人-车-路耦合环境中车辆稳态安全仿真

Safety simulation of vehicle stability in driver-vehicle-road coupled system

为揭示驾驶员、道路、车辆综合作用下车辆运行状态的失稳机理,基于多Agent建模与安全仿真技术,构建包含驾驶员、道路、车辆、协调中心、人机接口等5方面的多Agent车辆稳态安全仿真框架;建立车辆多体动力学、道路三维空间、驾驶员预瞄控制与跟随仿真模型,从车辆稳定性和驾驶员操作负荷2方面分析车辆稳态安全性。以小轿车为代表车型,针对某二级公路开展车辆稳态安全仿真试验。仿真结果表明,当汽车以60和70 km/h行驶时,前后轮总体围绕平均轴重波动,稳态运行;以80 km/h行驶时,汽车冲出车道,轮胎最小垂直反力仍然大于0;3种速度下侧向加速度均大于0.3 g(g为重力加速度),且速度越高,侧向加速度越大,表明汽车冲出车道由侧滑引起。

In order to reveal the instability mechanism of vehicle operation in adriver-road-vehicle system,based on technology of multi-Agent modeling and safety simulation,a vehicle steady simulation framework,which contains such factors as the drivers,roads,vehicles,coordination center and manmachine interface,was built and simulation models were built for vehicle multi-body dynamics,highway three-dimensional space,drivers＇ preview control and following behavior. Vehicle steady-state safety was analyzed from the aspects of vehicle stability and drivers＇ operation loads. Taking passenger cars as the representative vehicle on a certain second-class highway,a steady-state safety simulation was carried out. The results show that when running at the speed of 60 and 70 km / h,the values of the vertical force on front and rear wheels will fluctuate around the average axle load,that when the car will run off the lane with80 km / h,the minimum vertical reaction force is still greater than 0,that the lateral accelerations under such three conditions are all above 0. 3 g,and that the bigger the speed is,the bigger the lateral acceleration will be,running out of lanes is caused by sideslip.