| 引用本文: | 陈一锴,史婷,石琴,王长君,李平凡.侧向安全边界理论在圆曲线路段限速中的应用[J].哈尔滨工业大学学报,2019,51(3):179.DOI:10.11918/j.issn.0367-6234.201801160 |
| CHEN Yikai,SHI Ting,SHI Qin,WANG Changjun,LI Pingfan.Setting speed limit for horizontal circular curve of mountain highway using lateral safety boundary theory[J].Journal of Harbin Institute of Technology,2019,51(3):179.DOI:10.11918/j.issn.0367-6234.201801160 |
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| 侧向安全边界理论在圆曲线路段限速中的应用 |
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陈一锴1,史婷1,石琴1,王长君2,李平凡2
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(1. 合肥工业大学 汽车与交通工程学院, 合肥 230009; 2.公安部交通管理科学研究所, 江苏 无锡 214151)
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| 摘要: |
| 针对现有公路限速策略无法准确反映几何线形、路面附着条件对汽车侧向稳定性影响的问题,将圆曲线路段汽车侧向失稳状态解耦为3种失稳模式,推导各失稳模式安全边界的精确计算方法,提出有效保障行车安全的限速值. 首先,分析汽车传统侧向稳定性评价指标—横向力系数的不足,将失稳状态解耦为转向失稳、失去轨迹保持能力、侧翻3种模式,提出各模式的汽车安全性评价指标. 然后,构建7自由度非线性整车-圆曲线路段耦合模型,通过理论推导、回归拟合得到各评价指标安全边界的计算模型. 然后,采用Carsim仿真验证不同附着系数路面下各指标安全边界的准确性. 最后,基于7自由度非线性车-路耦合模型和安全边界计算模型,通过Simulink仿真得到公路圆曲线路段临界安全车速,比较该策略与运行速度、设计速度等限速策略的差异. 结果表明:当路面干燥、潮湿时,采用设计速度限速过于保守；当路面潮湿、积雪时,运行速度往往大于临界安全车速,应降低限速值,以保障行车安全. 所提出的限速策略充分考虑了汽车侧向运动的非线性特征,可作为面向驾驶期望、通行效率等山区公路限速策略的有益补充. |
| 关键词: 失稳模式 侧向安全边界 圆曲线路段 限速 非线性耦合模型 |
| DOI：10.11918/j.issn.0367-6234.201801160 |
| 分类号:U492.8 |
| 文献标识码:A |
| 基金项目:国家自然科学基金青年科学基金(51305117)； 国家自然科学基金重点项目(71431003)； 中央高校基本科研业务费专项资金(JZ2017HGTB0212) |
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| Setting speed limit for horizontal circular curve of mountain highway using lateral safety boundary theory |
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CHEN Yikai1,SHI Ting1,SHI Qin1,WANG Changjun2,LI Pingfan2
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(1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, China; 2. Traffic Management Research Institute of the Ministry of Public Security, Wuxi 214151, Jiangsu, China)
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| Abstract: |
| Existing speed limit strategies cannot reflect the effects of geometric alignments and the road friction condition on vehicle lateral stability precisely. Regarding this issue, the lateral instability of vehicle running on circular curve segment was decoupled into three instability modes. A precise method for calculating the safety boundary of each mode was presented, and the maximum speed which ensures vehicle lateral stability was deduced. Firstly, the drawbacks of the traditional lateral stability indicator, i.e., the side friction factor, were analyzed. The instability status was decoupled as steering instability, losing track-holding capacity, and rollover, and the corresponding safety evaluation indices were proposed. Secondly, a 7 degree-of-freedom (DOF) nonlinear vehicle-circular highway segment coupling model was developed, with which the computational models within the safety boundaries of safety evaluation indices were deduced. Subsequently, the accuracy of the safety boundaries were validated in various road friction conditions through the employment of Carsim. Finally, based on the 7 DOF nonlinear vehicle-road coupling model and the computational models of safety boundaries, the critical safe speeds for circular curves were deduced using MATLAB/Simulink, and the comparisons among the proposed method, the operating speed, and the design speed were made. The results indicate that design speed limit is too conservative on dry and wet pavement, while operating speed often exceeds critical safe speed on wet and icy pavement, which may cause safety issues. The speed limit strategy proposed in this paper fully considers the non-linearity of vehicle’s lateral motion, and could be used as a complement for other speed limit strategies for mountain highway which takes driving expectancy and efficiency into account. |
| Key words: instability mode lateral safety boundaries, circular curve segment speed limit nonlinear coupling model |
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