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On Horizontal Curves Final Technical Report Volume I1

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On Horizontal Curves Final Technical Report Volume I1 Side Friction for Superelevation on Horizontal Curves Final Technical Report Volume I1 C. C. MacAdam P. S. Fancher L. Segel Contract Number: DTFH61-82-C-00019 August 1985 The University of Michigan UMTRI Transportation Research Institute This document is disseminated under the sponsorship of the Department of Transportation in the interest of information exchange. The United States Government assumes no liability for its contents or use thereof. The contents of this report reflect the view of the contractor, who is responsible for the accuracy of the data presented herein. The contents do not necessarily reflect the official policy of the Department of Transportation. This report does not constitute a standard, specification, or regulation. The United States Government does not endorse products or manufacturers. Trade or manufacturers ' names appear herein only because they are considered essential to the object of this document. Tuhaicol Repart Docurmtutibn Page 1. R~pertNo. 2. Covonrzn! Accosalon No. 3. Rac~p~mt'rCotoiog No. 4. T~tl. d Sub~~tla 5. R-rt Doc* SIDE FRICTION FOR SUPERELEVATION ON August 1985 HORIZOETAL CURVES 6. Puhmtng Orpn~zot~onCode Vol. I1 - Technical Report 8. PufmminO Orpmizcvtion ~.porcNO. 7. Aurhdr) C.C. MacAdm, P.S. rancher, L. Segel 1 LYTRI-85-18/2 L I 9. Pwforn~n~Orgmirsiibn Nono adAddrmss 10. Wort Unrl No. The University of Michigan Transportation Research Institute 11. Controct er Gront NO. 2901 Baxter Road DTFH61-82-C-00019 Ann Arbor, Ydchigan 48109 13. f rpr 01 Rrpwc ~d Period bwot.d 12. Sponsoring ~mqHr* and Addrmsa Final Federal Bighvay Administration 6/82 - 7/85 U.S. ~e~arimentof Transportation Washington, D. C. 20590 COTR - Mr. Laurence HcCarthy FCP Project IS, "~esignand Corrective Geometries" The basic objective of this study has been to address the issue of how adequate point-mass representations are in predicting friction requirements for actual vehicles operating along superelevated curves. The project focused on this and related questions by combining computer analysis and full-scale vehicle testing, Simple-to-use models for predicting the fric- tion factor requirements at individual wheel locations were first developed and applied to the steady-turning condition. An existing com- prehensive computer ~odelused for predicting transient or nonsteady maneuvering situations was also employed to analyze friction demand while maneuvering along superelevated curves. Highway tests were then performed for two passenger cars and a five-axle tractor-semitrailer to collect repre- sentative test data and assist in validing the predictions of the computer models. Finally, a sensitivity analysis was performed to illustrate the relative importance and interactions of various vehicle parameters and I highway geometrics in influencing side friction requirements. I '8. Diswihtim Stemnmt 17. K.t Words frictionfactor, highway No restrictions. This document is design, superelevated curves, computer available to the public through the models, vehicle tests, steady National Technical Information Service, turning, obstacle avoidance I Springfield, Virginia 22161 f 19. kcvri+y Ct*.ul. (ol his W) a. kewit, CIo*df. (of &hi. pro.) 21. No. of Poqoa 22. Price I Unclassified Unclassified I CONTEXTS LISTOFTAELES ..........................ix Chapter 1 INTRODUCTIOE ....................... 1 2 PROJECT O17ERVIEW ..................... 3 2.1 Comparison of Point-Mass and Individual h%eel Friction Factors .............. 3 2.2 Special Factors That Exaggerate FrictionFactor Dispersion ............ 11 2.3 Methodology ..................... 16 2.4 Overview of Model Development ............ 17 2.5 Overview of Vehicle Testing ............. 18 2.6 Sensitivity Analysis Overview ............ 19 3.1 Introduction to the Different Models and Their Uses .................. 21 3.2 Single-Unit Steady Turning Model .......... 22 3.3 Tractor-Semitrailer Steady Turning Model ...... 28 3.4 Modifications to the Comprehensive Braking and Steering Model ................ 32 3.5 Model Applications and Recommended Usage ...... 35 4 VEHICLE TESTING ..................... 38 Test Vehicle Descriptions .............. 38 Horizontal Curve Site Descriptions ......... 43 Test Measurements and Data Acquisition ....... 46 Vehicle Test Maneuvers ............... 51 Example Steady Turning Test Results ......... 52 Example Obstacle Avoidance Test Result ....... 57 Example ~raking/AcceleratingTest Result ...... 62 Observations and Conclusions Concerning the Test Results ................. 62 CONTENTS (Continued) Chapter 5 CO?PARISOXS OF MODEL PREDICTIOES AKD TEST RESL%TS .... 67 1 Steady Turning Comparisons ............. 67 5.2 Obstacle Avoidance Comparisons ........... 