Different Degrees Of Freedom Vehicle Handling Inverse Dynamics Modeling And Simulation

The emergency avoidance of security of high-speed car has always been a key problem urgentlyin Chinese automobile independent development, and is also one of the premise and necessaryconditions for vehicle active safety. In the current related research, the prime models are two degreesand three degrees of freedom models of the emergency avoidance of the car. This paper usessimulation, intelligent recognition and subjective evaluation to compare these two degrees of freedomvehicle models, give the gap between them and compare their advantages and disadvantages. Themain contents are as follows:（1）Through the analysis of the position parameters of the model and the research question, theemergency avoidance models and driver-car closed-loop models of different degrees of freedom wereestablished. In Matlab, the inverse dynamics closed-loop models were made to respectively track theideal double line and serpentine path. The responses of each state variable of the system models weregot to compare the gap between different degrees of freedom models. Then the real vehicle teststracking double line and serpentine road were carried on, comparing the simulation values and themeasured values.（2） Based on the former driver-car closed loop models, uniform design method was adoptedto arrange experiments. By changing three parameters of the driver models, different driversrepeated the former simulation, and the training samples for neural networks based on algebraicalgorithm were got. Then a neural network model, what was yawing angular velocity, lateralacceleration, and vehicle body roll angle as the input, the steering wheel angle and rotational speedas the output was established, to further analysis the performance gap of different degrees offreedom vehicle model following the path given.（3） Vehicle handling stability evaluation system was established. Based on subjectiveempowers method, professional driver was set to drive two cars using ten" to mark their underlyingperformance index scores. Then, by sequence relations the weights of all underlying performanceindex were determined, finally the score of vehicles in this set of evaluation system was calculated tocompare different degrees of freedom vehicle model of subjective evaluation.