【作者】 马捷；

【导师】 李显生；

【作者基本信息】 吉林大学 ， 载运工具运用工程， 2015， 硕士

【摘要】 改革开放的几十年来,我国经济保持着高速增长的状态,国民生活发生了翻天覆地的变化。经济的发展促进了交通行业的兴起,我国汽车总量也以较大的增量逐年增加。同时,频发的交通事故给人们的人身财产安全带来了巨大损失。特别是在生活水平较高的城市生活圈中,私家车作为城市居民日常生活中出行首选,其保有量激增,导致城市交通安全事故频发。城市道路交通事故多发生在弯道路段处,造成事故的原因有很多,其中超速驾驶、驾驶员操作过失等导致车辆操纵稳定性降低而发生事故的主要原因。因此,研究分析城市道路运行时车辆操纵稳定性以及驾驶员驾驶行为习惯成为提高城市道路环境下交通安全研究的主要课题。研究车辆操纵稳定性的主要方法包括:实车试验法、软件建模仿真法和模拟软件仿真法等。其中软件建模仿真法通过搭建整车动力学模型并对模型进行数值求解的方法获取汽车主要运行参数的时变曲线,根据对时变曲线的变化规律、频率、幅值等的分析探究车辆操纵稳定性的好坏。本文通过深入学习、研究国内外已有的研究结果,通过在B市、C市、S市三地进行实地试验,采集城市交通环境下多名驾驶员实车试验数据,并结合软件建模仿真法建立城市道路小轿车操纵稳定性研究模型,为后人免去实车试验进行理论分析提供条件。本论文主要研究内容及成果有如下几点:1.简化车辆模型,建立被测车辆的简化车辆坐标系以及等效的力学结构模型,结合仿真建模的实际目的,建立被测车辆三自由度线性模型。根据试验目的确定被测车辆参数测量方法,利用MATLAB/SIMULINK软件仿真来研究车辆状态参数的变化,以及车辆在不同的方向盘转角输入的情况下的转弯特性,最终确立一个可用的车辆仿真模型,为免去实车测试即可定性研究城市道路驾驶行为特性提供方法。2.针对采集城市道路驾驶员驾驶车辆的操纵稳定性相关参数的需求,开发出了一套基于两天线GPS测量仪RLVB20SL、三轴惯性陀螺仪IMU02、模拟信号数据采集模块RLVBADC03、方向盘式力角测量仪TR6050-E90S、制动力测量传感器等设备的全新的车辆操纵稳定性检测系统。该系统剔除传统复杂、匹配度和准确度低的检测系统体系,特别是在对驾驶员直接动作的方向盘转角参数的测定上,实现了采集设备完全匹配、数据绝对精准的程度。3.本文通过大量的实车试验方式进行了城市道路车辆稳定性状态参数和驾驶员驾驶行为研究分析。分别在B市、C市、S市三个地市进行实车城市道路试验,通过多次试验的方式筛选出最优的试验路线以及满足研究目的所需而确定的不同条件的驾驶员。试验前后分别进行了:驾驶员、路线筛选等;采用小波滤波对数据干扰点进行剔除;为了研究分析方便提出了新的概念,按试验目的重新定义道路类别,将弯道按道路中心线定义为钝角弯、直角弯、锐角弯以及环形道路等;最后对不同地区、不同性别、不同驾驶技能掌握程度对试验数据进行分组对比分析。4.通过结合实车数据分析和数据模型仿真分析,本文确定了城市道路驾驶时车辆稳定性的主要影响因素。依据大量的试验数据,对仿真车辆动力学模型参数进行调整,使仿真结果更加接近真实试验结果,为后人进行城市道路车辆操纵稳定性分析提供了可用仿真模型。更多还原

【Abstract】 In the past decades of reform and opening up,China has maintained a rapid growth in economy and seen great changes in people’s livelihood.As a result,the number of cars totals at an ever increasing speed,and people’s personal and property safety become endangered by the frequent traffic accidents.Especially for those who enjoy a higher standards of living,traffic accidents occurred more frequently as the car ownership shoot up and people often choose private cars to getting around.Urban road traffic accidents are liable to occur on the curved section of a road.The reasons for such accidents include speeding,operation negligence of the driver and others which decreasing the vehicle handling stability.Therefore,the analysis of driving behaviors and vehicle handling stability on urban roads are essential to improve urban roads traffic safety.The methods for studying vehicle handling stability include real vehicle testing,software modeling simulation and software simulation.Among them,software modeling simulation,through building vehicle kinetic models and solving numerical value of the models,obtains the time-varying curve of a vehicle’s operational parameters.By analyzing the changing rules,frequency and amplitude of the curve,the author could decide whether the vehicle handling is stable or not.After a detailed study of the research results from home and abroad,the paper,to study urban roads vehicle handling stability,has acquired data from real vehicle testing in the city of B,C and S and established research models with software modeling simulation.The research and its results include the following:1.Simplify the vehicle model,and establish for the vehicle under test a coordinate system,an equivalent mechanical model,and a 3-DOF linear model with consideration for the purpose of simulation modeling.Identify methods for measuring parameters of the vehicle under test,study the change of state parameters with MATLAB/SIMULINK software simulation,and the turning performance of vehicles under different steering wheel angles.In doing so,a practicable vehicle simulation model could be established,which can provide a way to study urban road driving behaviors without real vehicle testing.2.A brand new vehicle handling stability detection system is developed to obtain parameters of drivers’ handling stability on the urban road.This system is based on two antennas GPS measuring instrument RLVB20SL,three-axis inertial gyro IMU02,analog signal data acquisition module RLVBADC03,steering force angel measuring instrument TR6050-E90S,braking force measuring sensor and other equipment.By avoiding disadvantages such as complexity,low match and low accuracy,the detection system could ensure the perfect match of data acquisition equipment and the absolute accuracy of data,especially for the measurement of steering angle parameters.3.The paper analyzes driving stability and driving behaviors on urban roads through a large number of real vehicle testing.The testing were taken in three cities,B,C and S,and the optimal route and drivers were selected.After the selection,the author filters data with wavelet filter,redefines road categories by their axes,such as obtuse road,right road,acute angel road and ring road,and conducts a contrastive analysis of data with different gender,district and driving skills.4.The paper,through analyses of data from real vehicle testing and model simulation,defines the major factors that affects vehicle stability on urban roads.It tunes the parameters of simulation vehicle’s kinetic models to make it more closer to the real test results,providing a practicable simulation model for others to study vehicle handling stability on urban roads.更多还原