【作者】 张淼；

【导师】 刘明周；

【作者基本信息】 合肥工业大学 ， 工业工程， 2017， 博士

【摘要】 汽车转向操纵舒适性关系到汽车驾驶体验以及汽车行驶的安全性和稳定性,改善汽车转向操纵舒适性对于降低交通事故与疲劳损伤风险具有重要意义。鉴于人、车、道路环境三者相互关联,在研究汽车转向操纵舒适性时必须综合考虑汽车转向系统特性、驾驶者的个体差异以及驾驶场景特征。针对这一问题,首先提出操纵力感知场理论,将影响人机系统操纵舒适性的共性特征因素映射至场结构中进行归类分析,进而构建操纵力感知场模型用以定量测评人机系统操纵舒适性;其次,将操纵力感知场模型应用于汽车转向操纵作业实例中,以转向力反馈特征参量为基础度量指标,综合驾驶者及驾驶场景因素,对汽车转向操纵舒适性进行定量测评;在此基础上,通过模拟移线试验研究特定的车况和路况条件下对应不同被试者的最优转向力反馈特征参量,并借助试验测量与虚拟仿真结合的方法分析舒适的转向操纵过程中驾驶者的上肢运动及发力特征,最终为汽车转向操纵舒适性的测评及优化提供理论与方法指导。主要的内容及结果如下:(1)分析不同类型操纵作业的同性特征、影响因素以及影响规律,重点围绕人-机接触力以及人的肢体运动及发力特征构建操纵力感知场模型,作为普适性的操纵舒适性度量方法。(2)通过汽车转向操纵过程中所需的转向力特性、汽车对于转向操纵的运动响应以及驾驶者的操纵行为特征三个方面分析汽车转向操纵人机交互特点,在此基础上,将操纵力感知场模型应用于汽车转向操纵作业实例,用以定量测评汽车转向操纵舒适性。(3)结合实物仿真和虚拟仿真方法,针对转向操纵舒适性测评试验需求,以线控转向系统的转向盘总成为核心机构原型,设计并开发了可自由调整布局的汽车转向操纵模拟与测试系统,对汽车的转向操纵力反馈和驾驶视觉场景进行同步模拟。(4)通过聘请男、女各20名被试者进行模拟移线试验,结合被试者的主观偏好选择和客观的转向操纵作业表现,测定三车道公路上的汽车移线驾驶场景条件下最优的简化转向力反馈特征参量,即最大反馈力矩MA和转向刚度系数k。结果表明:随着车速的上升,最优MA和最优k均有所增大;并且,在同为60 km/h模拟车速的条件下,男性试者所测最优MA明显大于女性被试者,而最优k不具有显著性差异。(5)挑选一名男性被试者在与其对应的最优转向力反馈特征条件下,测量其在转向操纵过程中的上肢运动数据,并借助OpenSim仿真软件分析被试者的上肢主要肌肉的发力情况,为依据人体生物力学特征指标定量研究汽车转向操纵舒适性提供了方法参考。更多还原

【Abstract】 Vehicle steering comfort is related to the driving experience,safety and stability.The improvement of vehicle steering comfort has great significance to reduce the risk of traffic accident and fatigue damage.For driver,vehicle,and road environment relate to cach other,steering system features,drivers’ individual differences,and characteristics of driving scene should be considered synthetically in vehicle steering comfort research.Concerning this issue,firstly,the theory of perception field of operating forces is presented.The common features that influencing the handling comfort of man-machine systems are mapping to the field structure to classified and analyzed.Then the model of perception field of operating forces is built for quantitative assessment of the handling comfort of man-machine systems.Secondly,the model of perception field of operating forces is applied to the vehicle steering case.The steering force feedback characteristic parameters is taken as basic measure indexes,and the driver and driving scene factors are integrated to assess the vehicle steering comfort quantitatively.On this basis,the optimal steering force feedback characteristic parameters corresponding to different subjects in specific vehicle and the road condition are researched by simulated lane change test.And driver ’s arm movement and power characteristics during the process of comfortable steering are analyzed by the method of experimental measurement and virtual simulation.Finally,it provides theory and method guidance for vehicle steering comfort evaluation and optimization.The main contents and results are as follows:(1)The same characteristics,influence factors,and the influence law of different kinds of manipulations are analyzed.And the model of perception field of operating forces is built by focusing on the characteristics of man-machine contact force and human body movement and power.The model could be used as a universal measure method of handling comfort.(2)The characteristic of the steering force required during the process of vehicle steering,the vehicle movement responded to steering,and the driver’s steering behavior features are analyzed as the principle of man-machine interaction of vehicle steering.Then,the model of perception field of operating forces is applied to vehicle steering instance to quantitatively evaluate the steering comfort.(3)Aiming at the requirement of the steering comfort evaluation test,the vehicle steering simulation and testing system is designed and developed.The steering wheel assembly of steer-by-wire system is the core institutions prototype of this system.It’s layout can be freely adjusted.And it can synchronically simulate the steering force feedback and the visual driving scene.(4)20 male and 20 female subjects participate in the simulated lane change test.In the scene of a car changing lanes on a road with three lanes,the simplified optimal characteristic parameters of steering force feedback,i.e.the maximum torque feedback MA and the steering stiffness coefficient k,are measured by the subjects’ subjective preference and objective performance.The results show that optimal MA and k both increase with the rise of vehicle speed.The optimal MA of male subjects is larger than that of female subjects obviously,yet the optimal k has no significant difference.(5)A male subject is selected to measure his arm movement data under the condition of the optimal steering force feedback corresponding to him.Then the main muscle forces of the subject’ arm are analyzed with the aid of OpenSim software.The results can provide method reference for the vehicle steering comfort quantitative study with the characteristic indexes of human biomechanics.更多还原