基于改进TTR算法的车辆侧翻预警研究
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摘要
侧翻时限(TTR)能有效用于车辆侧翻预警,然而传统的TTR方法所选定的侧翻阈值因行车条件的改变难以精确设定,会导致预警提前或滞后等问题。为了弥补传统TTR算法的不足,提高车辆侧翻预警的有效性,建立了三自由度车辆动力学模型;提出了以车辆的当前侧向加速度与实时侧向极限加速度的比值这一相对量作为侧翻评价指标,替代传统依靠侧倾角或侧向加速度等绝对量来进行侧翻预测;根据当前车辆运动状态计算未来发生侧翻时的TTR值,从而得到改进TTR侧翻预警算法。结果表明:改进TTR侧翻预警算法较传统基于侧倾角或侧向加速度的这两种TTR侧翻预警算法,能更准确地发现侧翻危险。
The TTR method might realize vehicle rollover warning,but there existed some problems(i.e.premature warning,hysteretic warning),because rollover threshold was difficult to precisely set up due to changing traffic conditions.In order to improve the traditional TTR method and the effectiveness of vehicle rollover warning,three degrees of freedom of vehicle dynamics model was established.A rollover evaluation index was proposed by using the relative value,i.e.ratio of immediate lateral acceleration to the real time lateral limit acceleration,instead of absolute value such as roll angle or lateral acceleration for rollover warning.According to the current vehicle dynamic states,TTR value in the forthcoming was calculated in real time.Finally,based on the improved TTR,the criticality of rollover threat in the forthcoming was predicted,and the vehicle rollover warning was achieved.The results show that comparing with two traditional TTR rollover warning algorithms,the improved TTR rollover warning algorithm may be used to predict rollover more precisely.
The TTR method might realize vehicle rollover warning,but there existed some problems(i.e.premature warning,hysteretic warning),because rollover threshold was difficult to precisely set up due to changing traffic conditions.In order to improve the traditional TTR method and the effectiveness of vehicle rollover warning,three degrees of freedom of vehicle dynamics model was established.A rollover evaluation index was proposed by using the relative value,i.e.ratio of immediate lateral acceleration to the real time lateral limit acceleration,instead of absolute value such as roll angle or lateral acceleration for rollover warning.According to the current vehicle dynamic states,TTR value in the forthcoming was calculated in real time.Finally,based on the improved TTR,the criticality of rollover threat in the forthcoming was predicted,and the vehicle rollover warning was achieved.The results show that comparing with two traditional TTR rollover warning algorithms,the improved TTR rollover warning algorithm may be used to predict rollover more precisely.
引文
[1]Chu Duanfeng,Lu Xiaoyun,Li Gangyan,et al.Rollover Prevention or Vehicles with Elevated CG Using Active Control[C]//The 10th International Symposium on Advanced Vehicle Control(AVEC10).Loughborough,UK,2010:147-152.
[2]褚端峰,李刚炎.半主动悬架汽车防侧翻控制的研究[J].汽车工程,2012,34(5):399-402,432.Chu Duanfeng,Li Gangyan.A Research on Antirollover Control for Vehicles with Semi-active Suspension[J].Automotive Engineering,2012,34(5):399-402,432.
[3]University of Michigan.Cooperative Agreement to Foster the Deployment of a Heavy Vehicle Intelligent Dynamic Stability Enhancement System Interim Report[R].Ann Arbor:University of Michigan,1998.
[4]Chen B,Peng H.Differential Braking Based Rollover Prevention for Sport Utility Vehicles with Human in the Loop Evaluations[J].Vehicle System Dynamic,2001,36(4/5):359-389.
[5]Chen B.Warning and Control for Vehicle Rollover Prevention[D].Ann Arbor:University of Michigan,2002.
[6]张不扬,宗长富,王德平.车辆侧翻预警研究现状与关键技术[J].汽车技术,2010,419(8):27-31.Zhang Buyang,Zong Changfu,Wang Deping.Status of Research and Key Technology of Vehicle Rollover Warning System[J].Automobile Technology,2010,419(8):27-31.
