CN109635516A - A kind of danger zone prediction technique of large car turning lubrication groove difference - Google Patents
A kind of danger zone prediction technique of large car turning lubrication groove difference Download PDFInfo
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Abstract
The invention discloses a kind of danger zone prediction techniques of large car turning lubrication groove difference, and step includes: the turning stage locating for 1 judgement vehicle, establish analog coordinate system, input relevant parameter；2 carry out coordinate simulation based on algorithm model of the invention, calculate the simulated driving curve of vehicle and are predicted；The danger zone of 3 output vehicles.The present invention can predict the driving trace of vehicle following a period of time, obtain the danger zone of prediction according to driver to the manipulation situation and vehicle-state of vehicle, to promote the safety of large car turning.
Description
Technical field
The invention belongs to automobile active forewarning fields, more particularly to a kind of prediction vehicle of vehicle instantaneous parameters
The method of turning path danger zone.
Background technique
With the development of science and technology, the quantity of large car is growing day by day, and in recent years, flourishing in highway transport industry
While development, traffic accident is also more serious.Vehicular turn accident especially large car turns to accident, will be than other friendships
Interpreter thus it is serious and frequently.The statistical data of Traffic Administration Bureau, the Ministry of Public Security shows that lorry responsibility road occurs altogether and hands over for the whole nation in 2016
Interpreter therefore 5.04 ten thousand, cause that 2.5 ten thousand people are dead, 4.68 ten thousand people are injured, account for respectively automobile liability accident total amount 30.5%,
48.23% and 27.81%, much higher than the ratio that number of freight cars on hand accounts for total vehicle.
It is fewer and fewer for the Modeling Calculation of danger zone among the paper or patent delivered in host country,
And nowadays some in-depth studies and development are short of in this regard in the country, due to the complexity in region, the judgement of subjectivity is held
It is also easy to produce fault, is very easy to cause the generation of such accident.Due to danger zone at present only one qualitatively recognize, because
For large car, this is a major reason for causing traffic accident or scratching curb damage road surface for this.
Exactly because lacking the understanding and research to danger zone at present, the incidence of such accident just remains high, pole
The earth reduces safety of the large car in turning；
Summary of the invention
Present invention place in order to overcome the deficiencies of the above existing technologies, proposes a kind of danger of large car turning lubrication groove difference
Regional prediction method, to which following one section of vehicle can be predicted according to driver to the manipulation situation and vehicle-state of vehicle
The driving trace of time, obtains the danger zone of prediction, to promote the safety of large car turning.
The present invention adopts the following technical scheme that in order to solve the technical problem
A kind of the characteristics of danger zone prediction technique of large car turning lubrication groove difference of the present invention is to carry out as follows:
Step 1, the danger zone theoretical model for establishing large car turning lubrication groove difference:
Vehicle turning process is divided into three phases by step 1.1, including is entered curved stage, stabilization sub stage and returned the positive stage；
It is described enter the curved stage are as follows: front wheel angle change rateConstant and be positive, speed u is constant, yaw velocity ωrIt is permanent
It is fixed；
The stabilization sub stage are as follows: front wheel angle α2Constant, speed u is constant, yaw velocity ωrIt is constant；
The described time positive stage are as follows: front wheel angle change rateConstant and be negative, speed u is constant, yaw velocity ωrIt is permanent
It is fixed；
Step 1.2, the foundation for entering curved stage danger zone theoretical model and it is described enter the curved stage danger zone calculate:
Step 1.2.1, automobile instant rotation radius ρ is obtained using formula (1):
In formula (1), a is vehicle front wheelbase, and b is automobile back wheel wheelbase, α1For rear-wheel side drift angle, α2For front wheel angle；And
Have:
tanα2=(v+ ωra)/(u-ωrd) (2)
tanα1=(v- ωrb)/(u-ωrd) (3)
In formula (2) and formula (3), v is the speed of vertical speed u direction, d be vehicle centroid and front and back wheel central junction line it
Between length；
Step 1.2.2, vehicle front is obtained in the average speed u for entering the curved stage using formula (4)L:
In formula (4), α is the instantaneous corner of vehicle front；
Step 1.2.3, the front wheel angle α is obtained using formula (5)2α is changed to from initial zero degree2maxTime t:
