已阅读5页,还剩1页未读, 继续免费阅读
版权说明:本文档由用户提供并上传,收益归属内容提供方,若内容存在侵权,请进行举报或认领
文档简介
HandlingStudiesofDriver-VehicleSystemsM.Lin,A.A.PopovandS.McWilliamSchoolofMechanical,Materials,ManufacturingEngineeringandManagement,UniversityofNottingham,UniversityPark,NottinghamNG72RD,U.K.Email:eaxmlnottingham.ac.ukThedriver-vehiclesystemapproachprovidesafirmbasisforanalysingvehicleanddriverdynamicsinvehiclehandlingdesign.Thepaperaimstoprovideananalysisofdriverssteeringandspeedcontrolduringdriver-vehicleinteraction.Genericmathematicalmodelsofvehicleanddriverareimplemented,andthehandlingcharacteristicsintypicalmanoeuvresarestudiedthroughnumericalsimulations.Asinformationtechnologyandelectronicsystemsarewidelyintroducedforvehiclechassiscontrolnowadays,newhumanfactorproblemshavebeenposedinthesimulationforvehiclehandlingstudies.Theproposedmodelshereprovidetoolsforexploringtheeffectsofactivechassisinterventionsystemsonthedriver-vehicle.Keywords/driver-vehiclesystems,vehicledynamics,driverbehaviour,chassisenhancementsystems1.INTRODUCTIONRecently,asvirtualprototypinghasbeenincreasinglyappliedinvehicledevelopment,vehiclehandlingdesigninavirtualenvironmenthasalsobeenwidelyusedinbothacademicresearchandthemanufacturingarea.Forvehiclehandlingsimulations,vehicledynamicssimulationmodels(VDSMs)arenecessitiesforthedevelopers.Since1960s35611,VDSMshavebeendevelopedforavarietyofapplications,includingdynamicanalysis,interactivedrivingsimulation,andvehicletesting.Themodelcomplexityandsolutionproceduresaredefinedaccordingtoagivenapplication.Itcanbeseenthatthevehicleanddriverformacloselycoupledman-machinesystem.Theinteractionbetweenthedynamicsofthevehicleandthedriverbehaviourplaysaparamountrolethroughoutthewholeprocessofthesimulation.Atthesametime,duetothedesireforpersonalmobility,automotivechassisenhancementsystemsareintroducedintovehicles.Theyaretargetingonprovidingsafety,stabilityandcomfort,andminimisingtheenvironmentalimpacts.However,itisarguedthatinsomecasesthesechassisenhancementsystemscancausemoreharmthangood.In9,Sharppointedoutthattheassessmentofdriver-vehicledynamicsqualitiesinthecontextofelectronicenhancedvehiclescontainsmanyseparatequalityissuesandmanydesignconflicts.Thisinvolvesdriver-vehiclespeedcontrolanditsrelationshipwithdirectional/steeringcontrol,whichhasonlyrecentlyreceivedattention.Adetailedreviewonautomotivechassisenhancementsystemsinheavyvehicles,providedbyPalkovicsandFries8,includessystemssuchasanti-lockbrakingsystem(ABS),tractioncontrolsystem(TCS),rearaxlesteeringsystemanddynamicstabilitycontrolsystem.Itissuggestedthatthedriveriskeptinthecontrolloopasdriversintentionisnecessarytoactivatethesystems.Bymakingavehicleeasiertocontrol,driversmaybeencouragedtodriveclosertothevehiclelimits,thereforeaffectingtheintendedsafetybenefits.Inthefollowingsections,abasic4-DOF(longitudinal,lateral,yaw,roll)vehiclemodelandadrivercontrolmodelarepresented.Thedrivermodelisdirectionallystructuredtocontrolvehicleheading/yawangleandlateralposition,andlongitudinallyperceivingthelongitudinalaccelerationerror.InSection4,driver-vehicleinteractionisreviewed.ThesimulationisthenemployedinSection5toanalysemanoeuvresinvolvingdoublelanechangeandbrakinginturn.2.VEHICLEMODELThevehicleisrepresentedbyafourdegreesoffreedommodel4,forthelongitudinal,lateral,yawandrollmotion.AsshowninFig.1,althoughthesuspensionsarenotincludedinthemodelling,themodelusesasimplifieddescriptionofbodyrollassumingafixedrollaxisdefinedbytheheightsoftherollcentresofthefrontandrearaxlesofthevehicle.VehiclemodelparametersarereportedintheAppendix.Theequationsofmotionusingaxesfixedtothevehiclebodyaregivenby,sincos)(yfFxfFxrFrvum+=+G26sincos)(xfFyfFyrFruvm+=+G26)sincos(sin)sincos(yfFxfFxrFhyrFbxfFyfFapxzIrzI+=G26G26)sincos(cos)(sin)()(xfyfyrzrzfrfrfxzxFFFhFFhpcckkrIpI+=+G26G26(1)mgzyC.G.hrfruVvLC.G.C.G.abFzrFyrFxfFxrFzfFxrFxfFyf,rhgxzyxFzf,rFyfrollaxisFig.1VehicleModelwhereFxf,Fxr,Fyf,Fyr,andFzf,Fzrarevehicleaxlelongitudinal,lateralandverticalforces,respectively.ristheyawrateandpandaretherollrateandrollangle.Thesideslipanglesandstaticcamberanglesofthefrontandrearwheelsf,randf,rcanbedefinedintermsofvehiclemotionvariables,rrffrhuhprbvarhuhpravaGf7Gf7Gf8Gf6Ge7Ge7Ge8Ge6+=Gf7Gf7Gf8Gf6Ge7Ge7Ge8Ge6+=sincostansincostan(2)rrff=(3)Whenthevehicleisrunningatconstantspeed,thelongitudinalmotioncanbeuncoupledfromtheequationsofmotion.Thedynamicsofthenon-linearvehiclemodelincludestheinfluenceofthenon-lineartyrecharacteristics,whicharemodelledbythemagicformula7.Theeffectsoflateralandlongitudinalloadtransfershavebeenevaluatedthroughasteadystateapproximation10.Assumingafixedrollaxisposition,theexpressionofthelateralloadtransferforthefrontandtherearaxlesare,)()(_hdLhhatmruFhdLhhbtmruFrgrlatrzfgflatfz+=+=(4)Thelongitudinalloadtransfer,occurringwhilethevariedvehicleforwardvelocityistakenintoaccount,iscalculatedasfollows,LhFFFgFrfxlongz/)(_+=(5)3.DRIVERBEHAVIOURTHROUGHPATHPREVIEWObviously,onlythevehicleitselfcannotmaintainadesiredpath.Thisdemandsacombinationwithdrivermodel.Thedriverhasvisualandmotionfeedbacksfordevelopingsteeringcontrolactions.Driverbehaviourthroughpathpreviewinvolvesactionsbasedonperceptionofcommands.Fordirectional/steeringcontrol,driverscanusepreviewbehaviourtofollowcurvedpaths.Avehiclewillfollowacurvedpathforagivensteeringangle,sothedrivercanmatchhorizontalroadcurvaturewithappropriatesteerangle,andtheremaininglanedisplacementcanbehandledwithcompensatorycontrolactions.Forspeedcontrol,thedrivertriestomatchroadgradewithathrottleangle,althoughthecorrectperceptionofroadgradeismuchmoredifficultandimprecisethantheperceptionforhorizontalcurvature.3.1Directional/SteeringControlFordriversvisualfeedback,atwo-level(previewandcompensatory)driversteeringmodelbasedonthecontrolstrategyproposedbyDonges3ispresentedhere.Thedriverexertssteeringcontroltomaintainlanepositionthroughpreviewcontrol,andtomanoeuvrethevehicleduringcurvenegotiation,lanechangeorobstacleavoidance.Unpredictableroaddisturbancescanrandomlymovethevehiclewithinthelane,andthedrivermustcounteractthesedisturbanceswithcompensatorycontrol.Forpreviewcontrol,WeirandMcRuer12suggestedthat,systemsstructuredtocontrolvehicleheading/yawangleandlateralpositionorpathangleandlateralpositionoffergoodclosed-loopcharacteristics.Therefore,itisassumedherethatthedriverdevelopssteeringcorrectionsbasedonperceivedheading/yawandlanepositionerrors.BysettingapreviewpointPonthevehicle-fixedxaxis,asortofpredictivebehaviourisincorporatedintothesystem.Fig.2illustratesdriversbehaviourthroughpathpreview.Acompositeheadingerrorofthepreviewpointrelativetothedesiredpathatthepreviewpointisgivenby,)(/PPecLy+=(6)whereyeisthelanepositionerror,LPisthepreviewdistance,istheheadingangleandPistheheadinganglebetweenxaxisandAPline.Insteadofseparatelyperceivingbothheadingandlanepositionerrors,thedriverneedsonlytoperceivetheangularerrorctothepreviewpointdowntheroad.ThepreviewdistanceLPhereistheproductofvehicleforwardspeedandpreviewtimeconstantTP.Thisisconsistentwithoureverydayexperiencethatdriverseesnearerdistanceatlowerspeedsandfurtherdistanceathigherspeeds.FollowingMcRuerscrossovermodel6,driverscompensatoryfeedbackcontrolcanbedefinedbythetransferfunctionofthesteeringangletothecompositeheadingerror,sILcesTsTGss+=)11()()(7)Itincludesthreecomponents:againGwhichsetsthemagnitudeofroadsteeringanglecorrectionsforgivenheadingerrorc;aleadterm)1(+sTLthatthedriveradoptstocounteractvehicletyredelay;alagterm)1(+sTIcorrespondingtotheneuromusculardelay;and,atimedelayseapproximatingdriversreactiontimedelay.Fordriversmotionfeedback,itprovidesinformationonmotionperformedbyhumanorgansandonorientationwithrespecttothegravitationaldirection.In1,Allennotedthattheyawrateinformationcanbeusedasamotionfeedbackelement.ThemotionfeedbackgainKmprovidesaleadthatthedrivercanusetocompensateforthevehicleyawratelag.3.2SpeedControlSpeedcontrolisimportantinavarietyofscenarios,includingmaintainingsafelateralaccelerationlevelswhilefollowingcurvedpaths,respondingtospeedlimits,andslowingdownduringemergencyavoidance.Duringstraightrunningthedrivercontinuesatspecifiedspeed.Whenthedriverdetectscurvature,speedisthenreducedaccordinglyinordertomaintaindesiredlateralacceleration.ThedriverspeedcontrollawcanthenbedescribedasFig.3(a).Thedrivercommandsdecelerationconsistentwithadesiredspeedchange,andperceivesdecelerationerrors.Especially,whenelectronicchassiscontrols,suchasABS,TCS,etc.,areinvolved,speedcontrolwillbeessential.Aswecanseefromtheoperatingprinciplesofthesecontrolsystems,mostofthemareactivatedunderemergencysituations.Speedchangingisthereforeinevitable.Forexample,byaddinganeffectiveABS,therelationshipbetweenthebrakepedalforceandvehicledecelerationisillustratedinFig.3(b).Withtheapplicationofthisrelationshipandthespeedcontrollawdescribedabove,theassessmentofeffectsoftheseelectroniccontrolsisfeasible.AcPreviewpointPPLPyxXYye/LPDesiredpathPFig.2DriverModelthroughPathPreviewFig.3(b)DriverSpeedControlLaw(a)ABSSystemCharacteristic4.DRIVER-VEHICLEINTERACTION4.1Driver-VehicleDynamicswithoutSpeedControlGiventheabovedynamiccharacteristicsforthevehicleanddriver,ablockdiagramoftheoveralldriver-vehiclesystemmodelwithoutspeedcontrolcanbestructuredasshowninFig.4.Itisassumedthatthevehicleistravellingatconstantforwardspeed.Vehiclelateralvelocityv,yawraterandrollrateparegeneratedbysteeringinputstothevehicleequationsofmotion.Vehiclelateralvelocityvandyawraterarethenunderdirectcontrolofthedriver.Althoughtherollmotionisnotcontrolledbythedriverdirectly,italsoinfluencesdriverbehaviour,especiallywhenthevariationofvehicleforwardvelocityistakenintoaccount.Kinematicalequationsthenprovidevehicleheadingangleandlaterallanepositionfromlateralvelocityandyawrate.Finally,steeringcorrectionswillbemadebythedriverbasedonthecompositeheadingerror.Fortheclosed-loopanalysis,therearetwosysteminputs,oneisthepathcommandyc,andtheotheristheinitialheadinganglecommandP.Thevehiclewillbesteeredtofollowpathcommands,andPwillhel
温馨提示
- 1. 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
- 2. 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
- 3. 本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
- 4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
- 5. 人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对用户上传分享的文档内容本身不做任何修改或编辑,并不能对任何下载内容负责。
- 6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
- 7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
最新文档
- 中孕引产教学查房
- 个案护理查房技巧
- 下肢静脉查房
- 三级查房制度
- pdi术后护理查房
- icu常用操作查房
- aecopd患者护理查房1
- 全球户外家具面料市场深度分析及未来趋势预测
- 第十单元 总复习(二)第四节单位互化
- 2023年驾校领导年终总结
- 《中国心力衰竭诊断和治疗指南2024》解读
- GB/T 5700-2023照明测量方法
- 2022年10月自考06779应用写作学试题及答案
- 平面构成—基本形(形态生成)(经典实用)
- 投标中不该发生的500个错
- 主要树种材积表
- (最新整理)4.银行业消费者权益保护工作考核评价管理办法
- 等厚干涉--牛顿环实验报告
- 蚕宝宝的生长过程
- 京东自营厂直培训考试
- GB 25325-2014 铝电解用预焙阳极单位产品能源消耗限额
评论
0/150
提交评论