全自动驾驶车辆动态包络线理论计算与试验研究

Theoretical and Experimental Study on Dynamic Envelope Line of Fully Automatic Driving Vehicles

针对北京地铁燕房线全自动驾驶车辆,利用基于CJJ96《地铁限界标准》的简化公式计算静态偏移轮廓,并利用SIMPACK软件进行动力学仿真获得动态偏移量,通过二者的叠加获得车辆动态包络线。进行了基于位移倾角精确检测技术的车辆动态包络线线路试验,并编制动态包络线计算软件。对最终结果进行对比分析发现,静态轮廓动态偏移量叠加算法较CJJ96《地铁限界标准》算法所得结果缩小约16%,线路试验结果较静态轮廓动态偏移量叠加算法结果缩小约19%,为车辆动态包络线的理论计算以及相关线路试验方法提供了参考。

Aiming at fully automatic driving vehicles of the Beijing Metro Yanfang Line,this paper uses the simplified formula based on CJJ96"standard of metro gauges"to calculate the static offset profile,and uses SIMPACK software to simulate the dynamics to obtain the dynamic offset,and obtain the dynamic envelope line through the superposition of the two.The vehicle dynamic envelope line test based on the accurate detection technology of displacement inclination is carried out,and the dynamic envelope calculation software is compiled.Comparing the final results,the findings that the static contour dynamic offset superposition algorithm is reduced by about 16% compared with the CJJ96"standard of metro gauges"algorithm,and the line test result is reduced by about 19% compared with the static contour dynamic offset superposition algorithm,which provide a preference for the theoretical calculation of the vehicle dynamic envelope and relevant line test methods.