In formula (5), α2maxFor front-wheel hard-over, and according to automobile instant rotation maximum radius ρmaxWith road surface turning half
Diameter r is equal and obtains；
Step 1.2.4, it is obtained in time t using formula (6), the distance s of vehicle front traveling:
S=uLt (6)
Step 1.2.5, the position of front-wheel enters curved instantaneous velocity direction with front-wheel as origin o for x when entering curved using vehicle
Axis establishes Turn Models coordinate system o-xy to enter curved instantaneous velocity direction as y-axis perpendicular to front-wheel；And it is obtained using formula (7)
The maximum angle α of mass center central axes and x-axis of the automobile when entering the curved stage0max:
α0max=t ωr (7)
Step 1.2.6, the front wheel track of automobile and the maximum angle β of x-axis are obtained using formula (8)max:
βmax=α0max+α2max (8)
Step 1.2.7, establish the equation group as shown in formula (9), and obtain front wheel track it is described enter the curved stage when end
Point sits M1(x1,y1), the center of circle of road surface turning circle and x-axis distance c1And front wheel track parameter of curve A1:
Step 1.2.8, the front-wheel coordinate into curved stage automobile is set as (x1',y1'), then enter the rear-wheel coordinate of curved stage automobile
For (x1'-(a+b)cosα0,y1'+(a+b)sinα0) and as entering curved stage danger zone theoretical model；To enter curved stage automobile
The driving trace of rear-wheel coordinate enters the danger zone in curved stage as automobile；Wherein, α0The mass center for being automobile when entering the curved stage
The angle of central axes and x-axis；
Step 1.3, the foundation of stabilization sub stage danger zone theoretical model and the danger zone of stabilization sub stage calculate:
The turning radius r of stabilization sub stage front-wheel is obtained using formula (10)1With the turning radius r of stabilization sub stage rear-wheel2, and root
According to the turning radius r of stabilization sub stage rear-wheel2, obtain the driving trace of the automobile back wheel coordinate and the danger as the stabilization sub stage
Region Theory model enters the danger zone in curved stage using the driving trace of stabilization sub stage automobile back wheel coordinate as automobile；
Step 1.4, the foundation for returning positive stage danger zone theoretical model and the danger zone for returning the positive stage calculate:
Step 1.4.1, the position of front-wheel goes out curved instantaneous velocity direction with front-wheel as origin o ' for x ' when going out curved using vehicle
Axis establishes Turn Models coordinate system o '-x ' y ' to go out curved instantaneous velocity direction perpendicular to front-wheel for y ' axis；
The equation group as shown in formula (11) is established, and obtains front wheel track in the starting point coordinate M in described time positive stage2
(x2,y2), the center of circle of road surface turning circle and x ' axis distance c2And front wheel track parameter of curve A2:
Step 1.4.2, the front-wheel coordinate into time positive section automobile is set as (x '2,y′2), then return the rear-wheel coordinate of positive stage automobile
For (x '2+(a+b)cosα0,y′2+(a+b)sinα0) and as the danger zone theoretical model for returning the positive stage；To return positive stage vapour
The driving trace of back wheels of vehicle coordinate enters the danger zone in curved stage as automobile；
Step 2 carries out turning phase judgement according to the changing value of front wheel angle and the change rate of front wheel angle:
Step 2.1, as Δ α2> k1> 0 andWhen, indicate that automobile enters the curved stage；
WhenAnd-k3< Δ α2< k3When, indicate that automobile enters the stabilization sub stage；
WhenAnd Δ α2< k5When < 0, indicate that automobile enters the stabilization sub stage；Wherein, k, k1, k2, k3, k4, k5
For adjustable sensitivity parameter, Δ α2For the variable quantity of front wheel angle；
Step 2.2, the danger zone prediction for entering the curved stage:
Step 2.2.1, it is described enter curved stage obtain automobile parameter, comprising: automobile instantaneous velocity u1, yaw velocity
ωr1, vehicle front wheelbase a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α '2, vapour
The instantaneous corner change rate of Chinese herbaceous peony wheel
Step 2.2.2, automobile is obtained using formula (12) enter curved simulated time t ':
Step 2.2.3, the angle α of mass center central axes and x-axis of the automobile when entering the curved stage is obtained using formula (13)0':
α′0=ωr1t′ (13)
Step 2.2.4, the front wheel track of automobile and the angle β ' of x-axis are obtained according to formula (14):
β '=α '0+α′2 (14)
Step 2.2.5, vehicle front is obtained in the average speed u ' for entering the curved stage according to formula (16)L；
In formula (15), α is section [0, α '2] integration segment；
Step 2.2.6, distance s ' of the vehicle front at simulated time t ' is obtained according to formula (16):
S '=u 'Lt′ (16)
Step 2.2.7, vehicle front-wheel is set in the coordinate of the Turn Models coordinate system o '-x ' y ' as Q (x "1,y″1)；And it builds
Equation group shown in Liru formula (17), in the hope of front wheel track parameter of curve A1', to obtain front-wheel in the track for entering the curved stage
