麋鹿測試的最快紀錄排名 - 汽車
By Yuri
at 2020-04-08T11:26
at 2020-04-08T11:26
Table of Contents
我前一篇有講過
影響跟轉向有關的操控表現
(1) 底盤/輪胎先天的物理特性
(2) 動態控制方法/策略
ISO 3888(俗稱的麋鹿測試)中為何不能推論底盤優劣
急遽變換車道的車輛動態暫態響應,車上電腦會一定程度的介入控制
因此ISO 3888測試成績好壞,與車輛本身的動態控制方方法/策略高度相關
論底盤特性:過彎最大G值、繞錐表現
論動態控制方法的好壞效果,最常拿來比較的就是ISO 3888測試
一般車乘用車跟ESC有關的感測器不外乎
1. 側向加速度感測器
2. 偏擺率感測器
3. 油門/煞車踏板深度感測器
4. 方向盤轉角/扭矩
5. 輪速感測器
ESC動態控制
1. 從輪速確認車輛當前的動態(real time)
2. 透過介入方向盤/煞車/油門讓車身穩定下來
而車身穩定目標常見是訂定yaw rate,動態控制常用到yaw rate control
yaw是繞車身Z軸轉動方向,yaw rate則是轉動速率
https://i.imgur.com/DL7Hfs5.jpg
舉這篇2019文獻當例子好了
Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles
https://reurl.cc/j7GdQq
這篇文章比較不同控制方法的差異
車輛動態控制的架構,分高中低三層
https://i.imgur.com/19KF8oD.jpg
左邊是車輛模型,右邊是控制的演算法
https://i.imgur.com/oD3cB6R.jpg
double lane change的駕駛行為
從yaw rate來看,理想目標值會類似一正一反較急的弦波
動態控制好壞會受控制器頻率影響
https://i.imgur.com/GRhey2x.jpg
我之前在自駕車甩尾車這篇也有提過 #1U2iWlAN
即時運算(real time)頻率越高,代表越短時間間隔就計算一次車輛動態
車輛模型/輪胎參數
https://i.imgur.com/4ozidGX.jpg
在上層控制(high-level control)中改變這些參數影響不大
輪胎影響在底層控制(low-level control)和Control Allocation中影響較大
Tire influence is managed rather by the CA and the low-level control.
Robustness at these downstream layers should be improved
gain-scheduled controller
https://i.imgur.com/0AkJwgO.jpg
探討不同速度下之影響
gain scheduling 指在線性系統中,加入不同工作點的增益值來近似非線性的行為
lateral velocity control
https://i.imgur.com/PKHMm5U.jpg
在相同側向速度,比較車輛兩種行為
1. conventional behavior
2. transition behavior (minimize yaw rate)
在transition behavior中,車輛有更多側滑(sideslip)的行為
https://i.imgur.com/MeUjd2e.jpg
以最小yaw rate為目標的暫態行為當中
車輛穩定性與車輛側滑角(β)和側滑角微分有相當大的關聯性
stability is more related to the vehicle side-slip angle
and its time derivative
因此文獻最後提到了輪胎/路面摩擦預估
https://i.imgur.com/T5ww7iN.jpg
車輛控制一大挑戰是摩擦力預估
one of the major challenges of ground vehicle control is friction estimation
輪胎是高度非線性行為,還會根據路面情況變化
tire behavior is highly nonlinear and changes with different roads
文獻中這一系列的動態控制方法比較都是基於同底盤
但改變控制器響應頻率/延遲、模型參數準確性、控制方法
動態表現都會有程度不等的差異
也因為現在底盤電控/線控化程度越來越高
在特定操控情況,例如麋鹿測試這種緊急閃避行為
電腦會大幅度的介入,目標讓維持車身穩定與車輛動態行為
其他相關文
#1U2iWlAN DeLorean DMC-12 的現代式甩尾
#1UCyn3Gy RAV4 二度挑戰麋鹿測試成功!
※ 引述《yha (春天來了)》之銘言:
: 有人說這個測試和操控無關
: 令人蠻困惑的
: 到底這個"操控"的定義到底是什麼?
: 對一般通勤的人 就算偶爾有點小跑
: 操控最重要不就是緊急時又不能直直撞下去
: 必須激烈操控汽車的狀況
: 此時如果方向盤打兩下就會翻車 還是失控
: 那這台車要不要買就必須好好考慮
: 這個測試很合理的評估這個能力
: 如果操控跟這件事無關 那它是指?
: 跑山殺彎的能力? 那這件事跟一般人還
: 真沒什麼關係
--
Tags:
汽車
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