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 ›› 2026, Vol. 39 ›› Issue (4): 87-96.doi: 10.3976/j.issn.1002-4026.2025070

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 修回日期:2025-08-24 出版日期:2026-08-20 上线日期:2026-01-27
通信作者: ^*邱兆文(1975—),博士,教授,博士生导师,研究方向为汽车运用、交通运输等。E-mail: qzw@chd.edu.cn,Tel:13193372231
作者简介:屈怀琨(1986—),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 on vehicle dynamics

QU Huaikun¹(), YAN Xincai², QUAN Yukun², SONG Yunlong¹, LIU Qingjie¹, ZHAO Kan¹, QIU Zhaowen²^,^*()

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 Revised:2025-08-24 Published:2026-08-20 Online:2026-01-27

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, 2026, 39(4): 87-96.

QU Huaikun, YAN Xincai, QUAN Yukun, SONG Yunlong, LIU Qingjie, ZHAO Kan, QIU Zhaowen. Road adaptability simulation of double-trailer trains based on vehicle dynamics[J]. Shandong Science, 2026, 39(4): 87-96.

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参数名称	牵引车	一挂车	二挂车
轮廓尺寸/mm	3 900×2 438×3 200	8 000×2 438×1 800	8 000×2 438×1 800
整备质量/kg	4 455	6 000	6 000
质心高度/mm	1 175	1 100	1 100
质心距前轴(或前铰接点)距离/mm	1 110	5 220	5 220

参数名称	牵引车	牵引拖台	二挂车
轮廓尺寸/mm	5 000×2 438×2 800	2 483×2 407×759	10 000×2 438×2 400
整备质量/kg	4 455	500	3 000
质心高度/mm	1 175	1 150	1 100
质心距前轴(或前铰接点)距离/mm	1 250	1 800	3 500

相关参数	牵引车前悬	牵引车后悬	一挂车悬架	二挂车悬架
轮距/mm	2 030	1 863	1 863	1 863
质心高度/mm	510	530	530	530
非簧载质量/kg	570	735	640	640
弹簧刚度/(N·mm^-1)	250	700	700	700
减振器阻尼/(kN·m·s^-1)	15	30	30	30

相关参数	牵引车前悬	牵引车后悬	一挂车悬架	二挂车悬架
轮距/mm	2 030	1 863	1 863	1 863
质心高度/mm	510	530	530	530
非簧载质量/kg	570	735	640	665
弹簧刚度/(N·mm^-1)	250	700	900	700
减振器阻尼/(kN·m·s^-1)	15	30	50	30

场景	车速/(km·h^-1)	最大路面扫过宽度/m		是否超出路面范围
场景	车速/(km·h^-1)	B-double	C-double	B-double	C-double
左转匝道	30	3.38	2.60	否	否
右转匝道	30	3.41	2.62	否	否
高速公路(干燥)	60	2.34	2.33	否	否
高速公路(干燥)	70	2.63	2.58	否	否
高速公路(干燥)	80	3.02	2.87	否	否
高速公路(湿润)	60	2.37	2.35	否	否
高速公路(结冰)	60	—	—	是	是
U形转弯设施	40	3.14	2.46	否	否
立交桥	30	4.32	2.80	是	否
一级公路交叉口左转	30	5.62	3.16	否	否
一级公路交叉口右转	20	7.75	4.53	是	是
二级公路交叉口左转	30	5.60	3.08	否	否
二级公路交叉口右转	20	7.32	4.24	是	是

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 on vehicle dynamics

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场景	车速/(km·h^-1)	侧向加速度RWA		横摆角速度RWA
场景	车速/(km·h^-1)	B-double	C-double	B-double	C-double
左转匝道	30	0.965	1.033	0.986	1.03
右转匝道	30	0.98	1.034	0.998	1.03
高速公路(干燥)	60	0.946	1.028	0.986	1.015
高速公路(干燥)	70	1.031	1.173	1.033	1.325
高速公路(干燥)	80	1.193	1.376	1.105	1.697
高速公路(湿润)	60	0.991	1.041	0.994	1.035
高速公路(结冰)	60	—	—	—	—
U形转弯设施	40	0.947	1.013	0.961	1.002
立交桥	30	0.914	1.021	0.978	1.03
一级公路交叉口左转	30	0.644	0.986	0.724	0.976
一级公路交叉口右转	20	0.45	0.899	0.427	0.886
二级公路交叉口左转	30	0.646	0.987	0.728	0.979
二级公路交叉口右转	20	1.79	1.265	0.639	0.946