基于场景的智能网联汽车模拟仿真测试评估方法与实践

搭载自动驾驶功能的智能网联汽车因可在其设计运行条件内承担全部动态驾驶任务,面临安全验证与评估挑战。基于场景的智能网联汽车安全测试评估方法已成为广泛的行业共识,模拟仿真测试是其重要手段之一。从第三方视角,针对自动驾驶安全性、高场景覆盖度、逻辑完备性等测试验证目标,搭建基于软件在环的模拟仿真测试环境框架,在此基础上研究基于设计运行条件覆盖的测试场景集构建方法,探索形成一套高可信智能网联汽车模拟仿真测试评估方法,并在特定应用场景进行初步实践。研究成果为模拟仿真测试在智能网联汽车安全测试与评估中的落地应用提供了参考。     

某型柴油发电机组测试控制系统的研制

论文中对某型柴油发电机组测试控制系统所实现的主要功能、技术指标、测试系统主要组成、工作原理作了系统论述,该测试控制系统可以解决柴油发电机组在大修中的测试控制问题,提高维修效率,降低维修成本。该系统的研制对其他类似柴油发电机组的测试和控制有一定借鉴作用。     

CFG桩在粉细砂软弱地基处理中的应用

针对粉细砂软弱地基的特点,采用CFG桩进行处理。以文昌市东郊至龙楼公路为依托,采用理正岩土软件对CGF桩复合地基的桩间土承载力和复合地基承载力进行了计算分析;对CFG桩复合地基承载力进行了现场检测。计算和检测结果表明:CFG桩能有效提高粉细砂软弱地基的承载力,处理效果满足相关设计规范的要求。     

The effects of geometric detail on the vibratory responses of complex ship-like thin-walled structures

Hydroelasticity of ships and studies in coupled antisymmetric vibrations have become increasingly important with container ships becoming faster and more slender. In this investigation, a ship-like structure is modelled and an equivalent backbone with a U-shaped cross section is designed. Their responses are compared, and limitations of various modelling approaches are discussed. It is demonstrated that scaling of the natural frequencies is insufficient to ensure scaling of the antisymmetric mode shapes and the relevant differences are quantified. Consequently, the backbone model should be viewed as a separate structure for validation purposes rather than a scaled model of a ship.     

基于在线一致性测试理论的CBTC车载ATO功能测试研究

自动列车驾驶系统(ATO)是CBTC系统的重要组成部分,验证测试其控制功能逻辑的正确性和安全性至关重要。介绍了ATO控制原理和功能,分析了CBTC中典型的两车追踪控制运行场景控制流程,得到了该场景下的列车运行安全需求。结合时间自动机理论,建立了包含列车动力学、车载ATO、ZC以及时钟控制器的两车追踪场景时间自动机网络模型,验证了模型中安全需求的正确性;基于一致性测试理论,定义了被测车载ATO软件与测试环境的可观测输入/输出接口,利用UPPAAL-TRON工具设计了被测车载ATO软件的一致性测试框架,并进行了一致性测试分析。在此基础上,采用变异测试,针对典型的车载ATO软件功能实现错误(错误的安全距离、静态限速、功能逻辑以及命令丢失等)进行了安全性验证。结论表明:该在线一致性测试方法能够及时发现车载ATO软件行为与规范模型的不一致,有效提升了车载ATO功能测试的检错能力。     

Environmental effects on Pacejka’s scaling factors

A set of scaling factors has been introduced by Pacejka [Pacejka, H.B., 2002, Tyre and Vehicle Dynamics (Oxford: Butterworth Heinemann Editions)] into his Magic Formula tyre model to take into account the influence of a number of external overall parameters such as road roughness, weather conditions, suspension characteristics and so on. These scaling factors are important for a correct prediction of tyre–road contact forces, but are not a function of the tyre itself. Changing the point of view, one could say that scaling factors should remain constant for different tyres on the same circuit, with the same weather conditions and with the same car. After characterizing different tyres through indoor tests (that do not consider external overall parameters) and after having identified Pacejka’s coefficients with scaling factors equal to one, several outdoor experimental tests have been carried out to assess the influence of vehicle and road surface conditions on scaling factors. These experimental data allowed us to identify, through a minimization approach, the ‘best’ set of Pacejka’s scaling factors for that vehicle and for that tyre on that track. Scaling factors for equal track and vehicle but different tyres were compared to check whether their values remained constant. To access the validity of scaling factors, a comparison between experimental data, collected on an instrumented passenger car, and MB simulations considering unity and identified scaling factors’ values, were carried out. All experimental data shown in this article come from tests carried out within the VERTEC project, a European founded research project (Task 2.a and 2.b) that puts together knowledge coming from vehicle manufacturers (Volvo, Porsche and Centro Ricerche Fiat CRF), tyre manufacturers (Pirelli and Nokian Tyres), control logic manufacturers (Lucas Varity GmbH), road maintenance experts (Centres d’Études Techniques de l’Équipement CETE), transport research organizations (Transport Research Laboratory TRL, Swedish National Road and Transport Research Institute VTI) and universities (Helsinki University of Technology HUT, Politecnico di Milano and University of Florence UNIFI).     

