基于TruckSim的装载工况影响下弯道安全车速阈值
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摘要
为研究装载工况和路面条件对弯道路段安全车速阈值的影响,运用TruckSim仿真软件建立大型车辆整车动力学模型、道路场景模型和驾驶人控制策略模型,从装载质量和道路附着系数2个方面分别设计实验进行仿真,分析车辆在弯道路段发生侧滑、侧翻的影响因素及其影响程度。以陕西省某高速公路一弯道路段为例,研究了车辆在双因素影响下,通过弯道的安全车速阈值。结果表明:随着装载质量的增加,弯道安全车速阈值减小,安全车速阈值与装载质量之间为幂函数关系;道路附着系数在0.1~0.6范围内时,随着弯道路面附着系数的增加,弯道安全车速阈值减小,且二者为指数函数关系;当道路附着系数在0.6~1.1范围内时,随着弯道路面附着系数的增加,弯道安全车速阈值变化趋于平缓。根据模型仿真分析结果,针对超载超限问题,进一步对交通管理部门、装载人员和驾驶人提出相应的安全建议,旨在提高公路弯道行车主动安全性,也为公路安全运营研究提供理论及技术支持。
In order to investigate the influence of loading conditions and road conditions on safe driving speed threshold on curve section of road,oversize vehicle dynamics model,road scene model and driver control model were established by using TruckSim software. Simulation tests were conducted in terms of the loading quality and road adhesion coefficient,and the contributory factors to vehicle rollover and sideslip on curve section of road and the degree of influence were analyzed. Finally,one curve section on an expressway in Shaanxi Province was taken as an example,and the safe driving speed threshold influenced by two factors was studied. The results indicate that the safe driving speed threshold on curve section decreases with increasing loading quality of freight,and it shows a power function relationship between safe driving speed threshold and loading quality; safe driving speed threshold on the curve section presents a downward trend while the road adhesion coefficient increases from 0. 1 to 0. 6,and the safe driving speed threshold and road adhesion coefficient show an exponential function relationship; safe driving speed threshold on the curve section remains stable while the road adhesion coefficient increases from 0. 6 to 1. 1. In accordance with the model simulation analysis results and aimed at overload and over-limited problems,this paper gives some security advice to traffic management departments,stevedores as well as drivers,which can improve the active safety for driving on the curve section of road and provide theoretical and technical support for road safety operation research.
In order to investigate the influence of loading conditions and road conditions on safe driving speed threshold on curve section of road,oversize vehicle dynamics model,road scene model and driver control model were established by using TruckSim software. Simulation tests were conducted in terms of the loading quality and road adhesion coefficient,and the contributory factors to vehicle rollover and sideslip on curve section of road and the degree of influence were analyzed. Finally,one curve section on an expressway in Shaanxi Province was taken as an example,and the safe driving speed threshold influenced by two factors was studied. The results indicate that the safe driving speed threshold on curve section decreases with increasing loading quality of freight,and it shows a power function relationship between safe driving speed threshold and loading quality; safe driving speed threshold on the curve section presents a downward trend while the road adhesion coefficient increases from 0. 1 to 0. 6,and the safe driving speed threshold and road adhesion coefficient show an exponential function relationship; safe driving speed threshold on the curve section remains stable while the road adhesion coefficient increases from 0. 6 to 1. 1. In accordance with the model simulation analysis results and aimed at overload and over-limited problems,this paper gives some security advice to traffic management departments,stevedores as well as drivers,which can improve the active safety for driving on the curve section of road and provide theoretical and technical support for road safety operation research.
引文
[1]余贵珍,李芹,王云鹏,等.车辆弯道行驶侧倾稳定性分析与侧翻预警研究[J].北京工业大学学报,2014,40(4):574-579.YU G Z,LI Q,WANG Y P,et al.Roll stability and early-warning of vehicle driving in the curve[J].Journal of Beijing University of Technology,2014,40(4):574-579(in Chinese).
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[3]孙川,吴超仲,褚端峰,等.弯道安全车速计算改进模型研究[J].中国公路学报,2015,25(8):101-108.SUN C,WU C Z,ZHU D F,et al.Improved model study of safety speed calculation in curves[J].Chinese Journal of Highway and Transport,2015,25(8):101-108(in Chinese).
