• CN:11-2187/TH
  • ISSN:0577-6686

›› 2012, Vol. 48 ›› Issue (24): 127-133.

• 论文 • 上一篇    下一篇

考虑路面不平度的路面识别方法

王博;孙仁云;徐延海;吴聿东   

  1. 西华大学交通与汽车工程学院
  • 发布日期:2012-12-20

Road Surface Condition Identification Approach with Consideration of Road Roughness

WANG Bo;SUN Renyun;XU Yanhai;WU Yudong   

  1. School of Transportation and Automobile Engineering, Xihua University
  • Published:2012-12-20

摘要: 基于滑移率控制的汽车电控制动系统实现的难点在于确定不同路面下的最佳滑移率。不平路面上路面不平度引起的动载荷会对汽车车轮速度、滑移率、制动力系数等参数带来波动,间接影响路面识别。在两种轮胎模型的基础上,将汽车平日里行驶的路面划分为6种类型,提出一种能适应不平路面的识别算法。依据路面最佳滑移率前制动力系数-滑移率曲线下的封闭面积构造一个能代表典型路面特征参数的特征值,给出6种典型路面的特征值区间并据此识别汽车当前行驶路面。建立含路面不平度激励的14自由度汽车动力学模型,通过在单一路面和对接路面上的汽车制动模拟试验验证了识别算法的有效性。结果表明算法能在不平路面上较准确、快速地识别当前给定路面状态并将识别结果便捷地用于汽车电控制动系统的最佳滑移率控制。

关键词: 不平路面, 路面识别, 轮胎模型, 特征值

Abstract: The difficulty of vehicle electronic control braking systems based on slip ratio control lies in identifying the optimal slip ratio of various roads. The dynamic loads caused by road roughness on uneven roads will bring fluctuations to wheel velocity, slip ratio, braking force coefficient, and influence on road identification indirectly. With the application of two empirical tire models, roads which vehicles run on are divided into 6 types and a road identification approach is proposed. A road characterization value which represents typical road characteristic parameter is built and 6 kinds of road condition characterization value intervals are given to identify the current road according to the closed area under the segment of braking force coefficient-slip ratio curve before optimal slip ratio. A vehicle dynamics model of 14-DOF including the excitation of road roughness is established, and the effectiveness of the approach is verified by the braking simulation tests on both an uniform road and a joint road. The simulation results show that the approach proposed can identify the current road on uneven roads accurately and quickly, the identification results can be used for the optimal slip ratio control in vehicle electronic control braking systems conveniently.

Key words: Characterization value, Road identification, Tire model, Uneven road

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