车辆舒适停车二次速度曲线算法

徐哲; 刘豪; 党威; 胡趁义; 龙永文

doi:10.13433/j.cnki.1003-8728.20220302

车辆舒适停车二次速度曲线算法

doi: 10.13433/j.cnki.1003-8728.20220302

徐哲^{1, 2,},
刘豪¹,
党威¹,
胡趁义¹,
龙永文¹

1.
重庆理工大学车辆工程学院, 重庆 400054
2.
东风柳州汽车有限公司, 广西柳州 545000

基金项目:

国家自然科学基金项目 62241201

重庆市自然科学基金项目 cstc2019jcyj-msxmX0119

重庆市教委科学技术研究项目 KJQN201801101

详细信息

作者简介:
徐哲(1983-), 讲师, 硕士生导师, 博士, 研究方向为汽车底盘电子控制、无人驾驶, xuzhe@cqut.edu.cn

中图分类号: U461.4
计量
- 文章访问数: 90
- HTML全文浏览量: 41
- PDF下载量: 17
- 被引次数: 0
出版历程
- 收稿日期: 2021-03-19
- 刊出日期: 2023-10-25

Algorithm of Quadratic Speed Curve for Comfortable Parking

XU Zhe^{1, 2
,},
LIU Hao¹,
DANG Wei¹,
HU Chenyi¹,
LONG Yongwen¹

1.
School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China
2.
Dongfeng Liuzhou Automobile Co., Ltd., Liuzhou 545000, Guangxi, China

摘要

摘要: 停车制动过程中车速变为0时，车辆加速度的阶跃变化是影响制动舒适性的主要原因。通过对纵向制动工况进行控制，即对制动后期的加速度和速度重新规划，对速度的规划采用二次曲线形式。规划后车辆制动时的冲击度(加速度的时间变化率)明显减小。在MATLAB软件中验证了算法的正确性，并通过Simulink和Carsim联合仿真得到了整车层面上的优化结果。针对制动舒适性与制动安全性的问题，提出制动系统“减压-保压-增压”的解决方案，并进行了实车试验，试验结果表明各项评价指标良好，在保证安全性的情况下提高了舒适性。
- 速度二次曲线 /
- 制动输入 /
- 冲击度 /
- 制动舒适性
Abstract: Reconstructing the vehicle braking process again and judging the late braking period plays a decisive role in vehicle braking comfort. To control the longitudinal braking condition, it is necessary to re-plan the acceleration and speed in the later braking period, in which the speed planning adopts the form of quadratic curve. After speed planning, the impact degree (the time change rate of acceleration) when the vehicle brakes is obviously reduced. The correctness of the algorithm is verified in MATLAB software, and the optimization results at the vehicle level are obtained through the joint simulation of Simulink and Carsim. Aiming at the problems of braking comfort and braking safety, the solution of "decompression-pressure maintaining-pressure increasing" of the braking system is put forward, and the real vehicle test is carried out. The test results show that all evaluation indexes are good, and the braking comfortableness is improved while ensuring the safety.
- velocity conic /
- braking input /
- jerk /
- braking comfortableness

HTML全文

图 1 制动舒适性研究方法雷达图

Figure 1. Radar diagram of brake comfort research methods

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图 2 制动过程中车身与乘员的姿态变化

Figure 2. Change of attitude of vehicle body and occupant during braking

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图 3 普通制动时加速度、俯仰角曲线

Figure 3. Acceleration and pitch angle response during normal braking

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图 4 普通制动时的速度曲线

Figure 4. Velocity profile during normal braking

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图 5 规划的加速度、速度、冲击度曲线

Figure 5. Planned acceleration, velocity and jerk curves

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图 6 规划前后的冲击度曲线

Figure 6. Jerk curve before and after planning

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图 7 舒适停车算法控制框架

Figure 7. Control framework of comfort parking algorithm

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图 8 理论上算法作用效果对比

Figure 8. Comparison of theoretical algorithmic effects

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图 9 考虑安全性的仿真验证

Figure 9. Simulation and verification with security considered

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图 10 施加算法前后的制动距离

Figure 10. Brake distance with or without algorithm implementation

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图 11 试验车辆及试验模块

Figure 11. Experiment vehicle and measurement module

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图 12 制动过程中各参数的变化曲线

Figure 12. Curve of various parameter changes during the braking process

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表 1 算法作用前后效果对比

Table 1. Comparison of effects with or without algorithmic effects

制动情况	制动距离/m	冲击度/(m·s^-3)
无控制	46.24	2 511
有控制	46.29	125

下载: 导出CSV

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