基于Carsim的车辆质心运动规律研究

Vehicles Trajectory Tracking Algorithm Based on Carsim

车辆质心的运动规律最能体现当前车辆的自身运动状态，而车辆在行驶过程中，质心是时刻变化的，很难对质心位置准确定位。利用Carsim对车辆质心运动进行仿真，以设定道路曲线为基准，让试验车沿指定路线行驶，对仿真结果进行对比分析。试验结果表明：通过识别车轮与质心的相对速度就能辨识出车辆当前的运动状态。

The motion law of the centroid of vehicles can best embody the current vehicle＇s own motion. In the course of driving, the centroid of vehicle changes constantly, it is difficult to accurately position the centroid of vehicle. This paper simulates the centroid movement of vehicle by using of Carsim. The setting road curve can be regarded as the benchmark and the tested vehicle is traveled along the specified route. The simulation results are compared and analyzed. The test results show that we can identify the motion of the vehicle by the relative speed between wheel speed and systemic velocity.