追尾碰撞的汽车稳定性及控制策略研究

发布时间：2018-07-24 19:04

【摘要】：汽车碰撞事故后果严重,甚至会造成车毁人亡,因此汽车碰撞安全一直是主被动安全领域研究焦点。而汽车追尾容易使车辆偏离行驶轨迹,产生二次碰撞。为了解决此问题,需要进行汽车追尾碰撞动力学分析及稳定性控制研究。研究了车与车追尾碰撞的数学模型;进行了汽车碰撞主要参数分析;搭建了包含ESC控制器的硬件在环试验平台;设计了PISP(Post-impact Stability Program)控制器用于控制车辆的侧向轨迹,防止车辆发生二次碰撞。首先,进行了汽车追尾碰撞动力学建模及稳定性分析。建立了被撞车辆碰撞过程的动力学模型,包括四自由度车辆模型及碰撞力模型,联合simulink和Carsim软件进行模型验证;应用碰撞动力学理论分析了汽车碰撞过程被追尾车辆关键参数对汽车稳定性的影响规律。其次,基于dSPACE平台,搭建了车与车追尾碰撞稳定性控制的硬件在环试验台架,在台架上分别进行了“鱼钩”工况下的行驶试验和碰撞试验。在该平台中导入汽车追尾碰撞动力学模型,通过对液压系统电磁阀开度、控制器CAN信号以及模型中的轮缸压力等参数进行分析,得出了ESC在两种工况下的基本控制策略及控制效果。最后,针对追尾碰撞后被追尾车辆的失稳情况,提出了一种基于逻辑门限值与PID调节各车轮制动力的PISP追尾碰撞稳定性控制策略。实例仿真对比了基于ESC的稳定性控制与基于PISP控制的效果,结果表明,该策略能够保障被追尾车辆的稳定性,可减轻及避免车辆追尾后发生二次碰撞造成的损失。
[Abstract]:The consequence of automobile collision accident is serious and even will cause the death of vehicle crash. Therefore, vehicle collision safety is always the research focus in the field of active and passive safety. The rear-end of the vehicle is easy to make the vehicle deviate from the track, resulting in a secondary collision. In order to solve this problem, the dynamic analysis and stability control of rear-end collision are needed. The mathematical model of rear-end collision between vehicle and vehicle is studied, the main parameters of vehicle collision are analyzed, the hardware in-loop test platform including ESC controller is built, and the PISP (Post-impact Stability Program) controller) is designed to control the lateral trajectory of vehicle. Prevent the second collision of the vehicle. Firstly, the dynamic modeling and stability analysis of rear-end collision are carried out. The dynamic model of the collision process of the collided vehicle is established, including the four-degree-of-freedom vehicle model and the collision force model. The model is verified by using simulink and Carsim software. The influence of the key parameters of the rear-end vehicle on the vehicle stability is analyzed by using the theory of collision dynamics. Secondly, based on the dSPACE platform, the hardware in loop test stand for the stability control of the rear-end collision between the vehicle and the vehicle is built, and the driving test and the impact test under the "fishhook" condition are carried out on the platform respectively. The vehicle rear-end impact dynamic model is introduced into the platform. The parameters such as the opening of solenoid valve in hydraulic system, the CAN signal of controller and the cylinder pressure in the model are analyzed. The basic control strategy and control effect of ESC under two conditions are obtained. Finally, in view of the instability of the rear-end vehicle after the rear-end collision, a stability control strategy of the PISP rear-end collision is proposed based on the logic threshold and PID to adjust the braking force of each wheel. The simulation results show that the strategy can guarantee the stability of the rear-end vehicle and can reduce and avoid the loss caused by the secondary collision.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U461.6

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