94 3.3 Braking/Accelerating Comparisons ..........119 5.4 Conclusions Regarding Nodel Validation .......140 6 SENSITIVITY AKALYSES ..................141 6.1 Passenger Car Parameter Variations .........141 6.2 Tractor-Semitrailer Parameter Variations ......159 6.3 Sensitivity of Peak Friction Factors During Obstacle Avoidance Maneuvers ...........183 6.4 Steady Turning and Obstacle Avoidance Prianeuver s Under Low Friction Conditions ..........193 6.5 Analytical Friction Fat-tor Expressions .......196 6.6 Steering Requirements for Superelevated Curves ...201 -I 1 RESEARCH FIIL~INGSAKD CLTRENT ASSHTO DESIGN POLICY ...206 7.1 "Steady Turning" Driver Behavior and Friction Factor Variations ............206 7.2 Larger Radii Horizontal Curves ...........209 7.3 Spiral Transitions .................210 7.4 Roll Stability Margins for Heavy Trucks ......212 7.5 Steering Requirements Along Superelevated Curves at Reduced Speed .............213 8 CONCLUSIONS AND RECOMhQATIONS .............214 9 REFERENCES .......................219 10 SELECTED BIBLIOGRAPHI'. .................220 LIST OF FIGURES Figure 1 Force equilibrium ...................... 4 2 Point-mass model ...................... 6 3 Bicycle model ........................ 7 4 Tire forces defining the individual wheel "friction factor" ..................... 8 6 Side-to-side variation in f ric:tion factors due to differences in vertical tire loads ........... 12 7 Passenger car tire vs truck tire .............. i4 8 Single-unitmodel; rearview. ............... 23 9 Single-unitmodel; planview ................ 23 10 Single-unit model: side view ................ 24 11 Tractor-semitrailer model: plan view ............ 29 12 Independent suspension model (Phase 4) ........... 34 13 TestvehicleA ....................... 39 14 Test vehicle B ....................... 40 15 TestvehicleC ....................... 41 16 Curve site descriptions ................... 44 17 Curve site descriptions ................... 45 18 Trolley and fifth-wheel instrumentation ........... 48 19 Instrumentation and data acquisition console ........ 49 20 Example steady turning test result; vehicle A ....... 53 21 Sample vertical load measurements .............. 56 22 Normalized vertical tire load comparisons .......... 58 23 Obstacle avoidance test result example; vehicle C ...... 59 LIST OF FIGURES (Continued) Figure 24 Brakinglaccelerating test result example; passenger carB........................... 25 Model/test comparisons; vehicle C .............. 26 Friction factor comparisons; vehicle C ........... 27 Friction factor comparisons; vehicle C ........... 28 Friction factor comparisons; vehicle C ........... 29 Friction factor comparisons; vehicle C ........... 30 Friction factor comparisons; vehicle C ........... Friction factor comparisons; vehicle C ........... Model/test comparisons; vehicle A .............. Friction factor comparisons; vehicle A ........... Friction factor comparisons; vehicle A ........... Friction factor comparisons; vehicle A ........... Modelltest conparisons; vehicle B .............. Friction factor comparisons; vehicle B ........... Friction factor comparisons; vehicle B ........... Friction factor comparisons; vehicle B ........... Friction factor comparisons; vehicle B ........... Friction factor comparisons; vehicle B ........... Obstacle avoidance (double lane change) maneuver ...... Phase 4 model/test comparison; obstacle avoidance maneuver; vehicle C .................... Phase 4 model/test comparisons; obstacle avoidance maneuver/ vehicle A .................... Phase 4 modelltest comparisons; obstacle avoidance maneuver; vehicle B .................... LIST OF FIGURES (Continued) Figure 46 Phase 4 modelltest comparisons; brakinglaccelerating maneuver;vehicle C .................... 47 Phase 4 modelltest comparisons; braking/accelerating maneuver; vehicle A .................... 48 Phase 4 model/test comparisons; braking/accelerating maneuver; vehicle B .................... 49 Passenger car parameter variations ............. 50 Passenger car parameter variations ............. 51 Passenger car parameter variations ............. 52 Passenger car parameter variations ............. 53 Passenger car parameter variations ............. 54 Passenger car parameter variations ............. 55 Passenger car response variables .............. 56 Passenger car response variables .............. 57 Passenger car response variables .............. 58 Passenger car response variables .............. 59 Passenger car response variables .............. 60 Passenger car response variables .............. 6i Passenger car response variables .............. 62 Passenger car response variables .............. 63 Passenger car response variables .............. 64 Tractor-semitrailer parameter variations .......... 65 Tractor-semitrailer parameter variations .......... 66 Tractor-semitrailer
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