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为揭示驾驶员、道路、车辆综合作用下车辆运行状态的失稳机理,基于多Agent建模与安全仿真技术,构建包含驾驶员、道路、车辆、协调中心、人机接口等5方面的多Agent车辆稳态安全仿真框架;建立车辆多体动力学、道路三维空间、驾驶员预瞄控制与跟随仿真模型,从车辆稳定性和驾驶员操作负荷2方面分析车辆稳态安全性。以小轿车为代表车型,针对某二级公路开展车辆稳态安全仿真试验。仿真结果表明,当汽车以60和70 km/h行驶时,前后轮总体围绕平均轴重波动,稳态运行;以80 km/h行驶时,汽车冲出车道,轮胎最小垂直反力仍然大于0;3种速度下侧向加速度均大于0.3 g(g为重力加速度),且速度越高,侧向加速度越大,表明汽车冲出车道由侧滑引起。
In order to reveal the instability mechanism of the vehicle running under the comprehensive action of driver, road and vehicle, a multi-agent system including driver, road, vehicle, coordination center and man-machine interface is constructed based on multi-agent modeling and safety simulation technology The steady-state vehicle safety simulation framework was established. Vehicle multi-body dynamics, road three-dimensional space, pilot preview control and follow-up simulation model were established. Vehicle stability was analyzed from the aspects of vehicle stability and driver's operation load. Taking the sedan as the representative model, the vehicle steady-state safety simulation test is carried out for the second grade highway. The simulation results show that when the vehicle is traveling at 60 and 70 km / h, the front and rear wheels generally fluctuate around the average axle weight and run in steady state. When the vehicle runs out of the lane at 80 km / h, the minimum vertical reaction force of the tire is still greater than 0 ; The lateral accelerations at all three speeds are greater than 0.3 g (g is the gravitational acceleration), and the higher the speed, the greater the lateral acceleration, which indicates that the vehicle is caused to slip out of the lane due to the side slip.