轮胎非线性对自主车队稳定性的影响分析*

doi:10.19562/j.chinasae.qcgc.2019.09.012

汽车工程 ›› 2019, Vol. 41 ›› Issue (9): 1065-1072.doi: 10.19562/j.chinasae.qcgc.2019.09.012

轮胎非线性对自主车队稳定性的影响分析^*

李玲¹, 姚喜贵¹, 施树明²

1.宁波工程学院机械工程学院,宁波 315336;
2.吉林大学交通学院,长春 130022

收稿日期:2018-07-31 修回日期:2018-09-28 出版日期:2019-09-25 发布日期:2019-10-12
通讯作者: 李玲,讲师,博士,E-mail:lingl@nbut.edu.cn
基金资助:
国家自然科学基金(51475199)、宁波市科技计划项目(8090085190003)和杭州湾汽车学院科研启动项目(8090011540003)资助。

An Analysis on the Effects of Tire Nonlinearity on Autonomous Platoon Stability

Li Ling¹, Yao Xigui¹ & Shi Shuming²

1.College of Mechanical Engineering, Ningbo University of Technology, Ningbo 315336;
2.College of Transportation, Jilin University, Changchun 130022

Received:2018-07-31 Revised:2018-09-28 Online:2019-09-25 Published:2019-10-12

摘要/Abstract

摘要： 针对现有自主车队车辆模型不能反映轮胎非线性对车辆稳定性的影响问题,本文中利用其有效性已得到验证的5自由度车辆模型(纵向速度、侧向速度、横摆角速度、前轮转动角速度和后轮转动角速度),分别采用线性和非线性轮胎模型,分析不同初始跟随车速条件下,自主车队系统的动力学特性和稳定性。结果表明,轮胎的非线性严重影响高速跟随行驶中自主车队系统的稳定性,并导致跟随行驶车辆的失稳。

关键词: 5自由度车辆模型, 自主车队系统, 非线性轮胎模型, 跟随控制器, 车辆稳定性

Abstract: Aiming at the problem that existing autonomous platoon model cannot reflect the effects of tire nonlinearity on the stability of vehicle, a 5 DOF (the longitudinal and lateral speeds and yaw rate of vehicle and the rotational angular speeds of front and rear wheels) vehicle model is utilized, combined with linear and nonlinear tire models respectively to analyze the dynamics characteristics and stability of autonomous platoon system. The results show that the nonlinearity of tires significantly affects the stability of autonomous platoon system in high-speed following driving and leads to the instability of the following vehicles.

Key words: 5-DOF vehicle model, autonomous platoon system, nonlinear tire model, following controller, vehicle stability

李玲, 姚喜贵, 施树明. 轮胎非线性对自主车队稳定性的影响分析^*[J]. 汽车工程, 2019, 41(9): 1065-1072.

Li Ling, Yao Xigui & Shi Shuming. An Analysis on the Effects of Tire Nonlinearity on Autonomous Platoon Stability[J]. Automotive Engineering, 2019, 41(9): 1065-1072.

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轮胎非线性对自主车队稳定性的影响分析^*

An Analysis on the Effects of Tire Nonlinearity on Autonomous Platoon Stability

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