用于车辆紧急制动仿真的动态轮胎模型

Dynamic Tire Model for Vehicle Emergency Braking Simulation

提出一种可用于车辆紧急制动仿真的动态轮胎模型——LuGre轮胎模型。该动态模型不仅具有与经典稳态模型(如魔术公式)相似的稳态特性,可以方便地通过试验数据进行参数拟合和在线整定,而且能够精确捕捉汽车紧急制动过程中的瞬态特性,又由于采用微分方程形式来描述,更有利于开发高性能的电子制动控制系统来提高汽车的行驶安全性。得到了LuGre轮胎模型的基本特性,并分析了其在车辆紧急制动仿真中的稳态特性和动态特性。

A dynamic tire model-LuGre tire model which could be used in the vehicle emergency braking simulation was introduced. This model has similar steady-state characteristics compared with ＂magic formula＂. Its parameters could be easily decided by the experimental tire data and tuned on-line. LuGre tire model could not only capture transient characteristics in the emergency braking process, but also take advantage to the development of high-performance electronic braking control systems to improve the vehicle safety because of using the form of ordinary differential equation. The basic characters of the LuGre tire model were described and its steadystate and transient characteristics in the simulation of the emergency braking process have been analyzed.