[4]吴焱,卢杨,李飞,等.高速公路大型车弯道行驶安全性及限速研究[J].公路,2015(4):162-168.WU Y,LU Y,LI F,et al.Research on safety and speed-limit of oversize vehicle on expressway curve sections[J].Highway,2015(4):162-168(in Chinese).
[5]任园园.公路弯道路段行车危险区域及驾驶行为模型研究[D].长春:吉林大学,2011.REN Y Y.Research on driving dangerous area and driving behavior model in road curved section[D].Changchun:Jilin University,2011(in Chinese).
[6]徐敏,黄星,张驰,等.山区急弯路段行车安全性模糊综合评判分析方法[J].中国公路学报,2016,29(6):186-197.XU M,HUANG X,ZHANG C,et al.Application of fuzzy synthesis evalution to driving safty analysis of sharp curves on mountain expressways[J].China Journal of Highway and Transport,2016,29(6):186-197(in Chinese).
[7]张德兆,王建强,李升波,等.基于风险状态预估的弯道防侧滑超速预警系统[J].公路交通科技,2009(s1):44-48.ZHANG D Z,WANG J Q,LI S B,et al.Risk prediction based curve anti-sideslip speed warning system[J].Journal of Highway and Transportation on Research and Development,2009(s1):44-48(in Chinese).
[8]刘洋,宇仁德,宋林潇.侧风作用下弯道行车安全速度阈值的仿真研究[J].广西大学学报(自然科学版),2016,41(2):506-511.LIU Y,YU R D,SONG L X.Simulation study on safe travel speed threshold of curve lane under crosswinds[J].Journal of Guangxi University(Natural Science Edition),2016,41(2):506-511(in Chinese).
[9]徐进,罗庆,毛嘉川,等.考虑弯道几何要素和交通量影响的汽车行驶速度预测模型[J].中国公路学报,2012,25(5):47-57.XU J,LUO Q,MAO J C,et al.Speed prediction model of car/truck considering the effect of curve geometric features and traffic volume[J].China Journal of Highway and Transport,2012,25(5):47-57(in Chinese).
[10]林涛.山区公路曲线段车辆加速度及轨迹研究[D].上海:同济大学,2008.LIN T.Study on acceleration and trajectory of vehicle in mountain road curve section[D].Shanghai:Tongji University,2008(in Chinese).
[11]唐歌腾,任春晓,李臣.基于Truck Sim的不同弯道半径安全车速确定方法[J].公路交通科技,2016,33(6):134-139.TANG G T,REN C X,LI C.A determination method of safety driving speeds on different radii based on Trucksim[J].Journal of Highway and Transportation on Research and Development,2016,33(6):134-139(in Chinese).
[12]FELIPE E,NAVIN F.Automobiles on horizontal curves:Experiments and observations[J].Transportation Research Record Journal of the Transportation Research Board,1998,1628(1):50-56.
[13]KIM S,CHOI J.Effects of preceding geometric conditions on operating speed consistency of multilane highways[J].Canadian Journal of Civil Engineering,2013,40(6):528-536.
[14]吴涛,焦静,范学琼,等.基于Trucksim的整车动力性能仿真分析[J].汽车实用技术,2016(6):63-65.WU T,JIAO J,FAN X Q,et al.Simulation and analysis on vehicle power performance with Trucksim[J].Automobile Applied Technology,2016(6):63-65(in Chinese).
[15]龙佳庆,韦超毅.基于Truck Sim的半挂汽车列车转向特性的仿真分析[J].河池学院学报,2016,36(2):79-82.LONG J Q,WEI C Y.Simulation analysis of the steering characteristics of semi-dragging trucks based on Truck Sim[J].Journal of Hechi University,2016,36(2):79-82(in Chinese).
[16]王艺颖.基于Truck Sim的道路运输交通安全仿真研究[D].西安:长安大学,2015.WANG Y Y.Study on the road traffic safety simulation based on Truck Sim[D].Xi’an:Chang’an University,2015(in Chinese).
[17]国家质量监督检验检疫总局,中国国家标准化管理委员会.汽车、挂车及汽车列车外廓尺寸、轴荷及质量限值:GB1589-2016[S].北京:中国标准出版社,2016.General Administration of Quality Supervision,Inspection and Quarantine of the People’s Republic of China,Standardization Administration of the People’s Republic of China.Limits of dimensions,axle load and masses for motor vehicles,trailers and combination vehicles:GB 1589-2016[S].Beijing:China Standard Press,2016(in Chinese).
