基于人车控制的运行车速建模及仿真研究

发布时间：2018-07-05 13:32

本文选题：交通安全 + 运行车速　；参考：《昆明理工大学》2015年硕士论文

【摘要】：随着当今世界公路交通的迅速发展,交通安全问题日趋突出,已经引起各国交通安全管理者和公路交通安全研究者的广泛重视。而作为影响交通安全的重要客观因素,道路线型与运行车速的匹配问题受到了越来越多研究人员的关注。在目前的工程实践中,使用得最广泛的运行车速模型为实测车速回归分析得到的运行车速模型。该类模型能够针对特定的道路线型,计算出相应的运行车速。但由于受到样本容量的限制,实测模型的连续性与普遍适用性尚存在一定缺陷。有鉴于此,本文在现有运行车速模型的基础上,从车辆动力学性能和驾驶员操纵行为特性的角度,对车辆的运行速度进行了分析,建立了基于人车控制的运行车速模型。本模型主要包括车辆纵向动力学模型、驾驶员目标车速模型和驾驶员操纵行为模型三部分。车辆纵向动力学模型首先从整车角度,根据车辆行驶过程中的力学平衡,分析了制动器制动力和发动机扭矩与车辆加速度之间的关系。其次,根据发动机MAP图建立了发动机有效扭矩随转速和节气门开度变化的函数关系；再次,由实测数据回归分析建立了制动器制动力与制动轮缸压力之间的函数关系；最后将发动机模型和制动器模型代入整车动力学模型,得出了不同车速下,车辆对油门、制动踏板输入的响应情况。驾驶员目标车速模型采用现有的基于实测数据的运行车速模型,根据道路的曲率半径计算出理论运行车速,并以此速度作为驾驶员心理认知的目标车速。驾驶员操纵行为模型包含驾驶员信息感知与决策和驾驶员操作行为两部分。在感知与决策阶段,模型综合考虑了驾驶员预瞄点的路况信息和车辆当前行驶位置的道路条件,以行驶的舒适性为目标,得到驾驶员的期望加速度。在操作阶段,驾驶员根据期望加速度与车辆实际加速度的误差控制油门和制动踏板,从而使车速达到目标车速。综上所述,本文通过在运行车速模型中引入车辆动力学模型和驾驶员速度控制行为模型,对现有的运行车速模型进行了完善；通过分析驾驶员的预瞄行为,对道路线型变化时的运行车速模型进行了补充和修正；同时,相对于现有的以运行车速为评价标准的道路线型评价方法,本模型提供的车辆油门、制动踏板开度变化和车辆加速度等输出参数可以为道路线型评价提供更加直观的评价指标。
[Abstract]:With the rapid development of highway traffic in the world, traffic safety problems are becoming more and more prominent, which has attracted the attention of traffic safety managers and road traffic safety researchers. As an important objective factor affecting traffic safety, the matching between road alignment and speed has attracted more and more researchers' attention. In the current engineering practice, the most widely used speed model is the speed model obtained from the regression analysis of the measured speed. This kind of model can calculate the corresponding running speed according to the specific road alignment. However, due to the limitation of sample size, the continuity and universal applicability of the measured model are still limited. In view of this, this paper analyzes the running speed of vehicles from the point of view of vehicle dynamic performance and driver's handling behavior, and establishes a speed model based on man-vehicle control on the basis of the existing operating speed models. This model mainly includes three parts: longitudinal dynamic model, driver's target speed model and driver's control behavior model. According to the mechanical balance of vehicle driving process, the relationship between brake braking force, engine torque and vehicle acceleration is analyzed from the angle of vehicle longitudinal dynamics. Secondly, according to the map of engine, the functional relationship of engine effective torque with speed and throttle opening is established. Thirdly, the functional relationship between brake force and brake wheel cylinder pressure is established by regression analysis of measured data. Finally, the engine model and brake model are substituted into the whole vehicle dynamics model, and the response of the vehicle to the throttle and brake pedal input under different speed is obtained. The driver's target speed model uses the existing operating speed model based on the measured data, and calculates the theoretical operating speed according to the curvature radius of the road, and this speed is regarded as the target speed of the driver's psychological cognition. Driver control behavior model includes two parts: driver information perception and decision-making and driver operation behavior. In the stage of perception and decision-making, the model synthetically considers the road condition information of the driver's preview point and the road condition of the vehicle's current driving position. The desired acceleration of the driver is obtained by taking the comfort of the driving as the goal. In the operation stage, the driver controls the throttle and brake pedal according to the error between the expected acceleration and the actual acceleration of the vehicle, so that the speed can reach the target speed. To sum up, this paper introduces vehicle dynamics model and driver speed control behavior model to improve the existing speed model. At the same time, compared with the existing road alignment evaluation method, the vehicle throttle provided by this model is compared with the existing road alignment evaluation method. The output parameters such as brake pedal opening and vehicle acceleration can provide a more intuitive evaluation index for road alignment evaluation.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.25

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