Curve:
In formula (17), x " be section [0, x "2] integration segment；
Step 2.2.8, according to the coordinate Q (x " of vehicle front-wheel1,y″1), obtaining rear-wheel coordinate is (x "1-(a+b)cosα′0,
y″1-(a+b)sinα′0)；
Step 2.2.9, in the period after assuming to enter described in the acquisition automobile parameter in curved stage, front-wheel is according to entering curved rank
The geometric locus movement of section, then obtain rear-wheel prediction locus curve, to realize in the geometric locus for entering the curved stage according to front-wheel
Enter the prediction of curved stage danger zone；
Step 2.3, the prediction of the danger zone of stabilization sub stage:
Step 2.3.1, automobile parameter is obtained in the stabilization sub stage, comprising: automobile instantaneous velocity u2, yaw velocity
ωr2, vehicle front wheelbase a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α "2；
The turning radius r " of stabilization sub stage front-wheel is obtained using formula (18)1With the turning radius r " of stabilization sub stage rear-wheel2, and
According to the turning radius r " of stabilization sub stage rear-wheel2Obtain the driving trace of the automobile back wheel coordinate；
In formula (18), v2For vertical speed u2The speed in direction, α "1For stabilization sub stage inner rear wheel side drift angle；
Step 2.3.2, assume in the period after the automobile parameter for obtaining stabilization sub stage, front-wheel is according to stablizing rank
The geometric locus movement of section, then according to the turning radius r " of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize stable rank
The prediction of section danger zone；
Step 2.4, the danger zone prediction for returning the positive stage:
Step 2.4.1, automobile parameter is obtained described time positive stage, comprising: automobile instantaneous velocity u3, yaw velocity
ωr3, vehicle front wheelbase a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α " '2；
The turning radius r " ' of positive stage front-wheel is obtained back using formula (19)1With the turning radius r " ' for returning positive stage rear-wheel2,
And according to the turning radius r " ' for returning positive stage rear-wheel2Obtain the driving trace of the automobile back wheel coordinate；
In formula (19), v3For vertical speed u3The speed in direction, α " '1To return positive stage inner rear wheel side drift angle；
Step 2.4.2, assume obtaining in the period after the automobile parameter for returning the positive stage, front-wheel is according to time positive exponent
The geometric locus movement of section, then according to the turning radius r " ' of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize back positive exponent
The prediction of section danger zone.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention can carry out real-time active predicting to the danger zone of vehicle turning, solve in most cases
Vehicle turning danger zone problem greatly improves the safety of large car turning, suitable for various large car vehicles and respectively
The turning of kind angle bend.
2, the present invention has accurately calculated danger zone, solves due to qualitative for danger zone at present, fuzzy recognizes
The problem of knowledge leads to not accurate description danger zone, to improve a possibility that this technology is applied to reality and accuracy.
3, the present invention is widely used, and can theoretically be turned in any angle bend, arbitrary speed and different pavement conditions
It stoops, can carry out the real-time Accurate Prediction in danger zone, to greatly improve applicability and use value of the invention.
4, the present invention has the function of predicting solve the problems, such as the active predicting of danger zone, to greatly promote in real time
Realistic feasibility of the invention can greatly promote the safety of large car turning, have initiative and greatly reality
Meaning.
5, input parameter of the invention is easily obtained, and can be obtained from automobile assembly or be regulated and controled according to personal preference, from
Without with additionally increasing equipment on automobile, therefore the present invention has cheap cost, realizes and is easy, has combined accuracy
And actuality.
Detailed description of the invention
Fig. 1 is danger zone simulation drawing of the invention, wherein for the ease of intuitively finding out I, III stage danger zone,
Specific gravity to I, III region in entirely turning process is increased, and what hatching indicated is exactly the lubrication groove difference area between front and back wheel
Domain,；
Fig. 2 is automobile instantaneous state analysis chart of the present invention, wherein x is that car speed is satisfactory apart from automobile front and back wheel center
The distance of line；Vehicle front directional velocity is not parallel to Chinese herbaceous peony wheel, Ying Youyi side drift angle, because side drift angle is smaller, in figure not
Obviously；
Fig. 3 is that automobile of the invention enters curved stage front and back wheel position view.
