in the field of autonomous driving. 相似文献
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紧急避障工况下的驾驶人操作具有响应快且动作幅值较大的特点,传统预瞄驾驶人模型已不能适应紧急避障工况的需求,故考虑实际避撞场景开发相应的驾驶人模型就显得尤为必要。针对此种状况,基于驾驶模拟器,结合紧急避撞工况实际驾驶人操纵数据,提出了一种融合预瞄与势场栅格法的紧急避撞驾驶人模型。首先针对紧急避撞工况下车辆运动特点,建立车辆横、纵向耦合非线性动力学模型,并给出其状态空间方程描述;其次,离线仿真分析紧急避撞系统特征,并结合线性二次型最优控制,建立最优曲率预瞄+跟踪误差反馈驾驶人模型;再者,基于紧急避撞工况下真实驾驶人经验转向行为数据,开发基于势场栅格法的驾驶人模型,为进一步提高驾驶人模型对避障行驶工况的适应性,将基于势场栅格法的驾驶人模型与最优曲率预瞄+跟踪误差反馈驾驶人模型进行融合,并基于Sigmoid函数实现两者输出的权重分配;最后,针对所提出的融合预瞄与势场栅格法的驾驶人模型,开展基于避撞台架的驾驶人在环仿真试验以及实车试验。研究结果表明:在紧急避撞工况下,对比最优曲率预瞄+跟踪误差反馈驾驶人模型,融合预瞄与势场栅格法的驾驶人模型输出的转向动作与实际驾驶人行为较为接近,可在保证避障安全性的前提下,兼顾避障路径跟踪精度与车辆行驶的稳定性。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1149-1168
Vehicle steering dynamics show resonances, which depend on the longitudinal speed, unstable equilibrium points and limited stability regions depending on the constant steering wheel angle, longitudinal speed and car parameters. The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced. For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
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Riccardo Marino Stefano Scalzi Fabio Cinili 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2007,45(12):1149-1168
Vehicle steering dynamics show resonances, which depend on the longitudinal speed, unstable equilibrium points and limited stability regions depending on the constant steering wheel angle, longitudinal speed and car parameters.
The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced.
For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced.
For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(2):218-235
The structural characteristics and steering behaviour of a six-track vehicle are described in this paper. Kinematic analysis for skid steering of a six-track vehicle under steady-state conditions on firm ground is conducted, with the relationship between thrust force and speed instantaneous centre of the track–terrain interface taken into consideration. A mechanical model for steady steering of a six-track vehicle is also presented based on the kinematic analysis. In this model, the steering inaccuracy and efficiency are defined to evaluate steering performance. The steering performance of a six-track vehicle is numerically simulated to analyse the effect of the structural parameters and deflection angles on tracks. A virtual prototype model is established based on the multi-body dynamics software RecurDyn for steering simulation and the findings coincide well with theoretical results. The theory and the virtual prototype simulations presented are verified by a power test of a bucket-wheel excavator. The method for analysing the steering performance of a six-track vehicle proposed in this paper provides a basis for designing a six-track vehicle. 相似文献
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Application of Elementary Neural Networks and Preview Sensors for Representing Driver Steering Control Behaviour 总被引:1,自引:0,他引:1
Charles C. Macadam Associate Research Scientist Gregory E. Johnson Engineer in Research 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1996,25(1):3-30
This paper demonstrates the use of elementary neural networks for modelling and representing driver steering behaviour in path regulation control tasks. Areas of application include uses by vehicle simulation experts who need to model and represent specific instances of driver steering control behaviour, potential on-board vehicle technologies aimed at representing and tracking driver steering control behaviour over time, and use by human factors specialists interested in representing or classifying specific families of driver steering behaviour. Example applications are shown for data obtained from a driver/vehicle numerical simulation, a basic driving simulator, and an experimental on-road test vehicle equipped with a camera and sensor processing system. 相似文献
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H. -Z. Li L. Li J. Song L. -Y. Yu 《International Journal of Automotive Technology》2011,12(5):679-686
A new comprehensive driver model is presented for critical maneuvering conditions with more accurate dynamic control performance.
In order to achieve a safe maneuvering mode, a new path planning scheme to maintain stability of the vehicle was designed.
A new steering strategy, considering the errors of vehicle position and yaw angle between the real track and the planned path,
was established to obtain the steering angle. Therefore, the vehicle can be adjusted to accurately follow the desired path
with the driver model, and the stability of the vehicle and the smoothness of the steering angle input were comprehensively
considered. Simulation results were used to validate the control performance in comparison with the optimal preview driver
model proposed by Macadam. 相似文献