Abstract: For the inaccuracy of speed control in curved road section at present, a three-axle truck was taken as the research object, and the dynamic stiffness characteristics of vehicle suspension, body roll angle and non-linear characteristics of tire were comprehensively taken into consideration by TruckSim software. Vehicle dynamics, road scene, driving strategy and lateral load transfer rate (PLTR) model were established. Through the interactive simulation experiment of different radius of curve, height of center of gravity and speed, the simulation experimental data were fitted by three-dimensional surface function, and the side-slip mathematical model of vehicle turning safety speed under different adhesion coefficients was obtained, which provided a reference for the generation of speed control way of curve. The research results show that the safety speed is correlated with the height of the center of gravity and the radius of curve to different extent. By comparing the side-slip model with the current curve safety speed model, it can be seen that the curve safety speed value is more safe and in the range of the safety theoretical value of the general model. In addition, considering the influence of the longitudinal slope on the safe vehicle speed value, it is found that the driving on the larger radius circular curve is prone to be safe. Finally, the simulation condition with radius of 300 m and height of center of gravity of 1.8 m is established. The safety vehicle speed value based on PLTR interactive model is compared with that obtained by the proposed model. And the calculation error is reduced from 18.4% of the general model to 0.3%.

Key words: traffic engineering, side-slip velocity model, TruckSim simulation, transverse load transfer rate, curve radius, height of center of gravity

摘要： 对于现今弯道路段速度控制精确性不足，在TruckSim软件中全面考虑了某三轴货车的悬架动刚度特性、车身侧倾角度、轮胎非线性特性，建立了整车动力学、道路场景、驾驶策略及横向载荷转移率（PLTR）模型。通过不同弯道半径、重心高度和车速的交互式仿真实验，将仿真实验数据经三维曲面函数拟合，获得了不同附着系数下车辆转弯安全车速的侧滑数学模型，为弯道车速控制途径的产生提供了参考。研究结果表明：安全速度与重心高度、弯道半径呈现不同程度的相关性；归纳比较侧滑模型与弯道安全速度模型，可知弯道安全车速值偏于安全，并处在通用模型的安全理论值之间；考虑了纵坡对安全车速值的影响，发现在较大半径圆曲线上行驶偏于安全；建立弯道半径为300 m,重心高度为1.8 m的仿真工况,基于PLTR交互模型得出的安全车速值与该模型得到的安全车速值进行对比，计算误差从通用模型的18.4%降低到0.3%。

关键词: 交通工程, 侧滑速度模型, TruckSim仿真, 横向载荷转移率, 弯道半径, 重心高度