淤土地基灌注桩水平承载特性试验及数值计算

针对淤土地基灌注桩水平荷载作用下桩体受力特性,通过现场水平承载力破坏性试验,对不同桩长、桩径和桩基上部土体的两个试验区进行对比研究,由现场实测得到的桩体桩身轴力与弯矩分布情况,得知桩径增加和桩基上部土体改善有助于提高水平承载力,但桩径的增加对水平承载力的提高效果更为显著;利用ABAQUS数值计算对水平承载特性进行研究,并与现场试验结果进行对比分析,对比表明:现场实测数据和数值模拟的拟合程度较好,说明有限元在桩基水平承载能力研究方面具有合理性,为进一步利用有限元研究桩体水平承载力提供了一定的理论基础.     

A theoretical justification of the sine with dwell manoeuvre

The sine with dwell (SWD) manoeuvre has received much attention within the context of vehicle stability testing. This manoeuvre is used in a test developed by the NHTSA, designed to certificate electronic stability control systems in light vehicles. The test is used in legislations as well as in consumer tests all over the globe. The SWD manoeuvre was designed using test vehicles on a test track and experimentally validated. The paper at hand uses optimal control theory to theoretically justify the use of the SWD manoeuvre to produce a severe lateral motion and over-steering based on steering input. It is shown that a manoeuvre similar to the SWD manoeuvre can be obtained from an optimal control problem using simple vehicle dynamics models. The optimal control method is further used to analyse the manoeuvre's robustness with respect to vehicle dimensions and tyre properties. It is shown that the manoeuvre is robust in dimensions, which theoretically motivates its application for various sizes of vehicles.     

Tractor–semitrailer model for vehicles carrying liquids

This article presents a model for solving solid–fluid interactions in vehicles carrying liquids. A tractor–semitrailer model is developed by incorporating suspension systems and tire dynamics. Owing to the solid–fluid interaction, equations of motion for the vehicle system are coupled. To simplify the complicated solution procedure, the coupled equations are solved separately using two different codes. Each code is analyzed separately; but as the parameters of the two codes depend on each other, the codes must be connected at the end of each time step. To determine the dynamic behavior of the system, different braking moments are applied. As the braking moments increase, braking time decreases. However, it turns out that increasing the braking moment to more than a certain level produces no significant results. It is also shown that vehicles carrying fluids need a greater amount of braking moments in comparison to vehicles carrying solids during braking. In addition, as the level of the fluid inside the tanker increases, from one-third to two-third of the tanker’s volume, the sloshing forces applied to the tanker’s walls increase. It was also concluded that the strategy used in this article to solve for the solid–fluid interaction by incorporating vehicle dynamic effects represents an effective method for determining the dynamic behavior of vehicles carrying fluids in other critical maneuvers.     

基于FSI方法的轮胎横向花纹沟泵吸噪声研究

运用abaqus对具有横向花纹槽的轮胎滚动进行仿真,提取轮胎沟槽表面在轮胎接地过程中随时间的变形曲线。建立单个横向花纹沟和其周围的空气域模型,在沟槽表面加载变形曲线,利用FSI方法分析了横向花纹沟尺寸对轮胎花纹沟泵吸噪声的影响。从分析结果可知,轮胎花纹沟泵吸噪声随着沟槽长度的增大而减小,随着沟槽宽度的增大而增大,但随沟槽深度的变化不明显。本文结果与相关文献的试验结果一致,表明FSI方法分析轮胎花纹沟泵吸噪声可行。