[18]岑达希.基于主动转向与差动制动的汽车防侧翻控制研究[D].杭州:浙江大学,2011.CEN D X.Research on vehicle anti-rollover control based on active steering and differential braking[D].Hangzhou:Zhejiang University,2011(in Chinese).
[19]贺宜,褚端峰,吴超仲,等.路面附着条件对车辆横向稳定性影响的量化分析[J].武汉理工大学学报(交通科学与工程版),2014,38(4):784-787.HE Y,CHU D F,WU C Z,et al.Quantitative analysis of influence on vehicular lateral stability by road surface condition[J].Journal of Wuhan University of Technology(Transportation Science&Engineering),2014,38(4):784-787(in Chinese).
[20]LEE Y H,DENG W W.Speed control method for vehicle approaching and traveling on a curve:US7400963B2[P].2008-07-28.
[21]LEE Y H.Automatic speed control system for vehicle approaching and driving on a curve[C]∥International Mechanical Engineering Congress and Exposition.New York:ASME,2008:345-353.
[22]蒋在文.道路超限超载运输治理的机理与对策[D].西安:长安大学,2010.JIANG Z W.Mechanism and countermeasures of road overrunning and overloading[D].Xi’an:Chang’an University,2010(in Chinese).
[23]赵金龙.山区公路交通标志设置研究[D].西安:长安大学,2006.ZHAO J L.Study on traffic sign setting of mountain road[D].Xi’an:Chang’an University,2006(in Chinese).
[24]郑安文.我国道路交通安全的现状与改善对策[J].武汉科技大学学报(自然科学版),2006,29(1):105-108.ZHENG A W.Current situation and improvement of road traffic safety in China[J]Journal of Wuhan University of Science and Technology(Natural Science Edition),2006,29(1):105-108(in Chinese).
[2]朱秋萍.山区高速公路弯道路段安全行车速度与限速应用的研究[D].广州:华南理工大学,2014.ZHU Q P.Study on the safe operating speed and speed limit of freeway curve sections in mountain areas[D].Guangzhou:South China University of Technology,2014(in Chinese).
[3]孙川,吴超仲,褚端峰,等.弯道安全车速计算改进模型研究[J].中国公路学报,2015,25(8):101-108.SUN C,WU C Z,ZHU D F,et al.Improved model study of safety speed calculation in curves[J].Chinese Journal of Highway and Transport,2015,25(8):101-108(in Chinese).
[4]吴焱,卢杨,李飞,等.高速公路大型车弯道行驶安全性及限速研究[J].公路,2015(4):162-168.WU Y,LU Y,LI F,et al.Research on safety and speed-limit of oversize vehicle on expressway curve sections[J].Highway,2015(4):162-168(in Chinese).
[5]任园园.公路弯道路段行车危险区域及驾驶行为模型研究[D].长春:吉林大学,2011.REN Y Y.Research on driving dangerous area and driving behavior model in road curved section[D].Changchun:Jilin University,2011(in Chinese).
[6]徐敏,黄星,张驰,等.山区急弯路段行车安全性模糊综合评判分析方法[J].中国公路学报,2016,29(6):186-197.XU M,HUANG X,ZHANG C,et al.Application of fuzzy synthesis evalution to driving safty analysis of sharp curves on mountain expressways[J].China Journal of Highway and Transport,2016,29(6):186-197(in Chinese).
[7]张德兆,王建强,李升波,等.基于风险状态预估的弯道防侧滑超速预警系统[J].公路交通科技,2009(s1):44-48.ZHANG D Z,WANG J Q,LI S B,et al.Risk prediction based curve anti-sideslip speed warning system[J].Journal of Highway and Transportation on Research and Development,2009(s1):44-48(in Chinese).
[8]刘洋,宇仁德,宋林潇.侧风作用下弯道行车安全速度阈值的仿真研究[J].广西大学学报(自然科学版),2016,41(2):506-511.LIU Y,YU R D,SONG L X.Simulation study on safe travel speed threshold of curve lane under crosswinds[J].Journal of Guangxi University(Natural Science Edition),2016,41(2):506-511(in Chinese).
[9]徐进,罗庆,毛嘉川,等.考虑弯道几何要素和交通量影响的汽车行驶速度预测模型[J].中国公路学报,2012,25(5):47-57.XU J,LUO Q,MAO J C,et al.Speed prediction model of car/truck considering the effect of curve geometric features and traffic volume[J].China Journal of Highway and Transport,2012,25(5):47-57(in Chinese).