Specific embodiment
In the present embodiment, a kind of danger zone prediction technique of large car turning lubrication groove difference is divided into model foundation and to mould
2 aspects of application of type, and carry out as follows:
Step 1, the danger zone theoretical model for establishing large car turning lubrication groove difference:
Referring to Fig. 1, oversize vehicle turning is divided into 3 stages by the present invention, and I is, when entering the curved stage, to drive into the curved stage
Member is in adjustment direction disk, to adjust suitable front wheel angle to turn over bend.II is the stabilization sub stage, at this time the steering wheel of driver
Big variation will not occur for angle, be in a front wheel angle metastable stage.III is back the positive stage, refers to driver
Positive direction disk is returned, aligns vehicle body again, the process for making front wheel angle playback.
Vehicle turning process is divided into three phases by step 1.1, including is entered curved stage, stabilization sub stage and returned the positive stage；
Enter the curved stage are as follows: front wheel angle change rateConstant and be positive, speed u is constant, yaw velocity ωrIt is constant；
Stabilization sub stage are as follows: front wheel angle α2Constant, speed u is constant, yaw velocity ωrIt is constant；
Return the positive stage are as follows: front wheel angle change rateConstant and be negative, speed u is constant, yaw velocity ωrIt is constant；
Step 1.2, the foundation for entering curved stage danger zone theoretical model and the danger zone for entering the curved stage calculate:
Entering the curved stage, core of the invention model has following hypothesis:
1. the turning speed u of vehicle constant (at the uniform velocity turning meets the principle generally driven) in this stage；
2. the front wheel angle change rate of vehicle turning in this stageIt is constant that (smooth turning is that the turning of driver is practised
It is used)；
(natural conditions on road surface) 3. known to the turning radius r of road surface；
4. the instantaneous yaw velocity ω of vehicle in this stagerConstant (angular speed changed conference and causes occupant uncomfortable,
The behavioural habits of driver are not met).
Entering the curved stage as a result, studied for the track of front-wheel: the corner change rate of front-wheel is constant, due to entering
In the curved stage, angle change is little, tan α2Change rate also constant or slightly more than α2, accuracy and safety can all obtain
Guarantee, therefore, the track present invention of front-wheel is with leading to zeroaxial conic section y=Ax2Simulation.Automobile enters to bend through journey reality
It is the operation by driver in matter, vehicle front-wheel instant rotation radius ρ is adjusted to and the fixation turning radius r on road
The process being consistent.As shown in Figure 1, conic section and the road surface round tangent and point M (x of regulation turning radius0,y0), as defined in road surface
The round center of circle is on the y axis.
Step 1.2.1, by the geometrical relationship of Fig. 2, automobile instant rotation radius ρ is obtained using formula (1):
In formula (1), vehicle front instant rotation radius ρ, a are vehicle front wheelbase, and b is automobile back wheel wheelbase, α1It is rear
Take turns side drift angle, α2For front wheel angle；
By the associated speed and its geometrical relationship of Fig. 2, formula (2) and formula (3) can be obtained:
tanα2=(v+ ωra)-(u-ωrd) (2)
tanα1=(v- ωrb)/(u-ωrd) (3)
In formula (2) and formula (3), v is the speed of vertical speed u direction, d be vehicle centroid and front and back wheel central junction line it
Between length；
Step 1.2.2, front-wheel and centroid linkage speed according to fig. 2, obtain front-wheel instantaneous velocity and calculate average value obtaining
To vehicle front in the average speed u for entering the curved stageL:
In formula (4), α is the instantaneous corner of vehicle front；
Step 1.2.3, front wheel angle α is obtained using formula (5)2α is changed to from initial zero degree2maxTime t:
In formula (5), α2maxFor front-wheel hard-over, and according to automobile instant rotation maximum radius ρmaxWith road surface turning half
Diameter r is equal and obtains；
Step 1.2.4, it is obtained in time t using formula (6), the distance s of vehicle front traveling:
S=uLt (6)
Step 1.2.5, as shown in figure 3, the position of front-wheel enters curved instantaneous speed with front-wheel as origin o when entering curved using vehicle
Turn Models coordinate system o-xy is established to enter curved instantaneous velocity direction as y-axis perpendicular to front-wheel for x-axis in degree direction；And it utilizes
Formula (7) obtains the maximum angle α of mass center central axes and x-axis of the automobile when entering the curved stage0max, and as shown in Figure 3:
Thus the instantaneous yaw velocity ω of vehicle in the stagerIt is constant, it can obtain:
α0max=t ωr (7)
Step 1.2.6, as shown in figure 3, obtaining the front wheel track of automobile and the maximum angle β of x-axis using formula (8)max:
βmax=α0max+α2max (8)
Step 1.2.7, it is turned equation of a circle by road surface, front wheel track equation, terminal tangential equation, terminal curvature equation connection
