载货汽车危险状态辨识及监测预警研究

发布时间：2018-03-18 22:39

本文选题：载货汽车　切入点：危险辨识　出处：《吉林大学》2014年博士论文　论文类型：学位论文

【摘要】：随着我国国民经济的快速增长，道路交通运输行业也进入快速发展的成长期，由于运输行业的发展不足以及相关部门监管能力的匮乏，我国交通安全形势日益严峻。近几年，道路运输群死群伤的重特大恶性事故频繁发生。据统计，，我国道路交通事故由于生产经营运输车辆导致的伤亡比例较高，营运载货汽车的运输安全问题已成为道路交通运输亟待解决的关键问题之一。国家中长期科学技术发展规划明确将“重点开发交通事故预防预警、应急处理技术”列为交通领域优先研究的技术之一，2008年交通部《国家道路交通安全科技行动计划》中也将“车辆安全性能及新技术、装备应用、营运车辆运行安全监控技术与装备”等列为国家重点科技研究任务。2011年，“十二五”科技重大专项“交通运输领域关键技术与示范”也逐渐在各省展开。针对日益严峻的道路运输形势，以德国为首的欧共体，以及美国和日本等车辆生产发达国家在车辆安全动态监控预警方面进行了大量的研究，并结合车联网技术对车辆行驶状态进行实时集中的监控，在危险状态预警、车-路协调系统等方面取得了长足的进步。由此可见，车辆在途状态的监控和危险状态预警是全球在车辆安全方面的主要研究课题之一。作为造成重特大交通事故比例较高的营运载货汽车，对其在途状态的监测预警更成为重中之重，车辆危险状态辨识技术作为监控预警技术的基础，也成为车辆安全研究的前沿技术和热点。本文结合国家对营运载货汽车安全监控技术与装备方面的技术需求，依托国家863高技术研究发展计划项目《营运载货汽车安全性能检测与预警集成技术及装置》，重点研究车辆在途危险状态辨识方法。首先通过分析导致交通事故的几种典型危险状态，确定需要检测车辆的行驶状态参数，通过在一汽解放赛龙CA1169PK2L2EA80重型货车上加装传感器采集相应的车辆行驶状态参数信息；其次，通过分析传感器采集车辆状态数据，提出能够直接由单参数来判断车辆危险状态的方法；再次，通过对车辆悬架振动特性以及停车距离计算模型的分析，提出基于多个车辆状态参数来判断车辆载荷危险状态和行车间距危险状态方法；最后，基于虚拟仪器软件，以解放赛龙货车为车辆模型开发车辆危险状态监测预警仿真系统，系统可完成车辆故障预设仿真、试验室车辆危险状态监测预警试验，并且保留系统参数编辑能力、车辆状态信号实时采集程序，能够实现车载实时监控和试验室车辆危险状态的监控预警仿真的双重需求。研究为载货汽车行驶状态监测预警阈值的设定提供了理论基础，也为车辆监控预警车载系统的开发提供了上位机软件程序和试验室仿真研究平台。论文研究的主要工作及结论包含以下5方面： 1.车辆危险状态分析和行驶状态信息采集系统分析了车辆行驶过程中容易导致事故的车辆超速、超载、行驶纵向间距不足、机械故障和爆胎等典型危险状态因素，从而确定了制动系中的制动管路压力、制动蹄片温度、蹄片磨损程度、制动灯、转向灯状态、轮胎温度与压力、车辆载荷状态和车速等容易快速引发恶性交通事故的状态参数。通过在解放赛龙车货车上安装相应的传感器来获取以上参数信息，并使用单片机采集和存储传感器信号数据。 2.基于单参数的危险状态判定方法研究通过对传感器获取车辆状态参数信息的特征分析，结合试验车辆结构性能要求，车辆行驶环境（路面情况及天气温度）综合因素的影响，研究了基于单个传感器参数数据的载货汽车危险状态判定方法，其中包括载货汽车行驶速度、轮胎温度压力、转向/制动灯、制动蹄片温度及磨损异常状态辨识，确定了以上危险状态判定阈值。 3.基于悬架振动特性的载荷危险状态辨识方法研究建立了二自由度车辆后悬架振动模型，以路面不平度作为激励输入，分析不同行驶速度，不同装载状态下车辆悬架动行程和悬架动态载荷间关系，提出了采用测量悬架变形量来计算车辆载荷状态的方法；基于此方法开发了带过载保护的拉线式载荷状态检测装置，分别采用Levenberg-Marquardt和EMD方法对载荷状态传感器信号进行了处理，分析了两种方法在动态载荷信号处理方面可行性和实用性，并确定使用EMD方法作为动态载荷信号的处理方法；结合路面环境、车辆行驶速度，载荷状态参数信息，提出了使用水平质心位置监测来判断车辆偏载，货物脱落滑移等载荷危险状态的方法；使用试验车辆在可靠性路面及八种特殊路面上车辆不同工况（行驶车速，载荷状态）下进行了载荷状态检测试验和水平质心位置监测试验，实现了车辆水平质心的测定，验证了载荷状态检测的准确性和水平质心位置监测的可行性。 4.基于停车距离的多参数危险状态辨识方法研究建立停车距离分析模型，分析影响停车距离的主要因素包括驾驶人自身因素，车辆状态参数，制动器结构参数和道路环境因素。通过对驾驶员制动反应时间、制动器起作用时间、制动管路压力、制动蹄片温度、路面附着系数等制动距离的影响参数的分析，基于制动力学分析建立停车距离计算公式，并通过空挡怠速、滑行试验来标定停车距离计算模型中车辆内外阻力参数。最后在不同工况下进行了仿真试验和实车制动试验，验证了停车距离计算模型的可行性和准确性。 5.车辆危险状态监测及预警仿真系统的设计基于虚拟仪器软件开发了危险状态监测及预警系统，系统包含前面板（人机交互界面）和程序框图两大部分；其中软件程序的编写完成了行驶状态信息输入、单参数危险状态判定、多参数危险状态辨识、监测结果显示及预警四个功能；车辆行驶状态信息输入程序保留数据采集卡实时信号输入、车辆运行状态信息数据库输入、车辆运行状态信号仿真输入三种输入方式。数据库数据和仿真信号输入可实现试验室预设车辆危险状态仿真试验，同时预留的串口信号实时导入模块也可做为实车危险状态监测预警系统的上位机程序进行扩展开发。综上所述，本文研究的载货汽车危险状态辨识方法及设计开发的车辆危险状态监测及预警仿真系统为车辆在途行驶状态安全监测预警提供了一种新的方法，对预防载货汽车引发恶性道路交通事故具有着重要的社会意义和应用价值。
[Abstract]:With the rapid growth of China's national economy, the road transportation industry has entered a period of rapid growth and development, due to lack of insufficient development of the transport industry and the relevant departments of the regulatory capacity, China's traffic safety situation is increasingly serious. In recent years, road transport Qunsiqunshang major accidents occurred frequently. According to statistics, the road traffic accident because of the production and operation of vehicle transport resulting in a higher proportion of casualties, safe transport truck operations has become one of the key problems of road transportation needs to be solved.
The national long-term science and technology development plan clearly will focus on the development of traffic accident prevention and early warning, emergency treatment technology "as one of the priority research field of transportation technology, the Ministry of transportation in 2008" national road traffic safety technology plan of action will also be "> in vehicle safety performance and new technology application, equipment, operating vehicle running safety monitoring technology and equipment" as a national key scientific research task in.2011, "12th Five-Year" major science and technology project "key technology and demonstration field of transportation gradually in the provinces. For the increasingly