基于路面附着系数估计的多路况安全距离模型  

Study on the Safety Distance Model of Multi-Road Vehicles Based on Pavement Adhesion Coefficient Estimation

作　　者：常群 孙申鑫 赵宇超[1] 宫燃[1] CHANG Qun;SUN Shenxin;ZHAO Yuchao;GONG Ran(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China;School of Energy and Power Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]江苏大学能源与动力工程学院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2018年第12期46-53,共8页Journal of Chongqing University of Technology：Natural Science

摘　　要：采用UKF估计方法对路面附着系数等状态参数进行估计。首先建立包含整车模型与Dugoff轮胎模型的车辆动力学模型,在此基础上建立车辆四轮动力学模型,然后选取干沥青、湿沥青、雪地、冰面4种典型路面,通过UKF对车辆状态与路面附着系数进行估计,将估计结果与仿真的实际输出值进行对比分析,以验证估计结果的精确度。此后选取合适的车辆安全距离模型,在此基础上加入对路面附着系数、坡道角等因素的考虑,提出改进后的安全距离模型,使之更加符合实际情况。通过Carsim与Matlab/Simulink联合仿真,得到在4种典型路面上车辆跟驰状态下前后车的距离与相对速度变化曲线,验证了模型的可靠性。In this paper,we use the UKF estimation method to estimate the state parameters such as the vehicle model and the Dugoff tire model.Based on this,the four-wheel dynamic model of the vehicle is established under the dry asphalt and wet asphalt Snowfield and ice surface.The UKF is used to estimate the vehicle condition and the road surface adhesion coefficient.The estimation result is compared with the actual output value of the simulation to verify the accuracy of the estimation result.Then,an appropriate safety distance model of the vehicle is selected.On this basis,the factors such as the adhesion coefficient and the ramp angle of the road are added,and the improved safety distance model are put forward to make it more suitable for the actual situation.Through the joint simulation of Carsim and Matlab/Simulink,the distance and relative velocity curves of the vehicle before and after the vehicle in the four typical road surfaces are obtained,and the reliability of the model is verified.

关 键 词：车辆动力学模型 无迹卡尔曼滤波 路面附着系数 安全距离模型 

分 类 号：U461[机械工程—车辆工程]