跳到主要內容

臺灣博碩士論文加值系統

(44.200.194.255) 您好!臺灣時間:2024/07/20 16:10
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:陳羿翔
研究生(外文):CHEN, YI-HSIANG
論文名稱:具主動式後輪轉向之車輛緊急閃避控制
論文名稱(外文):Emergency Avoidance Control for Vehicles with Active Rear-Wheel Steering
指導教授:尤正吉
指導教授(外文):YU, CHENG-CHI
口試委員:劉霆朱子文尤正吉
口試委員(外文):LIU, TYNGCHU, TYZZ-WENYU, CHENG-CHI
口試日期:2023-12-22
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:車輛工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2024
畢業學年度:112
語文別:中文
論文頁數:103
中文關鍵詞:障礙物閃避後輪轉向操控性車輛閃避路徑
外文關鍵詞:Obstacle AvoidanceRear Wheel SteeringHandlingVehicle Avoidance Path
相關次數:
  • 被引用被引用:0
  • 點閱點閱:188
  • 評分評分:
  • 下載下載:15
  • 收藏至我的研究室書目清單書目收藏:0
本研究著重於後輪轉向技術的應用,探討主動式後輪轉向在緊急閃避情境下的應用策略,並通過改變後輪轉向角度,以實現車輛最大的閃避效益並提升閃避後之車輛穩定性。首先透過車輛穩態轉向特性並配合車輛動態方程式進行車輛側向位移能力之分析,並加入輪胎摩擦橢圓理論和車身側滑角極限值來避免車輛失去抓地力或側滑失控,藉由各輪輪胎力與車身側滑角判斷車輛於各路面摩擦係數與縱向速度下可行駛之最大側向加速度;再計算所需之前、後車輪轉向角,並將其作為車輛最大閃避能力之轉角輸入。接著透過建立三自由度的車輛模型配合輪胎力之修正,估測車輛縱向煞車距離和車輛前、後軸心之行駛軌跡,並利用PD控制器進行前、後軸心之側向位移追蹤,以提升閃避後之車輛穩定性。本研究最後透過Carsim與Simulink交互模擬來驗證車輛在不同工況之測試結果,結果呈現具主動式後輪轉向之車輛,在閃避過程中以特定之前/後輪轉向角輸入下,車輛外側後輪之軌跡在閃避過程中能產生較大的側向位移,有效降低閃避時車輛尾部之碰撞風險,在閃避結束後能大幅提升車輛穩定性及安全性。
This study investigates the application strategy of active rear-wheel steering in emergency avoidance events, aiming to achieve the maximum turning benefits of the vehicle and enhance its stability after turning by adjusting the rear-wheel steering angle. By analyzing the vehicle's steady-state turning characteristics, using the vehicle's dynamic equations, and incorporating tire friction ellipse theory and the limit value of the body sideslip angle to prevent the vehicle from losing grip or out of control, the maximum lateral acceleration achievable under different road friction coefficients and longitudinal velocities can be determined by assessing the forces from each tire and the body sideslip angle. Then, the appropriate front and rear wheel steering angles are calculated and input as the steering angles for the vehicle's maximum turning capability. By establishing a three degrees of freedom vehicle model combined with a tire model to estimate the vehicle's longitudinal braking distance and the trajectory of the front and rear axles, and utilizing a PD controller for tracking the lateral displacement of the front and rear axles, vehicle stability is enhanced after turning. This study verifies the test results under different operating conditions through interactive simulation using Carsim and Simulink. The results show that vehicles equipped with active rear-wheel steering, under specific front/rear steering angle inputs, the rear outer wheel an produce greater lateral displacement during avoidance, effectively reducing the risk of collision at the rear of the vehicle in emergency avoidance events., vehicle stability and safety after cornering are significantly improved.
摘要 i
ABSTRACT ii
誌謝 iv
目錄 v
表目錄 viii
圖目錄 ix
1 第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 3
1.3 研究動機與方法 12
1.4 本文架構 13
2 第二章 基礎理論 14
2.1 座標系統 14
2.2 車輛模型 14
2.2.1 空氣阻力 15
2.2.2 車輛運動方程式 16
2.2.3 車輛縱向 / 側向速度 17
2.2.4 車輛行駛路徑 17
2.2.5 車身側滑角 17
2.2.6 前後軸心軌跡 17
2.3 輪胎模型 18
2.3.1 輪胎特性 18
2.3.2 輪胎滾動阻力 21
2.3.3 輪胎正向力 21
2.3.4 輪胎縱向力與側向力 22
2.3.5 輪胎側滑角 26
2.3.6 輪胎縱向滑動率 26
2.3.7 路面摩擦係數 27
2.4 車輛極限轉彎性能 28
2.5 主動式後輪轉向 31
2.5.1 後輪轉向策略 32
2.5.2 後輪轉角與側向運動參數之關聯性 32
2.6 Carsim 模型設定 37
2.6.1 目標車規格 37
2.6.2 Carsim/Simulink 交互模擬 38
3 第三章 緊急閃避能力與策略 40
3.1 緊急閃避能力 40
3.1.1 輪胎轉向角 40
3.1.2 轉彎性能極限 42
3.2 緊急閃避策略 44
3.2.1 車輛縱向煞車距離 44
3.2.2 車輛側向位移距離 46
3.2.3 緊急閃避事件之設定 48
3.2.4 後輪轉向控制策略 48
3.2.5 緊急閃避策略與架構 50
4 第四章 模擬結果與分析 54
4.1 數學模型驗證 54
4.1.1 雙車道變換測試 54
4.1.2 側向加速度峰值測試 64
4.2 提升車輛側向位移能力 66
4.2.1 路面摩擦係數0.85 67
4.2.2 路面摩擦係數0.50 73
4.3 障礙物之緊急閃避 78
4.3.1 SLC,路面摩擦係數0.85 80
4.3.2 DLC,路面摩擦係數0.85 84
4.3.3 DLC,路面摩擦係數0.50 89
5 第五章 結論與未來展望 95
5.1 結論 95
5.2 未來展望 96
6 參考文獻 97
7 符號彙編 99

