基于制动安全的汽车主动控制的速度研究
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摘要
我国每年交通事故带来的损失巨大,其中由驾驶员失误引发的交通事故占90%以上。面对日益严峻的交通安全形势,传统的针对碰撞发生后的被动保护技术和措施已经不能满足现代交通的要求,发展以预防为核心的现代汽车主动安全技术成为现代交通的迫切需求。特别是安全辅助驾驶技术的开发具有重要的现实意义。相比国外的研发工作,我国在行驶辅助系统方面的研究起步较晚,技术成果不够成熟,不能覆盖和解决车辆行驶中遇到的所有实际问题。研究主要局限于平稳路面上两车同向行驶时超车或防追尾的层面,忽略了行驶实际路况的复杂性。一旦单车高速行驶在弯路或下坡路段情况下,现存的行驶辅助系统就失去了作用。因此,研究弯路和下坡路段的辅助行驶有利于填补目前汽车行驶智能化中关于道路影响的空白,是十分必要的。
本文首先通过总结国内外行驶辅助系统的研究现状,从汽车制动安全方面考虑,提出了一种新的行驶辅助系统设计方案——汽车主动速度控制系统。并针对该系统的安全速度控制方面,以道路和车辆为主要考虑因素,对汽车在弯路和下坡两种道路条件下可能发生的危险工况如侧滑、侧翻、制动距离过长等进行了深入分析,选取了影响车辆安全行驶的主要参数:纵向速度、侧向偏移量和前后车轮垂直反力,建立了两种路况下安全速度的数学模型。同时将理论分析与仿真试验相结合,以多体动力学仿真软件ADAMS为平台,建立了车辆模型、道路模型、车—路耦合模型和仿真试验模型,通过仿真方案、驾驶员控制策略的设计选择,实现了车——路联合仿真。最后借助成渝高速公路的实际道路模型,分别对选取的弯路段和下坡路段进行了不同速度的仿真,通过对仿真结果的分析确定了相应路段行驶控制的安全速度值。
为保证汽车制动安全,论文从动力学角度对汽车在弯路和下坡路段的行驶稳定性进行了详细的研究,分别建立了速度与弯道半径和坡度的数学模型。并将车辆在弯道和下坡路段仿真得出的安全速度值与通过数学模型计算得到的安全速度值进行了比较。经过误差分析验证了提出的数学模型的准确性达到了95%以上。说明该模型可以作为汽车主动速度控制系统限速的依据和辅助行驶时相应路段的安全速度的判别标准。论文的研究成果为汽车主动速度控制系统的研发奠定了理论基础,具有重要的指导价值,对提高汽车的制动安全具有一定的可行性。。
Faced with an increasingly severe traffic safety situation, the collision occurred for the traditional passive protection technology and measures have been unable to meet modern traffic requirements, The development of prevention as the core of the modern automotive active safety technology to become the urgent needs of modern traffic. Huge annual losses caused by traffic accidents, in which pilot error caused the accident by the more than 90%, safe driver assistance technology development a key part of the solution. Compared to foreign R & D, supporting our safe driving skills in the research started late, the outcome of immature technology, vehicles can not reach and resolve all the practical problems encountered. National studies are mainly on a smooth road to travel with two vehicles when overtaking or prevent rear-end level, ignoring the complexity of running the actual road conditions. Once the single car at high speed in bends or descent cases, the existing driving support system had collapsed. Therefore, the study bends and downhill section of the auxiliary driving motor cars and help fill the current intelligence gaps on the road impact, can effectively improve the vehicle's active safety, has important practical significance
This article summarizes the support system of internal and external security situation, a new design of driver assistance systems - vehicle active speed control system. On that basis, to ensure vehicle in bends, and downhill braking safety, the main road and vehicle factors considered, two kinds of road conditions on the risk of possible conditions, such as yaw, roll, braking distance is too long, etc. in-depth analysis to determine the safety of vehicles traveling on the main parameters: the longitudinal speed, lateral offset and wheel around the vertical force, establishing a safe speed under the two kinds of road conditions the mathematical model. The same time, theoretical analysis and simulation test combined with multi-body dynamic simulation software ADAMS for the platform, a vehicle model and road model cars - Road coupled model, simulation test model, through the establishment of simulation scenarios, simulation of the design, the driver the choice of control strategy to achieve the simulation conditions. Finally the actual use of Chengdu-Chongqing Expressway road model, were selected bends on the downhill section and different sections of the speed of simulation. In the simulation, the processing, moving through the main parameters affecting the security curve analysis to determine the value of the corresponding roads and the speed limit.
