基于路面附着系数估计的多路况安全距离模型
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摘要
采用UKF估计方法对路面附着系数等状态参数进行估计。首先建立包含整车模型与Dugoff轮胎模型的车辆动力学模型,在此基础上建立车辆四轮动力学模型,然后选取干沥青、湿沥青、雪地、冰面4种典型路面,通过UKF对车辆状态与路面附着系数进行估计,将估计结果与仿真的实际输出值进行对比分析,以验证估计结果的精确度。此后选取合适的车辆安全距离模型,在此基础上加入对路面附着系数、坡道角等因素的考虑,提出改进后的安全距离模型,使之更加符合实际情况。通过Carsim与Matlab/Simulink联合仿真,得到在4种典型路面上车辆跟驰状态下前后车的距离与相对速度变化曲线,验证了模型的可靠性。
In this paper,we use the UKF estimation method to estimate the state parameters such as the vehicle model and the Dugoff tire model. Based on this,the four-wheel dynamic model of the vehicle is established under the dry asphalt and wet asphalt Snowfield and ice surface. The UKF is used to estimate the vehicle condition and the road surface adhesion coefficient. The estimation result is compared with the actual output value of the simulation to verify the accuracy of the estimation result. Then,an appropriate safety distance model of the vehicle is selected. On this basis,the factors such as the adhesion coefficient and the ramp angle of the road are added,and the improved safety distance model are put forward to make it more suitable for the actual situation. Through the joint simulation of Carsim and Matlab/Simulink,the distance and relative velocity curves of the vehicle before and after the vehicle in the four typical road surfaces are obtained,and the reliability of the model is verified.
In this paper,we use the UKF estimation method to estimate the state parameters such as the vehicle model and the Dugoff tire model. Based on this,the four-wheel dynamic model of the vehicle is established under the dry asphalt and wet asphalt Snowfield and ice surface. The UKF is used to estimate the vehicle condition and the road surface adhesion coefficient. The estimation result is compared with the actual output value of the simulation to verify the accuracy of the estimation result. Then,an appropriate safety distance model of the vehicle is selected. On this basis,the factors such as the adhesion coefficient and the ramp angle of the road are added,and the improved safety distance model are put forward to make it more suitable for the actual situation. Through the joint simulation of Carsim and Matlab/Simulink,the distance and relative velocity curves of the vehicle before and after the vehicle in the four typical road surfaces are obtained,and the reliability of the model is verified.
引文
[1] AHN C S,PENG H,TSENG H E. Robust estimation of road friction coefficient using lateral and longitudinal vehicle dynamics[J]. Vehicle System Dynamics,2012,50(6):961-985.
[2] STEFFEN M,MICHAEL U,KARL H. Estimation of the maximum tire. road friction coefficient[J]. Journal of Dynamic Systems Measurement and Control,2003,125(12):607-617.
[3] ANG J M,LEE A,RAJAMANI R. Friction estimation on highway vehicles using longitudinal measurements[J].Journal of Dynamic Systems,Measurement,and Control,2004,126(6):265-275.
[4] LI K,MISENER J A,HEDRICK K. On—board road condition monitoring system using slip-based tyre—road friction estimation and wheel speed signal analysis[J]. Journal of Multi—body Dynamics,2007,221(1):129-146.
[5] RAJAMANI R,PIYABONGKARN D N,LEW J Y,et a1.Tire. road friction—coefficient estimation[J]. IEEE Control Systems Magazine,2010,30(4):54-69.
[6] Jin X J,Yin G. Estimation of lateral tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach[J]. Journal of the Franklin Institute,2015,352(2):686-707.
[7]万莉,刘焰春,皮亦鸣. EKF、UKF、PF目标跟踪性能的比较[J].雷达科学与技术,2007,5(1):13-16.
[8]魏洪峰,韩志艳.运动目标检测与跟踪[J].渤海大学学报(自然科学版),2017(4):370-377.
[9] SEILER P,SONG B,HEDRICK J. Development of a Coll ision Avoidance System[Z]. SAE 980853.
[10] YI Kyongsu,WOO Minsu,KIM Sungha,et al. An Experimental Investigation of a CW/CA System for Automobile Using Hardware in the Loop Simulation[C]//Proceedings of the American Control Conference,San Diego,Cal ifornia. 1999.
[11]李晓霞,李百川,侯德藻,等.汽车追尾碰撞预警系统开发研究[J].中国公路学报,2001,14(3); 93-95.
[12] YOON J H,LI S E,AHN C. Estimation of Vehicle Sideslip Angle and Tire-Road Friction Coefficient Based on Magnetometer with GPS[J]. International Journal of Automotive Technology,2016,17(3):427-435.
[13] JANSSON J,GUSTAFSSON F. Decision making for collision avoidance systems[R]. SAE Paper,2002-010403.
[14] MOON Seungwuk,YI Kyongsu. Human driving databased design of a vehicle adaptive cruise control algorithm[J].Vehicle System Dynamics,2008,46(8):661-690.
[2] STEFFEN M,MICHAEL U,KARL H. Estimation of the maximum tire. road friction coefficient[J]. Journal of Dynamic Systems Measurement and Control,2003,125(12):607-617.
[3] ANG J M,LEE A,RAJAMANI R. Friction estimation on highway vehicles using longitudinal measurements[J].Journal of Dynamic Systems,Measurement,and Control,2004,126(6):265-275.
[4] LI K,MISENER J A,HEDRICK K. On—board road condition monitoring system using slip-based tyre—road friction estimation and wheel speed signal analysis[J]. Journal of Multi—body Dynamics,2007,221(1):129-146.
[5] RAJAMANI R,PIYABONGKARN D N,LEW J Y,et a1.Tire. road friction—coefficient estimation[J]. IEEE Control Systems Magazine,2010,30(4):54-69.
[6] Jin X J,Yin G. Estimation of lateral tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach[J]. Journal of the Franklin Institute,2015,352(2):686-707.
[7]万莉,刘焰春,皮亦鸣. EKF、UKF、PF目标跟踪性能的比较[J].雷达科学与技术,2007,5(1):13-16.
[8]魏洪峰,韩志艳.运动目标检测与跟踪[J].渤海大学学报(自然科学版),2017(4):370-377.
[9] SEILER P,SONG B,HEDRICK J. Development of a Coll ision Avoidance System[Z]. SAE 980853.
[10] YI Kyongsu,WOO Minsu,KIM Sungha,et al. An Experimental Investigation of a CW/CA System for Automobile Using Hardware in the Loop Simulation[C]//Proceedings of the American Control Conference,San Diego,Cal ifornia. 1999.
[11]李晓霞,李百川,侯德藻,等.汽车追尾碰撞预警系统开发研究[J].中国公路学报,2001,14(3); 93-95.
[12] YOON J H,LI S E,AHN C. Estimation of Vehicle Sideslip Angle and Tire-Road Friction Coefficient Based on Magnetometer with GPS[J]. International Journal of Automotive Technology,2016,17(3):427-435.
[13] JANSSON J,GUSTAFSSON F. Decision making for collision avoidance systems[R]. SAE Paper,2002-010403.
[14] MOON Seungwuk,YI Kyongsu. Human driving databased design of a vehicle adaptive cruise control algorithm[J].Vehicle System Dynamics,2008,46(8):661-690.