[1]交通部高速公路局,“110年度國道事故檢討分析報告提要”,2021。
[2]https://www.snjvblogs.fun/2023/07/10-best-car-safety-tech-features-you.html
[3]https://www.carexpert.com.au/car-news/rear-wheel-steering-what-is-it
[4]徐錦衍,“四輪轉向系統簡介”,車輛研究測試中心,2009。
[5]M. Abe and W_Manning, Vehicle handling dynamics theory and application, 2009.
[6]Massimo Guiggiani, The Science of Vehicle Dynamics, 2nd Edition, ISBN 978-3-319-73219-0, 2018.
[7]Rudolf Limpert, Brake Design and Safety, 2nd Edition, pp. 11-16, 1999.
[8]J. Y. Wong, Theory of Ground Vehicle, 4th Edition, 2008.
[9]S. Yu, W. Li, Wang and T. Qu, “Nonlinear Control of Active Four Wheel Steer-By-Wire Vehicles”, IEEE Access ( Volume: 7), August ,2019.
[10]Y. Hong, J. Li, W. Wang, “A Driving Assist System for Path Tracking via Active Rear-wheel Steering”, 2021 33rd Chinese Control and Decision Conference, Kunming, China, May, 2021.
[11]Z. Dong, X. Zhu and S. Hu, “Simulation Research on Rear Active Steering-based 4WIS Electric Vehicle Steering Control”, 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), November, 2017.
[12]R. Li, Y. Sun, Z. Lu and G. Tian, “Optimal 4WIS-4WID Vehicle Motion Control in Trajectory Deviation Occasions over Handling Limits”, 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), October, 2022.
[13]王凱,“具差動煞車之車輛避障策略”,台灣碩博論文知識加值系統,2023。
[14]王翔毅,“整合電動助力轉向系統之 四輪向量扭力控制”,台灣碩博論文知識加值系統,2023。
[15]R. Solea and A. Filipescu, “Sliding-mode Trajectory-tracking Control for a Four- Wheel-Steering Vehicle”, IEEE ICCA 2010, Xiamen, China, June, 2010.
[16]R. Jazar, Advanced Vehicle Dynamics, Cham: Springer, pp. 116, 2019.
[17]CarSim Help 2022.0
[18]H. B. Pacejka, Tire and Vehicle Dynamics, 2th Edition, 2006, pp. 1
[19]W. F. Milliken, and D. L. Milliken, Race Car Vehicle Dynamics, 1995.
[20]Rajesh Rajamani, “Vehicle Dynamics and Control,” Second Edition, ISSN 0941-5122, pp. 213, 2012.
[21]E. Bakker, Hans B. Pacejka and L. LidnerA, “New Tire Model with an Application in Vehicle Dynamics Studies,” SAE Technical Paper ISSN: 0148-7191, 19895.
[22]ISO3888-1, Passenger Cars-Test Track for a Severe Lane Change Manoeuvre, Part 1 : Double lane change, 2018.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top