Articles vehicles in the corners and descent rate of simulation shows the safety value calculated by the corresponding mathematical model of road safety under the conditions of velocity are compared. After error analysis verified the accuracy of the mathematical model proposed to achieve more than 95%, to improve the car's braking safety is certainly feasible. Note that the model could serve as a vehicle active speed control system and auxiliary driving the speed limit based on the speed of identification when safety standards. Research paper speed control system for automotive research and development initiative has laid a theoretical foundation, has important guiding value.
本文首先通过总结国内外行驶辅助系统的研究现状,从汽车制动安全方面考虑,提出了一种新的行驶辅助系统设计方案——汽车主动速度控制系统。并针对该系统的安全速度控制方面,以道路和车辆为主要考虑因素,对汽车在弯路和下坡两种道路条件下可能发生的危险工况如侧滑、侧翻、制动距离过长等进行了深入分析,选取了影响车辆安全行驶的主要参数:纵向速度、侧向偏移量和前后车轮垂直反力,建立了两种路况下安全速度的数学模型。同时将理论分析与仿真试验相结合,以多体动力学仿真软件ADAMS为平台,建立了车辆模型、道路模型、车—路耦合模型和仿真试验模型,通过仿真方案、驾驶员控制策略的设计选择,实现了车——路联合仿真。最后借助成渝高速公路的实际道路模型,分别对选取的弯路段和下坡路段进行了不同速度的仿真,通过对仿真结果的分析确定了相应路段行驶控制的安全速度值。
为保证汽车制动安全,论文从动力学角度对汽车在弯路和下坡路段的行驶稳定性进行了详细的研究,分别建立了速度与弯道半径和坡度的数学模型。并将车辆在弯道和下坡路段仿真得出的安全速度值与通过数学模型计算得到的安全速度值进行了比较。经过误差分析验证了提出的数学模型的准确性达到了95%以上。说明该模型可以作为汽车主动速度控制系统限速的依据和辅助行驶时相应路段的安全速度的判别标准。论文的研究成果为汽车主动速度控制系统的研发奠定了理论基础,具有重要的指导价值,对提高汽车的制动安全具有一定的可行性。。
Faced with an increasingly severe traffic safety situation, the collision occurred for the traditional passive protection technology and measures have been unable to meet modern traffic requirements, The development of prevention as the core of the modern automotive active safety technology to become the urgent needs of modern traffic. Huge annual losses caused by traffic accidents, in which pilot error caused the accident by the more than 90%, safe driver assistance technology development a key part of the solution. Compared to foreign R & D, supporting our safe driving skills in the research started late, the outcome of immature technology, vehicles can not reach and resolve all the practical problems encountered. National studies are mainly on a smooth road to travel with two vehicles when overtaking or prevent rear-end level, ignoring the complexity of running the actual road conditions. Once the single car at high speed in bends or descent cases, the existing driving support system had collapsed. Therefore, the study bends and downhill section of the auxiliary driving motor cars and help fill the current intelligence gaps on the road impact, can effectively improve the vehicle's active safety, has important practical significance
This article summarizes the support system of internal and external security situation, a new design of driver assistance systems - vehicle active speed control system. On that basis, to ensure vehicle in bends, and downhill braking safety, the main road and vehicle factors considered, two kinds of road conditions on the risk of possible conditions, such as yaw, roll, braking distance is too long, etc. in-depth analysis to determine the safety of vehicles traveling on the main parameters: the longitudinal speed, lateral offset and wheel around the vertical force, establishing a safe speed under the two kinds of road conditions the mathematical model. The same time, theoretical analysis and simulation test combined with multi-body dynamic simulation software ADAMS for the platform, a vehicle model and road model cars - Road coupled model, simulation test model, through the establishment of simulation scenarios, simulation of the design, the driver the choice of control strategy to achieve the simulation conditions. Finally the actual use of Chengdu-Chongqing Expressway road model, were selected bends on the downhill section and different sections of the speed of simulation. In the simulation, the processing, moving through the main parameters affecting the security curve analysis to determine the value of the corresponding roads and the speed limit.
