重载货车长下坡挂挡决策行驶安全仿真  

Simulation of Driving Safety of Heavy-duty Truck Driver’s Gear Shifting Decision on Long Downhill Section

作　　者：万远航 邵毅明[1] 胡广雪 徐进[1] WAN Yuan-hang;SHAO Yi-ming;HU Guang-xue;XU Jin(School of Traffic&Transportation,Chongqing Jiaotong University,Chongqing 400074,China;School of Mechanical&Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学交通运输学院,重庆400074 [2]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《公路交通科技》2020年第3期130-136,144,共8页Journal of Highway and Transportation Research and Development

基　　金：国家科技支撑计划项目(2014BAG01B01);国家自然科学基金项目(51678099)。

摘　　要：长大下坡是大型车辆事故多发的典型路段,现有仿真模式多适用于宏观评价道路平面线形安全,无法反映驾驶人不同挂档决策对长下坡行车安全的影响。建立了重载货车整车模型、转向控制器和踏板控制器。根据重载货车自然驾驶数据,引入驾驶人控制边界约束,通过联合TruckSim和Simulink软件,设计了基于挂档加速、挂档滑行、挂档制动的长下坡行驶控制策略。提出了在车辆速度层面引入驾驶人操纵行为特征谱的虚拟仿真试验。根据当前路段驾驶人挂挡问卷调查信息,以1条实际长下坡道路作为算例,研究了不同驾驶模式下重载货车长下坡行驶特性。仿真结果表明:预瞄定速模式控制下的车辆节气门开度和车轮制动压力呈现相互交替态势,与车辆真实长下坡行驶特性不符,难以为长下坡道路安全改善提供客观依据,而挂挡下坡行驶控制模式能够反映重载货车在不同挂挡决策下的行驶特性;以车辆行车速度和单轮制动压力为评价参数,在当前仿真路段行驶过程中,重载货车7档位挂挡下行安全性能最优,8档位挂挡下行综合性能最优,其单轮制动压力高幅值波动区域主要集中于28.3~35.5 km路段,从而可为该路段驾驶人挂档决策优化、道路纵断面及避险车道位置设计提供一种新的思路。Long downhill is a typical section where large vehicle accidents occur frequently. Most of the existing simulation models are suitable for evaluating road plane alignment safety, but cannot reflect the impact of driver’s different gear shifting decisions on long downhill driving safety. The whole vehicle model, steering controller and pedal controller of heavy-duty truck are established. According to the natural driving data of heavy-duty trucks, by introducing the driver’s control boundary constraint and combining TruckSim software with Simulink software, a long downhill driving control strategy based on gear shifting acceleration, gear shifting sliding and gear shifting braking is designed, and a virtual simulation experiment which introducing the characteristic spectrum of driver’s maneuvering behavior at vehicle speed level is proposed. According to the questionnaire information of current driver’s gear shifting in current road section, taking an actual long downhill road for example, the driving characteristics of heavy-duty truck on long downhill under different driving modes are studied. The simulation result shows that(1) controlled by preview constant speed mode, the throttle opening and wheel brake pressure of the vehicle alternate with each other, which is not consistent with the real long downhill driving characteristics, so it is difficult to provide an objective basis for the safety improvement of the long downhill road, while the control mode of gear shifting for downhill driving can reflect the driving characteristics of the heavy-duty truck under different gear shifting decisions;(2) taking vehicle speed and single wheel braking pressure as evaluation parameters, in the driving process of the current simulation road section, the safety performance of heavy-duty truck in gear 7 is optimal, the comprehensive performance in gear 8 is the best, the high amplitude fluctuation area of the single wheel braking pressure is mainly concentrated on the 28.3-35.5 km road section, which can provide a

关 键 词：交通安全 挂挡决策 人-车-路协同仿真 大型车辆 长大下坡路段 

分 类 号：U491.255[交通运输工程—交通运输规划与管理]