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

Abstract

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

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.

References

[1] WILMINK I R, KLUNDER G A, VAN AREM B. Traffic flow effects of integrated full-range speed assistance (IRSA)[C]. Intelligent Vehicles Symposium, IEEE,2007:1204-1210.
[2] JIA D, NGODUY D. Platoon based cooperative driving model with consideration of realistic inter-vehicle communication[J]. Transportation Research Part C: Emerging Technologies,2016,68:245-264.
[3] OROSZ G. Connected cruise control: modelling, delay effects, and nonlinear behaviour[J]. Vehicle System Dynamics,2016,54(8):1147-1176.
[4] RAJAMANI R. Vehicle dynamics and control[M]. Springer Science & Business Media,2011.
[5] 任殿波,崔胜民,吴杭哲.车道保持预瞄控制及其稳态误差分析[J].汽车工程,2016,38(2):192-199.
[6] NOBE S A, WANG F Y. An overview of recent developments in automated lateral and longitudinal vehicle controls[C]. Systems, Man, and Cybernetics, 2001 IEEE International Conference on. IEEE,2001:3447-3452.
[7] SWAROOP D, YOON S M. Integrated lateral and longitudinal vehicle control for an emergency lane change manoeuvre design[J]. International Journal of Vehicle Design,1999,21(2-3):161-174.
[8] LI W, DUAN J. Lateral and longitudinal dynamic coupling control for vehicles lane changing[C]. Intelligent Control and Automation (WCICA),2010 8th World Congress on. IEEE,2010:4628-4632.
[9] LIU L, SHI S, SHEN S, et al. Vehicle planar motion stability study for tyres working in extremely nonlinear region[J]. Chinese Journal of Mechanical Engineering,2010,23(2).
[10] KOO S L, TAN H S, TOMIZUKA M. Nonlinear tire lateral force versus slip angle curve identification[C]. American Control Conference,2004. Proceedings of the 2004. IEEE,2004,3:2128-2133.
[11] 沈法鹏,赵又群,赵洪光,等.非线性轮胎侧向力对汽车转向稳定性的影响[J].中国机械工程,2015,26(1):135-139.
[12] WANG X, SHI S, LIU L, et al. Analysis of driving mode effect on vehicle stability[J]. International Journal of Automotive Technology,2013,14(3):363-73.
[13] PACEJKA H B. Tire and vehicle dynamics[M]. Oxford: Elsevier,2006.
[14] MU Y, LI L, SHI S. Modified tire-slip-angle model for chaotic vehicle steering motion[J]. Automotive Innovation,2018,1(2):177-186.
[15] 李玲.车辆稳定性五自由度模型的有效性验证及车队稳定时距预测[D].长春:吉林大学,2017.
[16] SHI S, LI L, MU Y, et al. Stable headway prediction of vehicle platoon based on the 5-degree-of-freedom vehicle model[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, https://journals.sagepub.com/doi/abs/10.1177/ 0954407018785 736.
[17] 李玲,施树明,王宪彬,等.发动机制动下高速转弯车辆稳定性[J].吉林大学学报:工学版,2017,47(1):64-70.
[18] SHI S, LI L, WANG X, et al. Analysis of the vehicle driving stability region based on the bifurcation of the driving torque and the steering angle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2017,231(7):984-998.
[19] PACEJKA H B, BAKKER E. The magic formula tyre model[J]. Vehicle System Dynamics,1992,21(S1):1-18.
[20] ONO E, HOSOE S, TUAN H D, et al. Bifurcation in vehicle dynamics and robust front wheel steering control[J]. IEEE Transactions on Control Systems Technology,1998,6(3):412-420.
[21] 王宪彬.汽车驱动转向耦合分岔特征分析及驾驶稳定区域求解[D].长春:吉林大学,2014.
[22] 余志生.汽车理论[M].北京:机械工业出版社,2009.
[23] 郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社,1991.

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

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 2

Metrics

Comments

Recommended 10

[1]	Sensen Cong,Feng Gao,Shucai Xu. Cooperative Control of Vehicle Lateral and Longitudinal Stability Based on Dynamic Stability Region [J]. Automotive Engineering, 2022, 44(6): 900-908.
[2]	Chen Te, Chen Long, Xu Xing, Cai Yingfeng & Jiang Haobin. Integrated Control of Unmanned Distributed Driven Vehicles Path Tracking and Stability [J]. Automotive Engineering, 2019, 41(10): 1109-1116.