[10]林涛.山区公路曲线段车辆加速度及轨迹研究[D].上海:同济大学,2008.LIN T.Study on acceleration and trajectory of vehicle in mountain road curve section[D].Shanghai:Tongji University,2008(in Chinese).
[11]唐歌腾,任春晓,李臣.基于Truck Sim的不同弯道半径安全车速确定方法[J].公路交通科技,2016,33(6):134-139.TANG G T,REN C X,LI C.A determination method of safety driving speeds on different radii based on Trucksim[J].Journal of Highway and Transportation on Research and Development,2016,33(6):134-139(in Chinese).
[12]FELIPE E,NAVIN F.Automobiles on horizontal curves:Experiments and observations[J].Transportation Research Record Journal of the Transportation Research Board,1998,1628(1):50-56.
[13]KIM S,CHOI J.Effects of preceding geometric conditions on operating speed consistency of multilane highways[J].Canadian Journal of Civil Engineering,2013,40(6):528-536.
[14]吴涛,焦静,范学琼,等.基于Trucksim的整车动力性能仿真分析[J].汽车实用技术,2016(6):63-65.WU T,JIAO J,FAN X Q,et al.Simulation and analysis on vehicle power performance with Trucksim[J].Automobile Applied Technology,2016(6):63-65(in Chinese).
[15]龙佳庆,韦超毅.基于Truck Sim的半挂汽车列车转向特性的仿真分析[J].河池学院学报,2016,36(2):79-82.LONG J Q,WEI C Y.Simulation analysis of the steering characteristics of semi-dragging trucks based on Truck Sim[J].Journal of Hechi University,2016,36(2):79-82(in Chinese).
[16]王艺颖.基于Truck Sim的道路运输交通安全仿真研究[D].西安:长安大学,2015.WANG Y Y.Study on the road traffic safety simulation based on Truck Sim[D].Xi’an:Chang’an University,2015(in Chinese).
[17]国家质量监督检验检疫总局,中国国家标准化管理委员会.汽车、挂车及汽车列车外廓尺寸、轴荷及质量限值:GB1589-2016[S].北京:中国标准出版社,2016.General Administration of Quality Supervision,Inspection and Quarantine of the People’s Republic of China,Standardization Administration of the People’s Republic of China.Limits of dimensions,axle load and masses for motor vehicles,trailers and combination vehicles:GB 1589-2016[S].Beijing:China Standard Press,2016(in Chinese).
[18]岑达希.基于主动转向与差动制动的汽车防侧翻控制研究[D].杭州:浙江大学,2011.CEN D X.Research on vehicle anti-rollover control based on active steering and differential braking[D].Hangzhou:Zhejiang University,2011(in Chinese).
[19]贺宜,褚端峰,吴超仲,等.路面附着条件对车辆横向稳定性影响的量化分析[J].武汉理工大学学报(交通科学与工程版),2014,38(4):784-787.HE Y,CHU D F,WU C Z,et al.Quantitative analysis of influence on vehicular lateral stability by road surface condition[J].Journal of Wuhan University of Technology(Transportation Science&Engineering),2014,38(4):784-787(in Chinese).
[20]LEE Y H,DENG W W.Speed control method for vehicle approaching and traveling on a curve:US7400963B2[P].2008-07-28.
[21]LEE Y H.Automatic speed control system for vehicle approaching and driving on a curve[C]∥International Mechanical Engineering Congress and Exposition.New York:ASME,2008:345-353.
[22]蒋在文.道路超限超载运输治理的机理与对策[D].西安:长安大学,2010.JIANG Z W.Mechanism and countermeasures of road overrunning and overloading[D].Xi’an:Chang’an University,2010(in Chinese).
[23]赵金龙.山区公路交通标志设置研究[D].西安:长安大学,2006.ZHAO J L.Study on traffic sign setting of mountain road[D].Xi’an:Chang’an University,2006(in Chinese).
[24]郑安文.我国道路交通安全的现状与改善对策[J].武汉科技大学学报(自然科学版),2006,29(1):105-108.ZHENG A W.Current situation and improvement of road traffic safety in China[J]Journal of Wuhan University of Science and Technology(Natural Science Edition),2006,29(1):105-108(in Chinese).