Abstract: To study the braking instability mechanism of semi-trailer combinations on the split-mu 19% and 9%, respectively. In wet conditions, the colored road exhibits higher adhesion coefficient than the asphalt road and split-mu road by 1.4%. The simulation result indicates that, the max articulation angle ψm and max yaw rate difference ωm of the semi-trailer combination positively correlated with braking force and vehicle speed, while their peak values negatively correlated with the load. The sensitivity of both ψm and ωm to braking force is higher than to vehicle speed. On split-mu roads, the yaw rate difference and folding angle of the vehicle exhibited premature "sudden changes", increasing the risk of lateral instability. This study provides valuable insights into exploring the adhesion coefficient characteristics of split-mu roads and have positive implications for improving the safety of semi-trailer combinations on split-mu roads. road with colored-asphalt sections, and to improve the driving safety of semi-trailer combinations, a test is conducted to analyze the characteristics of the adhesion coefficient on split-mu roads. A five-degree-of-freedom semi-trailer combination model is established, and simulations are performed to analyze the braking stability of the semi-trailer combination on split-mu roads and the influencing factors. The adhesion coefficient test result shows that, under dry conditions, the adhesion coefficient of the asphalt road is higher than that of the colored road and split-mu road by

Key words: semi-trailer combination; colored road; split-mu road; adhesion coefficient; braking instability

摘要： 为研究半挂汽车列车在彩色沥青对开路面上的制动失稳机理，提高半挂汽车列车行车 安全性。文章测试分析了对开路面附着系数特性，建立了 5 自由度半挂汽车列车模型，仿真 分析了半挂汽车列车在对开路面上的制动稳定性及其影响因素。附着系数测试结果显示，干 燥条件下，沥青路面比彩色路面和对开路面分别高 19%和 9%；潮湿条件下，彩色路面比沥青 路面和对开路面高 1.4%。仿真结果显示，半挂汽车列车最大铰接角 ψm 和最大横摆角速度差 ωm 与制动力和车速成正相关，其峰值与载荷成负相关；ψm 和 ωm 对制动力的敏感性高于车速； 对开路面会导致车辆横摆角速度差和折叠角提前发生“突变”，进而增加车辆横向失稳的风险。 文章对探究分离路面附着系数特性及提高半挂汽车列车行车安全具有积极意义。

关键词: 半挂汽车列车；彩色路面；对开路面；附着系数；制动失稳