【摘要】 主要是研究负载变化对油罐车自动紧急制动系统的影响.建立罐内液体的"质量-弹簧"等效机械模型,根据该模型计算制动时罐内液体的冲击力;基于车辆运动学和动力学方程建立了自动紧急制动模型,并对模型进行了仿真测试和实车测试验证.结果显示,防抱死系统的介入是空载情况下油罐车制动减速度曲线波动的原因,而满载情况下油罐车制动减速度曲线波动是由于罐内液体的晃动.进一步研究发现,有负载时,由于罐内液体的晃动,油罐车的制动效率衰减超过40%.基于这些发现,平均制动减速度和制动时间被加入到自动紧急制动算法中以计算更合理的提前制动时间和需求减速度.更多还原

【Abstract】 Due to the difference of brake characteristics between unladen and laden tankers,this paper focuses on the effects of load on autonomous emergency braking system(AEBs)for tanker trucks.First,the"mass-spring"equivalent mechanical model of the liquid in the tank was established,based on which the impact force of the liquid in the tank was calculated,and the autonomous emergency braking model was established based on the vehicle kinematics and kinetic equation.Besides,the autonomous emergency braking algorithm was evaluated and tested on a real tanker truck.The results show that the anti-lock brake system(ABS)intervention causes the fluctuation of brake pressure,which leads to the fluctuation of deceleration of unladen tanker truck.However,the deceleration curve of laden tanker truck is W-type because of the impact of liquid oscillation.Further study finds that the braking efficiency is greatly declined by the impact of liquid oscillation by more than40% of laden tanker truck.Based on these findings,the average deceleration and braking time are added to the AEB algorithm to help calculate the reasonable time to brake and requested deceleration.更多还原