【摘要】 由于当前应用较为广泛的智能车辆所需扭矩均较大，换挡后加速过程，车身前后振动明显，尤其在高速行驶时易出现方向盘抖动或跳动、发动机支撑不稳的问题。为此，提出考虑路面平整度的智能汽车行驶振动感应方法。构建路面平整度函数模拟，计算有效道路空间振动频率分量，计算汽车行驶过程中受到路面空间振动激励和响应。在路面激励模型中加入截至频率，构建车路间耦合性振动感应模型，计算车辆系统和道路系统间各种情况下振动。利用路面振动响应函数的速度谱和加速度谱函数，计算路面对车辆振动的激励和响应间关联度，结合相对坐标的函数推导，实现对智能汽车行驶振动的感应。实验结果显示，研究方法能准确计算出汽车行驶中的振动频率，且对振动的感应误差小，说明上述方法的应用具有准确性高，鲁棒性好的性能优势。更多还原

【Abstract】 At present, common intelligent vehicles require high torque. After shifting, the front and rear vibrations of the car body are obvious during acceleration. Especially, when driving at high speed, the vehicle is prone to the problems of steering wheel shaking or jumping, and engine support instability. Therefore, this paper proposed a sensing method for intelligent vehicle driving vibration based on pavement roughness. Firstly, a simulation of pavement roughness functions was constructed to calculate the vibration frequency component of available road space and the excitation and response of spatial vibration of the road. Then the cutoff frequency was added to the pavement excitation model for building a coupling vibration induction model between vehicles and roads. Secondly, the vibration between vehicle systems and road systems was calculated in different conditions. Moreover, the speed spectrum and acceleration spectrum function of the road vibration response function was used to calculate the correlation between the excitation and response of the road surface to vehicle vibration. Finally, combined with the function derivation of relative coordinates, the sensing for the driving vibration of the intelligent vehicle was achieved. Experimental results prove that the proposed method can accurately calculate the vibration frequency of the vehicle driving state with low error of vibration, indicating the performance advantages of high accuracy and good robustness.更多还原