基于关节轨迹规划对行人步态的仿真

Simulation of pedestrian’s gait based on joint trajectory planning

为提高智能车辆的行人检测成功率,同时保证人身安全,提出一套完整的仿行人步态装置研发流程,通过建模仿真的方法促进该装置的研发并降低成本。仿真模型按照人体真实数据进行设计,步态的变化主要体现在四肢上;利用D-H参数法和正逆运动学知识,结合MATLAB建模和关节轨迹规划的方法,实现运动仿真;成功模拟出行人步态,得出仿真模型的末端轨迹、关节转角等步态指标在一个周期内的变化。将仿真结果与标准人类行走周期图谱进行了对比验证,保证了仿真模型的结构设计以及运动学模型的合理性,为后续的实际开发提供一定理论依据。

To improve the success rate of pedestrian detection of intelligent vehicles and ensure personal safety,a complete set of research and development process of pedestrian simulation device was proposed.The method of modeling and simulation was used to promote the development of the device and reduce the cost.The simulation model was designed according to the real data of human body,and the change of gait was mainly reflected in the limbs.By using D-H parameter method and forward and inverse kinematics knowledge,combined with MATLAB modeling and joint trajectory planning method,the movement simulation was realized.The pedestrian gait was successfully simulated,and the changes of gait indexes such as the end track and joint angle of the simulation model in a cycle were obtained.The simulation results were compared with the standard human walking cycle atlas.Results ensure the rationality of the structure design and kinematics model of the simulation model,and provide a certain theoretical basis for the subsequent practical development.