Articles vehicles in the corners and descent rate of simulation shows the safety value calculated by the corresponding mathematical model of road safety under the conditions of velocity are compared. After error analysis verified the accuracy of the mathematical model proposed to achieve more than 95%, to improve the car's braking safety is certainly feasible. Note that the model could serve as a vehicle active speed control system and auxiliary driving the speed limit based on the speed of identification when safety standards. Research paper speed control system for automotive research and development initiative has laid a theoretical foundation, has important guiding value.
引文
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[10]王建强,李克强.复杂路况下汽车主动避撞报警技术研究[J] .公路交通科技.2005(4):132-136
[11]宾洋,李克强.车辆起-停巡航控制系统的跟踪控制[J].清华大学学报.2005(2).27-36
[12]李克强,高锋.基于ITS技术的汽车驾驶安全辅助系统[J] .汽车技术.2006(4):64-67
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[25]刘红军,明平顺,程远会,马飞.ADAMS在汽车操纵稳定性中的应用研究[J].武汉理工大学学报.2003(4):50-53
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[31] ADAMS/Car Help.USA:MSC.Software Corporation.2003
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[33] Traffic Speed Problem Definition and counter measure Speed [R].Australia.2000
[34]任卫群.车-路系统动力学中的虚拟样机——MSC.ADAMS软件应用实践[M] .北京:电子工业出版社.2005
[35] Kenneth R.Buckholtz.Reference Input Slip Tracking Using Sliding Mode Control. Society of Automotive Engineers.2002.01
[36]杨浩,赵东标,周娜.汽车制动自动控制系统的研究[J].机械制造与研究.2001(1)21-24
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[38]王景武,金立生.车辆自适应巡航控制系统控制技术的发展[J].汽车技术.2004(1)1-7
[39]刘刚,侯德藻,李克强等.汽车主动避撞系统安全报警算法[J].清华大学学报.2004.44 (5):698-700
[40]郭立书,张泰,葛安林等.汽车自动变速控制系统的发展[J].公路交通科技.2003.20 (3):163-166
[41]余卓平,刘高翔.汽车制动过程中参考车速计算方法的研究[J] .汽车技术.1998(5):01-05
[42] Roads and traffic authority Speed Problem Definition and countermeasure Summary, Speed[R] .Australia.2000
[43]蔡果.汽车的横向稳定性与交通安全分析[J] .内蒙古公路与运输.2001(1):41-44
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[2]王跃建,李克强.基于ITS的汽车主动避撞性关键技术研究[A].汽车技术.2003(3):03-05
[3]邵毅明,胡燕.道路事故多发路段动力学仿真系统[A].西南交通大学学报.2008(4):174-176
[4]刘小明,任福田.论道路交通安全[M] .人民交通出版社.2001
[5] Yamamura Y,TabeM Kanehira Met al. Development of an adaptive cruise control system with stop and go capability. In:SAE 2001 World Congress.Detroit,Michigan,USA,2001:103-108
