A Vehicle Stability Analysis Method for Ice and Snow Rutted Road Conditions
A stability and rutting technology, which is applied in the field of vehicle stability control, can solve problems such as stability analysis and the inability of vehicles to input ice and snow rut road condition information
Active Publication Date: 2022-03-25
JILIN UNIV
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[0003] The present invention aims to solve the problem that the existing vehicle stability control technology cannot input ice and snow rut road condition information into the vehicle dynamics model for stability analysis, and provides a vehicle stability analysis method for ice and snow rut road conditions, by establishing an ice and snow environment Two ice and snow rut models are formed on the left and right sides of the center line of the lower road. According to the different positions of the vehicle on the road, the lateral force of the tires in the ice and snow rut is analyzed, and the kinematics and dynamics model of the vehicle under the ice and snow rut is established. This is the basis for analyzing the stability of the vehicle under snow and ice rutted road conditions
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[0101] Below in conjunction with the accompanying drawings and a certain B-class car as a platform, the present invention will be described in detail, wherein the main parameters of a certain B-class car and ice and snow ruts are as shown in Table 1:
[0102]Table 1 The main parameters of a B-class car and ice and snow ruts
[0103] parameter unit parameter value car mass m kg 1530 The distance between the center of mass of the car and the front axle l f
m 1.11 The distance between the center of mass of the car and the rear axle l r
m 1.67 car around z 0 Moment of inertia I of shaft rotation z
m 2315.3 Front tire cornering stiffness k pf
N / rad 58000 rear tire cornering stiffness k pr
N / rad 55000 Front wheel camber stiffness k sf
N / rad 3500 Rear wheel camber stiffness k sr
N / rad 2500 Front wheel base d f
m 1.48 Rear wheel base d r
m 1.5 Ice and snow ...
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The invention provides a vehicle stability analysis method for ice and snow rut road conditions. Two ice and snow rut models are formed on the left and right sides of the road center line in the ice and snow environment. Lateral force analysis, establishing the kinematics and dynamics model of the vehicle under ice and snow rut conditions, based on which the stability of the vehicle under ice and snow rut conditions can be analyzed, because the established ice and snow rut model can describe the relationship between ice and snow rut parameters and vehicle position and The force analysis and vehicle kinematics relationship of the vehicle under the ice and snow rut conditions are analyzed, so a dynamic model reflecting the stability of the vehicle driving under the ice and snow rut conditions can be established, because the state space equation of the vehicle system under the ice and snow rut conditions is analyzed. The position and movement trend of the characteristic root in the complex plane, so it can analyze and judge the stability of the vehicle in the snow and ice rutted road conditions.
Description
technical field [0001] The invention belongs to the technical field of vehicle stability control, and relates to a vehicle stability analysis method, more specifically, to a vehicle stability analysis method under ice and snow rut road conditions. Background technique [0002] In the research of vehicle stability control technology, the vehicle is usually analyzed as a control system, that is, the stability performance of the vehicle is analyzed according to the input and output characteristics. High driving safety, the current vehicle stability analysis is based on the vehicle response under the side wind and throttle changes under the smooth road surface, but the actual road is not always smooth, especially after snowfall in the northern winter, it is easy to form ice and snow ruts, how to analyze The vehicle stability of the vehicle under ice and snow rutted road conditions has become a key issue in the development of the electronic stability control system of the vehicle...
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IPC IPC(8): B60W40/00B60W50/00
CPCB60W40/00B60W50/00B60W2050/0034
Inventor 郭洪艳赵旭刘畅郭景征孟庆瑜刘惠陈虹
Owner JILIN UNIV