摘要
提出了无滑移约束条件下,给定起止点位置和状态的可行运动轨迹规划方法。首先根据前轮转向的单轨车辆模型,建立了7维非线性车辆动力学模型。然后基于无滑移假设,推导出前轮转角及其转角变化率的无滑移表达式;利用MNC轮胎/路面模型推导满足车辆无滑移的动力学约束,并据此给出最大速度轮廓曲线。最后利用闭环操纵稳定性评价指标来优化生成的轨迹。仿真结果验证了该方法的有效性。
Given the status of starting and ending points,this paper focused on a method of feasible trajectory generation considering the no slip constraints.Based on the model of front wheel steering,a 7Dnonlinear vehicle dynamic model was established.According to the no slip hypothesis,a no slip expression of the steering wheel angle and its rate were derived.Based on the Modified Nicolas-Comstock（MNC）tire/road model,the dynamic constraints were obtained,which was employed to calculate the valid velocity profile.The optimized motion trajectory was generated by using the closed-loop driving stability evaluation indexes.The simulation results validate the effectiveness of the proposed method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2012年第18期2263-2267,共5页
China Mechanical Engineering
基金
中国博士后科学基金资助项目(2011M500917)
江苏省博士后科研资助计划资助项目(1101153C)
南京航空航天大学引进人才科研启动经费资助项目(56XNA12020
56903031)
关键词
轨迹规划
智能车辆
非完整约束
无滑移
trajectory planning
intelligent vehicle
nonholonomic constraint
no slip
