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

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

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.