[6] Hedrick.J.K.Nonlinear controller design for automated vehicle application.IEE Conference Publication1998.455(1):23-32
[7] Fildes.B.N , Rumbold.G , Leening.A . Speed behavior and drivers attitude to speeding[R] .Sydney:Monash University,1991
[8]姜华平,许洪国,李浩,李祥贵.高速公路车辆超速行驶交通事故分析[J].交通运输系统工程与信息.2003(3):49-51
[9]羊拯民,李伟.汽车制动过程中瞬时车速和轮速的仿真计算[J].合肥工业大学学报2000(6):116-118
[10]王建强,李克强.复杂路况下汽车主动避撞报警技术研究[J] .公路交通科技.2005(4):132-136
[11]宾洋,李克强.车辆起-停巡航控制系统的跟踪控制[J].清华大学学报.2005(2).27-36
[12]李克强,高锋.基于ITS技术的汽车驾驶安全辅助系统[J] .汽车技术.2006(4):64-67
[13]唐海波,车辆行驶速度智能控制体系研究[D].重庆交通大学研究生论文. [14」万家庆.自主车安全刹车问题仿真研究[D].国防科技大学硕士论文.2005 [15」贾杨成.虚拟样机技术在汽车制动仿真方面应用研究[D].合肥工业大学硕士论文.2004 [16」马恒永,贾杨成.ADAMS在汽车制动仿真方面的应用与扩展研究.中国汽车工程学会2003学术年会论文集[17」韩宗奇,余志生.汽车转弯制动性能的模拟计算[J].汽车工程.1991
[18] Mechanical Dynamics Ins.ADAMS /car User's Reference Manual.Mechanical Dynamic Inc.USA 1994
[19]郑建荣.ADAMS虚拟样机技术入门与提高[M].机械工业出版社.2002
[20]廖永升.桑塔纳制动系统在ADAMS中的建模[D].吉林大学论文.2002
[21]余志生.汽车理论[M].机械工业出版社.2000
[22]蔡果.我国高速公路交通事故趋势分析[J] .中国安全科学学报.2001
[23]马玉春.高速公路车速与安全关系研究[D] .北京交通大学硕士学位论文.2006.12
[24]徐进.生成三维连续路表面的算法及其关键技术[J] .计算机工程与应用.2006(10):209-212.
[25]刘红军,明平顺,程远会,马飞.ADAMS在汽车操纵稳定性中的应用研究[J].武汉理工大学学报.2003(4):50-53
[26]谌志强,李硕.高速公路车速与交通安全[J] .道路交通与安全.2006.6(8).
[27]张殿业.驾驶员适用性及可靠性[M] .北京:冶金工业出版社,1996
[28] Baruya A.Speed-accident relationships on different kinds of European roads[R] .London: Transportation Research Laboratory, 1998
[29] Federal Highway Administration.Synthesis of Safety Research Related to Speed and Speed Limits[R] .Publication No.FH-WA-RD-98-154.1999
[30]王应.汽车高速转弯紧急制动时稳定性的研究[D] .合肥工业大学硕士学位论文.2007.5
[31] ADAMS/Car Help.USA:MSC.Software Corporation.2003
[32]范成建,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高[M].机械工业出版社
[33] Traffic Speed Problem Definition and counter measure Speed [R].Australia.2000
[34]任卫群.车-路系统动力学中的虚拟样机——MSC.ADAMS软件应用实践[M] .北京:电子工业出版社.2005
[35] Kenneth R.Buckholtz.Reference Input Slip Tracking Using Sliding Mode Control. Society of Automotive Engineers.2002.01
[36]杨浩,赵东标,周娜.汽车制动自动控制系统的研究[J].机械制造与研究.2001(1)21-24
[37]刘彩志,陈思忠.提高汽车主动安全性和操作稳定性的控制策略研究[J].专用汽车.2002. (2)18-20
[38]王景武,金立生.车辆自适应巡航控制系统控制技术的发展[J].汽车技术.2004(1)1-7
[39]刘刚,侯德藻,李克强等.汽车主动避撞系统安全报警算法[J].清华大学学报.2004.44 (5):698-700
[40]郭立书,张泰,葛安林等.汽车自动变速控制系统的发展[J].公路交通科技.2003.20 (3):163-166
[41]余卓平,刘高翔.汽车制动过程中参考车速计算方法的研究[J] .汽车技术.1998(5):01-05
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