【摘 要】
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Recent studies have been confined to the dynamics of the traditional vehicle and existing unmanned vehicle.Seldom researchers pay attention to the problem of dynamic control and layout designing of dr
【机 构】
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Beijing Institute of Technology
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Recent studies have been confined to the dynamics of the traditional vehicle and existing unmanned vehicle.Seldom researchers pay attention to the problem of dynamic control and layout designing of driverless vehicle itself.In this paper,in order to get rid of the traditional vehicle dynamics theory,an inverse dynamics model of driverless vehicle has been proposed.At first,2 DOF linear inverse dynamic model was established.Based on the model,the poles and the characteristic parameters was obtained.And the real part of the poles indicates that the model is always stable and well damped,and the imaginary part indicates that routine path-following tasks require only low frequency steer angles.Then from the perspective of characteristic parameters,the dynamic behavior change when the condition changes and the overall layout parameters was obtained,and the general method of layout design was established.On the basis of enough simulation verification,the theoretical results in this paper was validated.
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