基于向量运算的四轮独立转向车辆转角算法研究

Research on the rotation angle algorithm of four-wheel independent steering vehicle based on vector operation

采用向量运算方法建立平面运动车辆车轮转角计算数学模型,推导出基于向量运算的四轮独立转向车辆转角计算方法。通过计算程序对四轮转向车辆的转角变化进行了仿真计算,验证了利用所述方法求解四轮独立转向车辆转角的正确性。该方法同样适用平面运动的多轮独立转向车辆转角计算,为独立转向的平面运动车辆转角计算提供了算法参考。

The mathematical model for calculating the wheel rotation angle of vehicle under plane motion is established by using vector operation,and the method for calculating the wheel rotation angle of a four-wheel independent steering vehicle based on vector operation is derived.The simulation calculation on changes of the rotation angle of the four-wheel steering vehicle is carried out through calculation procedure,which verifies the correctness of using the above-mentioned method to solve the rotation angle of the four-wheel independent steering vehicle.The method is also applicable to the calculation of the rotation angle of the multi-wheel independent steering vehicle under plane motion,and provides an algorithm reference for the calculation of the rotation angle of the independent steering vehicle under plane motion.