It is vertical, the equation group as shown in formula (9) is established, and obtain terminal of the front wheel track when entering the curved stage and sit M1(x1,y1), road surface turns
The center of circle of curved circle and x-axis distance c1And front wheel track parameter of curve A1:
Step 1.2.8, the front-wheel coordinate into curved stage automobile is set as (x1',y1')；
Automobile is located at (x entering the curved stage1',y1') when mass center central axes and x-axis angle α0Determination (at this point, only knowing
The equation and point (x of road curve1',y1') coordinate and End of Curve coordinate M1(x1,y1)):
Due to known α2max, and it is knownEven change, so that
Due to α0And α2Entering the curved stage while changing, and known α0max, so that
Step 1.2.9, then according to the positional relationship of Fig. 3, the rear-wheel coordinate for entering curved stage automobile is (x1'-(a+b)cosα0,
y1'-(a+b)sinα0) and as entering curved stage danger zone theoretical model；To enter the driving trace of curved stage automobile back wheel coordinate
Enter the danger zone in curved stage as automobile；It brings into formula (10), formula (11), to sum up, it can be calculated that in the danger for entering the curved stage
Region: as shown in I stage of Fig. 1；
Step 1.3, the foundation of stabilization sub stage danger zone theoretical model and the danger zone of stabilization sub stage calculate:
In the stabilization sub stage, it is assumed that
1. there is more constant front wheel angle α2max(steering wheel does not have big variation)；
2. there is constant speed u (at the uniform velocity turning)；
3. there is stable yaw velocity ωr(smooth turning)；
4. known to the radius r of road surface (pavement conditions)
Therefore it can obtain, the stabilization sub stage, front-wheel was with r1Uniform circular motion is done for radius, rear-wheel is with r2Steady circular is for radius
Movement, and the center of circle of the running track of front and back wheel is identical.
The turning radius r of stabilization sub stage front-wheel is obtained using formula (12)1With the turning radius r of stabilization sub stage rear-wheel2, and root
According to the turning radius r of stabilization sub stage rear-wheel2Obtain the driving trace of automobile back wheel coordinate and the danger zone as the stabilization sub stage
Theoretical model enters the danger zone in curved stage using the driving trace of stabilization sub stage automobile back wheel coordinate as automobile；And as a result,
Can obtain in the danger zone of stabilization sub stage vehicle: as shown in Fig. 1 II, as known to figure, this algorithm stops the turning within this stage
It is unfixed, therefore this algorithm can be for the different angle turnings of vehicle.
Step 1.4, the foundation for returning positive stage danger zone theoretical model and the danger zone for returning the positive stage calculate:
Returning the positive stage, it is assumed that
1. the turning speed u of vehicle is constant in this stage (at the uniform velocity turning)；
2. the front wheel angle change rate of vehicle turning in this stageConstant (smooth turning)；
(natural conditions on road surface) 3. known to the turning radius r of road surface；
4. the instantaneous yaw velocity ω of vehicle in this stagerConstant (angular speed changed conference and causes occupant uncomfortable)
Similar with the curved stage is entered, the essence in time positive stage is the adjustment by driver, makes the front-wheel instant rotation of automobile
Radius ρ increases to the process of infinite point from road surface radius r.
At this point, the position of rear-wheel and the position of front-wheel be as shown in Fig. 1 III, since there are due to vehicle commander, two-wheeled rotates position
It is equipped with phase difference, is gone out in vehicle curved moment, front wheel angle α2=0, rear-wheel side drift angle α1=0, since this stage corner is smaller,
This algorithm of equation of locus of front-wheel conic section y=A2x2Simulation.
Step 1.4.1, the position of front-wheel goes out curved instantaneous velocity direction with front-wheel as origin o ' for x ' when going out curved using vehicle
Axis establishes Turn Models coordinate system o '-x ' y ' to go out curved instantaneous velocity direction perpendicular to front-wheel for y ' axis；
With enter the curved stage similarly, establish the equation group as shown in formula (13), and obtain front wheel track return the positive stage rise
Initial point coordinate M2(x2,y2), the center of circle of road surface turning circle and x ' axis distance c2And front wheel track parameter of curve A2:
Step 1.4.2, the front-wheel coordinate into time positive section automobile is set as (x '2,y′2), and enter the curved stage similarly, then Hui Zhengjie
The rear-wheel coordinate of section automobile is (x '2+(a+b)cosα0,y′2+(a+b)sinα0) and it is theoretical as the danger zone for returning the positive stage
Model；Enter the danger zone in curved stage using the driving trace of go back to positive stage automobile back wheel coordinate as automobile；
To sum up, it can calculate in the danger zone for returning the positive stage: as shown in III stage of Fig. 1；
As shown in Figure 1, it is returning the positive stage, danger zone, which is reduced rapidly even, inverse danger zone occurs, therefore sets in system
Timing, for be mainly danger zone into curved stage and stabilization sub stage.
