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基于TruckSim的装载工况影响下弯道安全车速阈值

王传连 胡月琦 李平

王传连, 胡月琦, 李平等 . 基于TruckSim的装载工况影响下弯道安全车速阈值[J]. 北京航空航天大学学报, 2018, 44(6): 1337-1346. doi: 10.13700/j.bh.1001-5965.2017.0808
引用本文: 王传连, 胡月琦, 李平等 . 基于TruckSim的装载工况影响下弯道安全车速阈值[J]. 北京航空航天大学学报, 2018, 44(6): 1337-1346. doi: 10.13700/j.bh.1001-5965.2017.0808
WANG Chuanlian, HU Yueqi, LI Pinget al. Safe driving speed threshold on curve section of road under different loading conditions based on TruckSim[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6): 1337-1346. doi: 10.13700/j.bh.1001-5965.2017.0808(in Chinese)
Citation: WANG Chuanlian, HU Yueqi, LI Pinget al. Safe driving speed threshold on curve section of road under different loading conditions based on TruckSim[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6): 1337-1346. doi: 10.13700/j.bh.1001-5965.2017.0808(in Chinese)

基于TruckSim的装载工况影响下弯道安全车速阈值

doi: 10.13700/j.bh.1001-5965.2017.0808
基金项目: 

中央高校基本科研业务费专项资金 310822161005

详细信息
    作者简介:

    王传连  男, 博士研究生, 高级工程师。主要研究方向:交通运输规划与管理

    胡月琦  女, 博士研究生。主要研究方向:交通安全

    李平  男, 硕士研究生。主要研究方向:交通安全

    通讯作者:

    王传连, E-mail:wangchuanlian@163.com

  • 中图分类号: U471.15

Safe driving speed threshold on curve section of road under different loading conditions based on TruckSim

Funds: 

the Fundamental Research Funds for the Central Universities 310822161005

More Information
  • 摘要:

    为研究装载工况和路面条件对弯道路段安全车速阈值的影响,运用TruckSim仿真软件建立大型车辆整车动力学模型、道路场景模型和驾驶人控制策略模型,从装载质量和道路附着系数2个方面分别设计实验进行仿真,分析车辆在弯道路段发生侧滑、侧翻的影响因素及其影响程度。以陕西省某高速公路一弯道路段为例,研究了车辆在双因素影响下,通过弯道的安全车速阈值。结果表明:随着装载质量的增加,弯道安全车速阈值减小,安全车速阈值与装载质量之间为幂函数关系;道路附着系数在0.1~0.6范围内时,随着弯道路面附着系数的增加,弯道安全车速阈值减小,且二者为指数函数关系;当道路附着系数在0.6~1.1范围内时,随着弯道路面附着系数的增加,弯道安全车速阈值变化趋于平缓。根据模型仿真分析结果,针对超载超限问题,进一步对交通管理部门、装载人员和驾驶人提出相应的安全建议,旨在提高公路弯道行车主动安全性,也为公路安全运营研究提供理论及技术支持。

     

  • 图 1  建模车辆原型

    Figure 1.  Modeling vehicle prototype

    图 2  制动力矩特性曲线

    Figure 2.  Characteristic curves of brake torque

    图 3  左、右转向轮运动学特性

    Figure 3.  Kinematic characteristics of left and right steering wheels

    图 4  仿真车辆外观

    Figure 4.  Appearance of simulation vehicle

    图 5  仿真道路实景

    Figure 5.  Simulation road scene

    图 6  车速为70 km/h时的左侧车轮垂直反力

    Figure 6.  Vertical counter-forces of left tires at driving speed of 70 km/h

    图 7  车速为75 km/h时的左侧车轮垂直反力

    Figure 7.  Vertical counter-forces of left tires at driving speed of 75 km/h

    图 8  车速为75 km/h时的侧向加速度

    Figure 8.  Lateral acceleration at driving speed of 75 km/h

    图 9  装载质量与安全车速阈值的关系

    Figure 9.  Relationship between loading quality and safe driving speed threshold

    图 10  道路附着系数与安全车速阈值的关系

    Figure 10.  Relationship between road adhesion coefficient and safe driving speed threshold

    图 11  本文拟合曲线与Lee模型曲线

    Figure 11.  Fitting curve in this paper and Lee model curve

    图 12  复杂状况下安全车速阈值三维曲面图

    Figure 12.  Three-dimensional surface graph of safe driving speed threshold under complex conditions

    图 13  安全车速阈值拟合图像

    Figure 13.  Safe driving speed threshold fitting image

    图 14  调整后安全车速阈值拟合图像

    Figure 14.  Adjusted safe driving speed threshold fitting image

    表  1  挂车基本参数

    Table  1.   Basic parameters of trailer

    参数数值
    挂车车体高度/mm2 700
    挂车车体宽度/mm2 480
    车体质心距挂钩的距离/mm3 400
    车体质心距地面的距离/mm1 936
    挂钩中心距地面的距离/mm1 140
    质心距纵向对称面的距离/mm0
    簧载质量/kg5 500
    车体侧倾惯量/(kg·m2)8 997.1
    车体俯仰惯量/(kg·m2)149 981.1
    下载: 导出CSV

    表  2  发动机参数

    Table  2.   Parameters of engine

    参数数值
    额定功率/kW300
    额定转速/(r·min-1)2 100
    怠速转速/ (r·min-1)625
    曲轴转动惯量/ (kg·m2)2.75
    下载: 导出CSV

    表  3  差速器(主减速器)参数

    Table  3.   Parameters of differential(main reducing gear)

    参数数值
    左、右驱动轮转矩差值/(N·m)0
    传动比4.4
    传动效率/%99
    扭转刚度/(N·m·(°) -1)80
    扭转阻尼/(N·m·s·(°) -1)0.8
    主动轴转动惯量/(kg·m2)0.013
    左、右轮从动轴转动惯量/(kg·m2)0.009
    下载: 导出CSV

    表  4  不同装载质量的安全车速阈值

    Table  4.   Safe driving speed thresholds for different loading quality

    实验编号装载质量/t安全车速阈值/(km·h-1)
    12575.0
    23068.0
    33563.0
    44058.0
    54555.0
    64753.0
    74952.0
    85151.5
    95351.0
    105550.5
    116049.5
    126549.0
    137048.5
    下载: 导出CSV

    表  5  不同道路附着系数的安全车速阈值

    Table  5.   Safe driving speed thresholds for different road adhesion coefficients

    实验编号弯道道路附着系数安全车速阈值/(km·h-1)
    10.142
    20.246
    30.350
    40.454
    50.557
    60.659
    80.859
    90.959
    101.059
    111.159
    下载: 导出CSV

    表  6  复杂状况下车辆行驶安全车速阈值

    Table  6.   Safe driving speed threshold of driving vehicle under complex conditions

    km/h
    装载质量/t道路附着系数
    0.10.20.30.40.50.60.70.80.91.0
    1592108123136147158158158158158
    2091104116127138149149149149149
    2590100111121130140140140140140
    3089.597105114121128128128128128
    358995102108113119119119119119
    3788.59499104109114114114114114
    39889397101105109109109109109
    41889397101104108108108108108
    4387.592.596.5100103.5107107107107107
    458792.596.599.5103106106106106106
    5086.5929699102105105105105105
    5586.5919598101103103103103103
    608689929698100100100100100
    下载: 导出CSV
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  • 收稿日期:  2017-12-28
  • 录用日期:  2018-02-11
  • 网络出版日期:  2018-06-20

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