| 引用本文: | 王慧丽,史忠科.山区道路车辆动力学模型与行车安全分析[J].控制理论与应用,2015,32(6):837~843.[点击复制] |
| WANG Hui-li,SHI Zhong-ke.Vehicle dynamics model and safety analysis on mountainous road[J].Control Theory and Technology,2015,32(6):837~843.[点击复制] |
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| 山区道路车辆动力学模型与行车安全分析 |
| Vehicle dynamics model and safety analysis on mountainous road |
| 摘要点击 2769 全文点击 1139 投稿时间：2014-11-04 修订日期：2015-04-20 |
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| DOI编号 10.7641/CTA.2015.41024 |
| 2015,32(6):837-843 |
| 中文关键词 车辆动力学模型 横向载荷转移率 滑移率 轮胎的垂直载荷 |
| 英文关键词 vehicle dynamics model lateral load transfer ratio wheel slip normal tire force |
| 基金项目 |
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| 中文摘要 |
| 针对道路的几何线形, 特别是纵坡坡度与弯道半径对车辆行驶状态的影响, 建立了车路耦合的8自由度山区道路行驶的 车辆动力学模型以及Dugoff轮胎力模型. 结合车载GPS/IMU的测量信息, 解算了不同车轮的滑移率以及 垂直载荷, 并通过横向载荷转移率(LLTR)对车辆的行驶稳定性进行分析. 结果表明: 车辆行驶过程中的侧向加速度与道路纵坡坡度以及车辆重心高度与宽度的比率h/T有关, 坡度越陡, h/T越大, 侧向加速度越大, 车辆的行驶稳定性越差, 降低车辆的行驶速度 与侧向加速度可提高车辆的行驶稳定性. |
| 英文摘要 |
| Considering the influence of road geometrical characteristics (especially the road grade angle and turning radius) on vehicle state, we build an 8 degree-of-freedoms (DOF) vehicle dynamics model and Dugoff tire force model on mountainous road. Combining with the measurement information of GPS and IMU installed on the vehicle, we estimate the wheel slips and normal tire forces for different wheels and analyze the vehicle stability based on the lateral load transfer ratio (LLTR). The experimental result shows that the vehicle lateral movement is related with the vehicle velocity and the lateral acceleration. With the increase of road slope angle, the larger the ratio of vehicle height to width h/T, the higher the lateral acceleration is, and the worse the vehicle stability will be. Reducing the lateral movement can improve the vehicle stability. |
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