grim situation of road transport, led by Germany, the European community, and vehicle production in developed countries such as the USA and Japan in vehicle dynamic safety monitoring and early warning a lot of study, combined with the car networking technology on the vehicle running state monitoring real-time centralized, in danger warning, vehicle The road coordinate system and other aspects have made great progress. Thus, the vehicle state in transit monitoring and early warning of dangerous state is one of the major research topics in vehicle safety aspects of the world. As a result, a higher proportion of serious traffic accident truck operations, the more become the priority among priorities in transit monitoring and warning state. The vehicle risk status identification technology as the basis for monitoring and warning technology, vehicle safety has become a research hot technologies.
In this paper, combined with the state of operation of truck safety monitoring technology and equipment technical requirements, relying on the National 863 high technology research and development program of the safety performance of truck operations "detection and early warning technology and integrated device >, focus on vehicle in transit risk identification method. Firstly, several typical risk state analysis lead to traffic accidents. To determine the running state of the vehicle parameters need to be detected, by adding sensors to collect corresponding vehicle state parameter information in FAW heavy truck Thordon CA1169PK2L2EA80; secondly, through the analysis of sensor data of vehicle state, which can directly by the single parameter method to estimate the vehicle risk status; thirdly, through the analysis and calculation model on the vibration characteristics of vehicle suspension the parking space and distance, is proposed to determine vehicle load risk based on multiple vehicle state parameters State and distance of the dangerous state method; finally, based on virtual instrument software, the FAW truck for a vehicle model is developed for vehicle risk monitoring and early warning system can complete vehicle simulation system, fault simulation laboratory vehicle presupposition, risk monitoring and early warning test, and keep the system parameters editing capabilities, real-time signal acquisition program of vehicle state, demand to achieve the monitoring and Simulation of the vehicle real-time monitoring and laboratory vehicle risk status. The study provides a theoretical basis for the truck running state monitoring and warning threshold, also provides a simulation platform of PC software program and test room for the development of the vehicle monitoring and early warning system of vehicle. The main work of the paper and the conclusion includes the following 5 aspects:
1. vehicle hazard state analysis and travel state information collection
Analysis of vehicle speed, easily lead to accidents during the running process of the vehicle overloading, driving the longitudinal distance of insufficient mechanical failure and burst of typical risk factors, so as to determine the brake line pressure brake system, brake shoe wear degree, temperature, brake lights, turn lights, tire temperature and pressure parameters of the vehicle load, vehicle speed and easy fast state of vicious traffic accident. To obtain the above parameter information through the installation of the corresponding sensor in the FAW car truck, and the use of single-chip sensor signal acquisition and storage of data.
2. method for determining risk state based on single parameter
The characteristics of obtaining vehicle condition information analysis of sensor, combined with the structural performance requirements of the vehicle, the vehicle driving environment (road and weather) factors, studies the method to determine the truck dangerous state of single sensor parameter based on data, including truck speed, tire temperature and pressure, steering / braking lamp brake shoe wear, temperature and abnormal state identification, to determine the above risk threshold.