In summary three sections of danger zones, the calculated danger zone of the present invention are as shown in Figure 1；
Step 2 carries out turning phase judgement according to the changing value of front wheel angle and the change rate of front wheel angle:
Step 2.1, as Δ α2> k1> 0 andWhen, indicate that automobile enters the curved stage；
WhenAnd-k3< Δ α2< k3When, indicate that automobile enters the stabilization sub stage；
WhenAnd Δ α2< k5When < 0, indicate that automobile enters the stabilization sub stage；Wherein, k, k1, k2, k3, k4, k5
For adjustable sensitivity parameter, Δ α2For the variable quantity of front wheel angle；
Step 2.2, the danger zone prediction for entering the curved stage:
Step 2.2.1, entering curved stage acquisition automobile parameter, comprising: automobile instantaneous velocity u1, yaw velocity ωr1, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α '2, vehicle front
Instantaneous corner change rate
Step 2.2.2, automobile is obtained using formula (14) enter curved simulated time t ':
Step 2.2.3, the angle α of mass center central axes and x-axis of the automobile when entering the curved stage is obtained using formula (15)0':
α′0=ωr1t′ (15)
Step 2.2.4, the front wheel track of automobile and the angle β ' of x-axis are obtained according to formula (16):
β '=α '0+α′2 (16)
Step 2.2.5, vehicle front is obtained in the average speed u ' for entering the curved stage according to formula (17)L；
In formula (17), α is section [0, α '2] integration segment；
Step 2.2.6, distance s ' of the vehicle front at simulated time t ' is obtained according to formula (18):
S '=u 'Lt′ (18)
Step 2.2.7, vehicle front-wheel is set in the coordinate of Turn Models coordinate system o '-x ' y ' as Q (x "1,y″1)；And it establishes such as
Equation group shown in formula (17), in the hope of front wheel track parameter of curve A1', so that it is bent in the track for entering the curved stage to obtain front-wheel
Line:
In formula (17), x " be section [0, x "2] integration segment；
Step 2.2.8, according to the coordinate Q (x " of vehicle front-wheel1,y″1), obtaining rear-wheel coordinate is (x "1-(a+b)cosα0′,
y″1-(a+b)sinα′0)；
Step 2.2.9, assume in the period after the automobile parameter for obtaining the curved stage, front-wheel is according to entering the curved stage
Geometric locus movement, then obtain rear-wheel prediction locus curve, to realize into curved in the geometric locus for entering the curved stage according to front-wheel
The prediction of stage danger zone；
Step 2.3, the prediction of the danger zone of stabilization sub stage:
Step 2.3.1, automobile parameter is obtained in the stabilization sub stage, comprising: automobile instantaneous velocity u2, yaw velocity ωr2, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α "2；
The turning radius r " of stabilization sub stage front-wheel is obtained using formula (20)1With the turning radius r " of stabilization sub stage rear-wheel2, and
According to the turning radius r " of stabilization sub stage rear-wheel2Obtain the driving trace of automobile back wheel coordinate；
In formula (20), v2For vertical speed u2The speed in direction, α "1For stabilization sub stage inner rear wheel side drift angle；
Step 2.3.2, assume in the period after the automobile parameter for obtaining the stabilization sub stage, front-wheel is according to the stabilization sub stage
Geometric locus movement, then according to the turning radius r " of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize that the stabilization sub stage endangers
The prediction in danger zone domain；
Step 2.4, the danger zone prediction for returning the positive stage:
Due to being proposed when the model foundation of front, since danger zone is smaller in this stage or even inverse danger zone occurs,
In order to simplify algorithm, for safety and do not produce ambiguity, therefore this stage simulates this stage using stabilization sub stage model
Danger zone.
Step 2.4.1, positive stage acquisition automobile parameter is being returned, comprising: automobile instantaneous velocity u3, yaw velocity ωr3, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α " '2；
The turning radius r " ' of positive stage front-wheel is obtained back using formula (19)1With the turning radius r " ' for returning positive stage rear-wheel2,
And according to the turning radius r " ' for returning positive stage rear-wheel2Obtain the driving trace of automobile back wheel coordinate；
In formula (21), v3For vertical speed u3The speed in direction, α " '1To return positive stage inner rear wheel side drift angle；
Step 2.4.2, assume in the period after the automobile parameter for obtaining back the positive stage, front-wheel is according to time positive stage
Geometric locus movement, then according to the turning radius r " ' of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize back positive stage danger
The prediction in danger zone domain.
