Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (2): 591-602.doi: 10.13229/j.cnki.jdxbgxb.20230393

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Analysis on influencing factors of vehicle braking sideslip in curved section of superhighway

Yong-ming HE1(),Jia FENG1,2,Kun WEI3(),Ya-nan WAN1   

  1. 1.School of Civil Engineering and Transportation，Northeast Forestry University，Harbin 150040，China
    2.China Railway Siyuan Survey And Design Group Co. ，Ltd. ，Wuhan 430000，China
    3.Key Laboratory of Road Structure and Material Transportation Industry，Chang 'an University，Xi'an 710064，China
  • Received:2023-04-21 Online:2025-02-01 Published:2025-04-16
  • Contact: Kun WEI E-mail:hymjob@nefu.edu.cn;weikun@chd.edu.cn

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Abstract:

To analyze the driving risk of vehicle braking behavior on curved sections of superhighways， the impact of driving speed， radius of circular curves， road superelevation， and braking force on driving risk is comprehensively considered. The vehicle dynamics model is established， and the lateral acceleration and yaw rate are taken as the evaluation indicators of driving risk. The influence of various factors on driving risk is analyzed. The research results indicate that the radius of circular curves has a significant impact on the driving risk of curve sections on superhighways， with the primary and secondary order of influencing factors being circular curve radius， speed， braking force， and road superelevation. When conducting risk assessment on vehicles driving on curved sections of highways， it is necessary to comprehensively consider the lateral acceleration and yaw rate of the vehicle. The research results can provide reference for analyzing the safety of vehicles driving on superhighways.

Key words: engineering of communications and transportation system, sideslip, risk analysis, CarSim simulation, breaking behavior

CLC Number: 

  • U491.2

Fig.1

Mechanical analysis of small bus in curve"

Table 1

Basic parameters of the vehicle dynamics model"

参数数值参数数值
整车质量/kg1 110怠速/（r·min-1）750
轴距/mm2 600最大扭矩/（N·m）620
质心至前轴距离/mm1 040轮胎有效滚动半径/mm298
质心高度/mm540绕Y轴转动惯量/（kg·m2）1 343
绕X轴转动惯量/（kg·m2）440绕Z轴转动惯量/（kg·m2）1 343
ABS启动时滑移率0.1ABS失效时速度/（km·h-1）2

Table 2

Adhesion coefficient value of normal road surface"

路面

状况

干燥潮湿

＜48

km·h-1

＞48

km·h-1

＜48

km·h-1

＞48

km·h-1

沥青路面0.80~1.000.60~0.700.50~0.800.45~0.75

Fig.2

Road model diagram"

Fig.3

Normal driving and sideslip instability conditions"

Table 4

General minimum radius of circular curve"

E/%V/（km·h-1），μ
180，0.04160，0.04140，0.05120，0.05100，0.06
101 8501 4501 050800500
82 1501 7001 200900600
62 6002 0501 4501 050700
43 2002 5201 7201 260800

Table 5

Simulation strategies under different parameters"

仿真工况N/NR/mE/%V/（km·h-1）
工况1

70、100、

130、160

12006140
工况270

500、1 200、

1 900、2 600

6140
工况3701 200

4、6

8、10

140
工况4701 2006

120、140、

160、180

Fig.4

Influence of different influencing factors on lateral acceleration"

Fig.5

Influence of different influencing factors on yaw rate"

Table 6

Influencing factors of orthogonal test"

影响因素制动力N圆曲线半径R超高E速度V
T11111
T21222
T31333
T41444
T52123
T62214
T72341
T82432
T93134
T103243
T113312
T123421
T134142
T144231
T154324
T164413

Table 7

Significance analysis based on lateral acceleration"

因素平方和自由度均方F值显著性
修正模型0.311a120.02618.3860.018
截距0.55710.557395.0660.000
制动力0.00930.0032.1720.270
圆曲线半径0.25630.08560.5840.003
道路超高0.00530.0021.1600.453
速度0.04130.0149.6290.048

Table 8

Significance analysis based on yaw rate"

因素平方和自由度均方F值显著性
修正模型107.268 a128.9397.8840.058
截距153.4501153.450135.3330.001
制动力5.04831.6831.4840.377
圆曲线半径88.291329.43025.9560.012
道路超高4.171301.3901.2260.435
速度9.75833.2532.8690.205

Table 9

Abstract based on lateral acceleration model"

模型RR2调整后R方标准估算的错误德宾-沃森
a=f（）0.885a0.7840.7300.0752.051

Table 10

Regression coefficient based on lateral acceleration"

模型参数标准错误Betat容差VIF
常量0.055 6270.147 841—0.37611
制动力0.000 1680.000 561-0.0400.30011
半径-0.000 1450.000 024-0.809-6.03111
速度0.002 2420.000 8420.3572.66411

Table 11

Abstract based on yaw rate model"

模型RR方调整后R方标准估算的错误德宾-沃森
a=f（）0.834 a0.6960.6201.6732.028

Table 12

Regression coefficient based on yaw rate"

模型参数标准错误Betat容差VIF
常量0.767 3573.286 300—0.23411
制动力0.013 1250.012 4760.1671.05211
半径-0.002 5880.000 535-0.707-4.84111
速度0.032 2120.018 7141.7211.72111

Table 13

Traffic risk analysis"

E/%N/NR/mV/（km·h-1）a/（m·s-2）ac/（m·s-2）r/［（°）-1］rc/［（°）-1］行车风险
61206001403.0345.308.6安全
1803.9246.598.6临界
1 3001402.0143.498.6安全
1802.9144.788.6安全
2 0001401.0041.688.6安全
1801.8942.968.6安全
3506001403.4148.328.6临界
1804.3149.618.6危险
1 3001402.4046.518.6安全
1803.2947.808.6安全
2 0001401.3844.698.6安全
1802.2845.988.6安全
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