人-车-路闭环4WS车辆操纵稳定性仿真研究

Simulation research of handling stability of 4WS vehicle based on human-vehicle-road closed-loop system

从轮胎的侧偏性、悬架结构的受力特性等方面着手,建立了主动四轮转向车辆(4WS)的动力学模型,结合单点预瞄最优曲率驾驶员模型及道路预期轨迹模型,建立了考虑四轮转向车辆动态响应的人-车-路闭环操纵稳定性仿真模型,在MATLAB环境中对所建立的模型进行试验仿真。结果表明在高速状态下4WS车辆比2WS车辆有更好的横向位移跟踪性能和操纵稳定性,此外,选择复杂闭合曲线道路进行仿真比一般简单的线路可更客观地反映车辆操纵动力学特性和控制效果。

Dynamics model of the active four-wheel steering vehicle was established through the study of dynamic characteristics of wheel tires and suspension structures of vehicles.One point preview-follower optimal curvature driver model and test expected trace were combined,the loop simulation model of driver-vehicle-road system was established,and simulation was performed by the model based on MATLAB platform.The results show that lateral displacement tracking performance and handling stability of 4WS vehicles at high speeds are superior to that of ordinary front wheel steering vehicles,moreover,choosing a similar F1 runway road with complex closed curve can be more objectively reflect the vehicle handling dynamic characteristics and control effects.