Claims (1)
1. a kind of danger zone prediction technique of large car turning lubrication groove difference, it is characterized in that carrying out as follows:
Step 1, the danger zone theoretical model for establishing large car turning lubrication groove difference:
Vehicle turning process is divided into three phases by step 1.1, including is entered curved stage, stabilization sub stage and returned the positive stage；
It is described enter the curved stage are as follows: front wheel angle change rateConstant and be positive, speed u is constant, yaw velocity ωrIt is constant；
The stabilization sub stage are as follows: front wheel angle α2Constant, speed u is constant, yaw velocity ωrIt is constant；
The described time positive stage are as follows: front wheel angle change rateConstant and be negative, speed u is constant, yaw velocity ωrIt is constant；
Step 1.2, the foundation for entering curved stage danger zone theoretical model and it is described enter the curved stage danger zone calculate:
Step 1.2.1, automobile instant rotation radius ρ is obtained using formula (1):
In formula (1), a is vehicle front wheelbase, and b is automobile back wheel wheelbase, α1For rear-wheel side drift angle, α2For front wheel angle；And have:
tanα2=(v+ ωra)/(u-ωrd) (2)
tanα1=(v- ωrb)/(u-ωrd) (3)
In formula (2) and formula (3), v is the speed of vertical speed u direction, and d is between vehicle centroid and front and back wheel central junction line
Length；
Step 1.2.2, vehicle front is obtained in the average speed u for entering the curved stage using formula (4)L:
In formula (4), α is the instantaneous corner of vehicle front；
Step 1.2.3, the front wheel angle α is obtained using formula (5)2α is changed to from initial zero degree2maxTime t:
In formula (5), α2maxFor front-wheel hard-over, and according to automobile instant rotation maximum radius ρmaxWith road surface turning radius r phase
Deng and obtain；
Step 1.2.4, it is obtained in time t using formula (6), the distance s of vehicle front traveling:
S=uLt (6)
Step 1.2.5, the position of front-wheel is origin o when entering curved using vehicle, enters curved instantaneous velocity direction as x-axis using front-wheel, with
Entering curved instantaneous velocity direction perpendicular to front-wheel is y-axis, establishes Turn Models coordinate system o-xy；And automobile is obtained using formula (7)
The maximum angle α of mass center central axes and x-axis when entering the curved stage0max:
α0max=t ωr (7)
Step 1.2.6, the front wheel track of automobile and the maximum angle β of x-axis are obtained using formula (8)max:
βmax=α0max+α2max (8)
Step 1.2.7, establish the equation group as shown in formula (9), and obtain front wheel track it is described enter the curved stage when terminal sit M1
(x1,y1), the center of circle of road surface turning circle and x-axis distance c1And front wheel track parameter of curve A1:
Step 1.2.8, the front-wheel coordinate into curved stage automobile is set as (x1',y1'), then the rear-wheel coordinate for entering curved stage automobile is
(x1'-(a+b)cosα0,y1'+(a+b)sinα0) and as entering curved stage danger zone theoretical model；After entering curved stage automobile
The driving trace of wheel coordinate enters the danger zone in curved stage as automobile；Wherein, α0In the mass center for being automobile when entering the curved stage
The angle of axis and x-axis；
Step 1.3, the foundation of stabilization sub stage danger zone theoretical model and the danger zone of stabilization sub stage calculate:
The turning radius r of stabilization sub stage front-wheel is obtained using formula (10)1With the turning radius r of stabilization sub stage rear-wheel2, and according to steady
Determine the turning radius r of stage rear-wheel2, obtain the driving trace of the automobile back wheel coordinate and the danger zone as the stabilization sub stage
Theoretical model enters the danger zone in curved stage using the driving trace of stabilization sub stage automobile back wheel coordinate as automobile；
Step 1.4, the foundation for returning positive stage danger zone theoretical model and the danger zone for returning the positive stage calculate:
Step 1.4.1, the position of front-wheel is origin o ' when going out curved using vehicle, goes out curved instantaneous velocity direction with front-wheel for x ' axis,
To go out curved instantaneous velocity direction perpendicular to front-wheel for y ' axis, Turn Models coordinate system o '-x ' y ' is established；
The equation group as shown in formula (11) is established, and obtains front wheel track in the starting point coordinate M in described time positive stage2(x2,
y2), the center of circle of road surface turning circle and x ' axis distance c2And front wheel track parameter of curve A2:
Step 1.4.2, the front-wheel coordinate into time positive section automobile is set as (x '2,y′2), then the rear-wheel coordinate for returning positive stage automobile is