[7]于志新,宗长富.基于TTR预警的重型车辆防侧翻控制算法[J].吉林大学学报(工学版),2009,39(9):252-253.Yu Zhixin,Zong Changfu.Algorithms of Anti-rollover Control for Heavy Vehicle Based on TTR Warning[J].Journal of Jilin University(Engineering and Technology Edition),2009,39(9):252-253.
[8]朱天军,宗长富,吴炳胜,等.基于改进TTR算法的重型车辆侧翻预警系统[J].机械工程学报,2011,47(10):88-94.Zhu Tianjun,Zong Changfu,Wu Bingsheng,et al.Rollover Warning System of Heavy Duty Vehicle Based on Improved TTR Algorithm[J].Journal of Mechanical Engineering,2011,47(10):88-94.
[9]赵健,郭俐彤,朱冰,等.基于神经网络和侧翻时间算法的轻型汽车侧翻预警[J].吉林大学学报(工学版),2012,42(5):1083-1088.Zhao Jian,Guo Litong,Zhu Bing,et al.Rollover Warning for Light Vehicles Based on NN-TTR Algorithm[J].Journal of Jilin University(Engineering and Technology Edition),2012,42(5):1083-1088.
[10]麦莉,曲伟,朱天军,等,基于模型预测的重型商用车侧翻预警算法[J].吉林大学学报(工学版),2010,40(4):906-910.Mai Li,Qu Wei,Zhu Tianjun,et al.Rollover Warning Algorithm of Heavy Commercial Vehicle Based on Model Prediction[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(4):906-910.
[2]褚端峰,李刚炎.半主动悬架汽车防侧翻控制的研究[J].汽车工程,2012,34(5):399-402,432.Chu Duanfeng,Li Gangyan.A Research on Antirollover Control for Vehicles with Semi-active Suspension[J].Automotive Engineering,2012,34(5):399-402,432.
[3]University of Michigan.Cooperative Agreement to Foster the Deployment of a Heavy Vehicle Intelligent Dynamic Stability Enhancement System Interim Report[R].Ann Arbor:University of Michigan,1998.
[4]Chen B,Peng H.Differential Braking Based Rollover Prevention for Sport Utility Vehicles with Human in the Loop Evaluations[J].Vehicle System Dynamic,2001,36(4/5):359-389.
[5]Chen B.Warning and Control for Vehicle Rollover Prevention[D].Ann Arbor:University of Michigan,2002.
[6]张不扬,宗长富,王德平.车辆侧翻预警研究现状与关键技术[J].汽车技术,2010,419(8):27-31.Zhang Buyang,Zong Changfu,Wang Deping.Status of Research and Key Technology of Vehicle Rollover Warning System[J].Automobile Technology,2010,419(8):27-31.
[7]于志新,宗长富.基于TTR预警的重型车辆防侧翻控制算法[J].吉林大学学报(工学版),2009,39(9):252-253.Yu Zhixin,Zong Changfu.Algorithms of Anti-rollover Control for Heavy Vehicle Based on TTR Warning[J].Journal of Jilin University(Engineering and Technology Edition),2009,39(9):252-253.
[8]朱天军,宗长富,吴炳胜,等.基于改进TTR算法的重型车辆侧翻预警系统[J].机械工程学报,2011,47(10):88-94.Zhu Tianjun,Zong Changfu,Wu Bingsheng,et al.Rollover Warning System of Heavy Duty Vehicle Based on Improved TTR Algorithm[J].Journal of Mechanical Engineering,2011,47(10):88-94.
[9]赵健,郭俐彤,朱冰,等.基于神经网络和侧翻时间算法的轻型汽车侧翻预警[J].吉林大学学报(工学版),2012,42(5):1083-1088.Zhao Jian,Guo Litong,Zhu Bing,et al.Rollover Warning for Light Vehicles Based on NN-TTR Algorithm[J].Journal of Jilin University(Engineering and Technology Edition),2012,42(5):1083-1088.
[10]麦莉,曲伟,朱天军,等,基于模型预测的重型商用车侧翻预警算法[J].吉林大学学报(工学版),2010,40(4):906-910.Mai Li,Qu Wei,Zhu Tianjun,et al.Rollover Warning Algorithm of Heavy Commercial Vehicle Based on Model Prediction[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(4):906-910.