基于车辆动力学的双挂汽车列车道路适应性仿真

doi:10.3976/j.issn.1002-4026.2025070

山东科学

• 交通运输 •

基于车辆动力学的双挂汽车列车道路适应性仿真

屈怀琨¹，严新才²，全煜坤²，宋云龙¹，刘清杰¹，赵侃¹，邱兆文^2*

1.中公高远（北京）汽车检测技术有限公司，北京 101103； 2.长安大学汽车学院，陕西西安 710018

收稿日期:2025-06-30 接受日期:2025-08-24 上线日期:2026-01-27
通信作者: 邱兆文 E-mail: qzw@chd.edu.cn
作者简介:屈怀琨（1986—），男，大学本科，研究方向为汽车检测及研发、汽车法规。E-mail: hk.qu@rioh.cn
基金资助:
中路高科交通科技集团有限公司交通强国试点项目（JTQG2022-2-6-2）

Road adaptability simulation of double-trailer trains based onvehicle dynamics

QU Huaikun¹，YAN Xincai²，QUAN Yukun²，SONG Yunlong¹，LIU Qingjie¹，QIU Zhaowen^2*

1. RIOH Automobile Testing Technology Co., Ltd, Beijing 101103, China; 2. School of Automobile, Chang'an University, Xi’an 710018, China

Received:2025-06-30 Accepted:2025-08-24 Online:2026-01-27
Contact: QIU Zhaowen E-mail: qzw@chd.edu.cn

摘要/Abstract

摘要： 为探讨双挂汽车列车在我国典型道路的适应性，基于车辆动力学建立两类双挂汽车列车仿真模型，在Trucksim平台搭建高速匝道、高速公路、U形转弯、立交以及十字交叉口等典型道路场景，基于最大扫过路面宽度和后部放大系数等指标对双挂汽车列车的道路适应性进行仿真评估。结果表明，部分场景外（转弯半径过小或路面附着系数过低）所搭建的两类双挂汽车列车均能沿目标轨迹正常行驶，对所搭建场景适应性较高；对比发现，C-double型双挂汽车列车后部单元与牵引单元轨迹重合度更高，通过性更好，而B-double型双挂汽车列车由于单元之间均为牵引座连接，行驶中更加稳定。

关键词: 车辆工程, 双挂汽车列车, 车辆动力学, 典型道路场景, 道路适应性, 后部放大系数

Abstract: To investigate the adaptability of double-trailer trains on typical roads in China, two simulation models for double-trailer trains were developed based on vehicle dynamics. Typical road scenarios, such as freeway ramps, freeways, U-turns, interchanges, and intersections, were constructed on the Trucksim platform. The road adaptability of double-trailer trains was simulated and evaluated based on maximum swept road width and rearward amplification factor. Simulation results reveal that both models travel normally along the target trajectory and exhibit high adaptability to the constructed scenarios, except for scenarios with excessively small turning radii or low road adhesion coefficients. A comparative analysis reveals that the rear unit of the C-double model achieves a higher degree of trajectory coincidence between the rear unit and tractor unit, thereby demonstrating better pass ability, whereas the B-double model, with wheel connections between all units, is more stable during driving.

Key words: vehicle engineering, double-trailer train, vehicle dynamics, typical road scenarios, road adaptability, rearward amplification

中图分类号:

U469.5

屈怀琨, 严新才, 全煜坤, 宋云龙, 刘清杰, 赵侃, 邱兆文. 基于车辆动力学的双挂汽车列车道路适应性仿真[J]. 山东科学, 0, (): 1-.

QU Huaikun, YAN Xincai, QUAN Yukun, SONG Yunlong, LIU Qingjie, QIU Zhaowen. Road adaptability simulation of double-trailer trains based onvehicle dynamics[J]. Shandong Science, 0, (): 1-.

参考文献

[1] 周文辉.双挂汽车列车运行安全性能分析[J].汽车与安全, 2021(1):53-56.

[2] VAN DE MOLENGRAFT-LUIJTEN M F J, BESSELINK I J M, VERSCHUREN R M A F, et al. Analysis of the lateral dynamic behaviour of articulated commercial vehicles[J]. Vehicle System Dynamics, 2012, 50(sup1): 169-189. DOI: 10.1080/00423114.2012.676650.