3. identification method of load risk state based on vibration characteristics of suspension
A two DOF vehicle suspension vibration model with road roughness as excitation input, analysis of different speeds and under different loading conditions of vehicle suspension travel and dynamic load between the suspension, proposed the method of measuring suspension to calculate vehicle load state deformation; based on this method, the cable type load state detection device with overload protection, respectively using Levenberg-Marquardt and EMD method to load sensor signal processing and analysis of two methods in the dynamic load signal processing feasibility and practicability, and determined to use the EMD method as a method of dynamic load signal; combined with the road condition, vehicle speed, load condition information, put forward to determine the partial load vehicles use level centroid position monitoring method of goods off slip load of dangerous state; use The test vehicle reliability in pavement and eight special road vehicles under different working conditions (speed, load) under the load test and the level of the centroid position monitoring test, the determination of the level of vehicle centroid, verify the feasibility of load state detection accuracy and the level of centroid position monitoring.
4. multi parameter identification method based on parking distance
The establishment of parking distance analysis model, analysis of the main factors affecting the parking distance including the driver's own factors, vehicle state parameters, brake structure parameters and road environment factors. Based on the driver's brake reaction time, brakes, brake line pressure, brake temperature, analysis of influence parameters of pavement adhesion coefficient of braking distance. Analysis of the establishment of the stopping distance calculation formula based on the mechanical brake, and the neutral idle taxi test to calibrate the stopping distance calculation of vehicle internal and external resistance parameters in the model. Finally, the simulation test and vehicle braking test under different conditions, verify the feasibility and accuracy of the model calculation of the stopping distance.
Design of 5. vehicle hazard monitoring and early warning simulation system
The virtual instrument software development risk monitoring and warning system based on the system includes front panel (man-machine interface) and program block diagram of two parts; the software program to complete the driving information input, single parameter risk judgment, multi parameter risk state identification, monitoring and early warning function showed four vehicles; state information input program preserves the data acquisition card real-time signal input, the running state of the vehicle information database input, enter the vehicle running state signal simulation of three input modes. The database data and the simulation signal input can achieve laboratory preset vehicle risk status simulation test, and real time serial signal into the module for monitoring and early warning system can also be used as a vehicle of danger the PC program for the expansion of development.
In summary, this paper studies the truck risk identification method and the design and development of the vehicle hazard monitoring and warning simulation system for vehicle safety monitoring and warning state in transit provides a new method, which has the important social significance and application value for the prevention of road traffic accidents caused by malignant truck.

【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：U492.81;U463.6

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