基于GPS与转角检测的车辆操纵性能分析方法

摘要

In the daily running of a vehicle,using handling model to analyze steering performance is a key to its stably running. Two DOF linear handling model describes the lateral and yawing motion of vehicles under constant speed and given steering angle. In actual driving, the speed changes at any time. In order to analyze vehicle performance under variable speed,in this paper,vehicle speed,steering angle, latitude and longitude are detected using the GPS and steering angle detection system,then fourth-order Runge-Kutta method is used to solve vehicle handling model,as output results,lateral speed and yaw are used to calculate the vehicle location,compare this vehicle loca-tion with the real location represented by latitude and longitude location measured by GPS system. The vehicle-road test results show that the path of the vehicle calculated by model is basically similar to the actual path measured by GPS. The proposed method is available to analyze vehicle's handling performance when the vehicle speed is changeable in the handling model.%在车辆的日常行驶中，通过操纵运动模型来分析其转向性能是车辆稳定行驶的关键。基本线性二自由模型描述了恒速时，给定转向角输入下，汽车的侧向运动和横摆运动响应。但实际行驶中，车速会随时变化，为了分析变车速下车辆的操纵性能，文中基于实验室已有的GPS和方向盘转角检测系统，测得车辆实际行驶中的车速、转向角和经纬度，然后运用四阶龙格库塔法，求解车辆运动方程在变车速下的侧向速度和横摆角速度响应，解算为车辆的位置信息后，与GPS系统测得的经纬度位置信息进行对比。实车试验结果表明，模型求解的车辆路径和GPS测量的车辆实际路径基本一致，验证了文中方法在分析操纵模型中车速变化时的车辆操纵性能的可行性。