(x′2+(a+b)cosα0,y′2+(a+b)sinα0) and as the danger zone theoretical model for returning the positive stage；To return positive stage automobile
The driving trace of rear-wheel coordinate enters the danger zone in curved stage as automobile；
Step 2 carries out turning phase judgement according to the changing value of front wheel angle and the change rate of front wheel angle:
Step 2.1, as Δ α2> k1> 0 andWhen, indicate that automobile enters the curved stage；
WhenAnd-k3< Δ α2< k3When, indicate that automobile enters the stabilization sub stage；
WhenAnd Δ α2< k5When < 0, indicate that automobile enters the stabilization sub stage；Wherein, k, k1, k2, k3, k4, k5For can
The sensitivity parameter of adjusting, Δ α2For the variable quantity of front wheel angle；
Step 2.2, the danger zone prediction for entering the curved stage:
Step 2.2.1, it is described enter curved stage obtain automobile parameter, comprising: automobile instantaneous velocity u1, yaw velocity ωr1, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α2', vehicle front
Instantaneous corner change rate
Step 2.2.2, automobile is obtained using formula (12) enter curved simulated time t ':
Step 2.2.3, the angle α of mass center central axes and x-axis of the automobile when entering the curved stage is obtained using formula (13)0':
α′0=ωr1t′ (13)
Step 2.2.4, the front wheel track of automobile and the angle β ' of x-axis are obtained according to formula (14):
β '=α '0+α′2 (14)
Step 2.2.5, vehicle front is obtained in the average speed u ' for entering the curved stage according to formula (16)L；
In formula (15), α is section [0, α '2] integration segment；
Step 2.2.6, distance s ' of the vehicle front at simulated time t ' is obtained according to formula (16):
S '=u 'Lt′ (16)
Step 2.2.7, vehicle front-wheel is set in the coordinate of the Turn Models coordinate system o '-x ' y ' as Q (x "1,y″1)；And it establishes such as
Equation group shown in formula (17), in the hope of front wheel track parameter of curve A1', so that it is bent in the track for entering the curved stage to obtain front-wheel
Line:
In formula (17), x " be section [0, x "2] integration segment；
Step 2.2.8, according to the coordinate Q (x " of vehicle front-wheel1,y″1), obtaining rear-wheel coordinate is (x "1-(a+b)cosα′0,y″1-
(a+b)sinα′0)；
Step 2.2.9, in the period after assuming to enter described in the acquisition automobile parameter in curved stage, front-wheel is according to entering the curved stage
Geometric locus movement, then obtain rear-wheel prediction locus curve, to realize into curved in the geometric locus for entering the curved stage according to front-wheel
The prediction of stage danger zone；
Step 2.3, the prediction of the danger zone of stabilization sub stage:
Step 2.3.1, automobile parameter is obtained in the stabilization sub stage, comprising: automobile instantaneous velocity u2, yaw velocity ωr2, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α "2；
The turning radius r " of stabilization sub stage front-wheel is obtained using formula (18)1With the turning radius r " of stabilization sub stage rear-wheel2, and according to
The turning radius r " of stabilization sub stage rear-wheel2Obtain the driving trace of the automobile back wheel coordinate；
In formula (18), v2For vertical speed u2The speed in direction, α "1For stabilization sub stage inner rear wheel side drift angle；
Step 2.3.2, assume in the period after the automobile parameter for obtaining the stabilization sub stage, front-wheel is according to the stabilization sub stage
Geometric locus movement, then according to the turning radius r " of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize that the stabilization sub stage endangers
The prediction in danger zone domain；
Step 2.4, the danger zone prediction for returning the positive stage:
Step 2.4.1, automobile parameter is obtained described time positive stage, comprising: automobile instantaneous velocity u3, yaw velocity ωr3, vapour
Chinese herbaceous peony wheel base a, automobile back wheel wheelbase b, automobile centroid distance front and back wheel center line distance d, front wheel angle α " '2；
The turning radius r " ' of positive stage front-wheel is obtained back using formula (19)1With the turning radius r " ' for returning positive stage rear-wheel2, and root
According to the turning radius r " ' for returning positive stage rear-wheel2Obtain the driving trace of the automobile back wheel coordinate；
In formula (19), v3For vertical speed u3The speed in direction, α " '1To return positive stage inner rear wheel side drift angle；
Step 2.4.2, assume obtaining in the period after the automobile parameter for returning the positive stage, front-wheel is according to time positive stage
Geometric locus movement, then according to the turning radius r " ' of rear-wheel2, rear-wheel prediction locus curve is obtained, to realize back positive stage danger
The prediction in danger zone domain.
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