[3] 张义花, 许洪国, 刘宏飞. 基于Trucksim的双挂汽车列车瞬态侧翻状态[J]. 吉林大学学报(工学版), 2016, 46(4): 1065-1069. DOI: 10.13229/j.cnki.jdxbgxb201604008.

[4] 张义花, 许洪国, 刘宏飞, 等. 双挂汽车列车操纵稳定性评价指标研究[J]. 中国公路学报, 2017, 30(5): 145-151. DOI: 10.19721/j.cnki.1001-7372.2017.05.019.

[5] 张义花, 许洪国, 刘宏飞. 遗传算法优化的双挂汽车列车主动力矩控制[J]. 华南理工大学学报(自然科学版), 2017, 45(4): 112-117.

[6] CHEN Y, PETERSON A W, ZHANG C, et al. A simulation-based comparative study on lateral characteristics of trucks with double and triple trailers[J]. International Journal of Vehicle Safety, 2019, 11(2): 136. DOI: 10.1504/ijvs.2019.101857.

[7] LIN Q F, ZHOU G, CHEN Z Y, et al. Influence analysis of trailer length on turning channel width of B-train[C]//ICTIS 2013. Wuhan, China. American Society of Civil Engineers, 2013: 1722-1727.. DOI: 10.1061/9780784413036.230.

[8] TARIGHI A, WANG T L. Dynamic modeling of long combination vehicles[J]. International Journal of Sciences: Basic and Applied Research, 2024, 17: 330-345.

[9] ZHANG Z C, SUN N, CHEN Y, et al. Detailed modeling of pneumatic braking in long combination vehicles[J]. SAE International Journal of Commercial Vehicles, 2021, 14(3): 2-14-03-0020. DOI: 10.4271/02-14-03-0020.

[10] WANG Y P, ZHOU G, LIN Q F, et al. Analysis on passing ability of double semitrailer road train on highway based on TruckSim[C]//CICTP 2012. Beijing, China. American Society of Civil Engineers, 2012: 2301-2306.. DOI: 10.1061/9780784412442.233.

[11] 郝辰杰. 双挂汽车列车的通过性研究及改进[D]. 太原: 中北大学, 2016.

[12] ZHANG H, ZHANG H W, YANG J Q. Simulation analysis of double road train adaptability of highway in China[J]. Procedia Engineering, 2016, 137: 244-251. DOI: 10.1016/j.proeng.2016.01.256.

[13] JAGELČÁK J, KIKTOVÁ M, FRANČÁK M, et al. The possibilities of using longer and heavier vehicle combinations in Slovakia[J]. Transportation Research Procedia, 2019, 40: 271-278. DOI: 10.1016/j.trpro.2019.07.041.

[14] 屈亚洲, 李兵, 余亚敏, 等. 中置轴车辆运输列车弯道运行轨迹仿真[J]. 中国汽车, 2020, 30(6): 30-34.

[15] CHO W, YOON Y, YOU S H. A study on sway stability control methods for tractor-trailer system using rear wheel steering[J]. IEEE Access, 2024, 12: 66952-66963.

[16] LI E H, YU H L, XI J Q, et al. Stability-guaranteed model predictive path tracking of autonomous tractor semi-trailers under extreme conditions[J]. IEEE Transactions on Intelligent Vehicles, 2025, 10(4): 2427-2440. DOI: 10.1109/TIV.2024.3376676.

[17] ZHENG X H, CHEN Y, AHMADIAN M. Interconnected roll stability control system for semitrucks with double trailers[C]//SAE Technical Paper Series. Detroit, Michigan, USA. SAE International, 2023: ■-■. DOI: 10.4271/2023-01-0906.

[18] 周庆辉, 张博宇. 双半挂汽车列车联合控制下高速横向稳定性[J]. 科学技术与工程, 2025, 25(17): 7365-7372.

基于车辆动力学的双挂汽车列车道路适应性仿真

Road adaptability simulation of double-trailer trains based onvehicle dynamics

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

Metrics

本文评价

推荐阅读 0