汽车驾驶模拟器在环动力学模型解算与仿真  

Solution and simulation of loop dynamics model of vehicle driving simulator

作　　者：曹萌萌[1] Cao Mengmeng(School of Information Engineering,Kaifeng University,Kaifeng 475001,China)

机构地区：[1]开封大学信息工程学院,开封475001

出　　处：《电子测量技术》2021年第8期17-22,共6页Electronic Measurement Technology

基　　金：国家自然科学基金项目(61702185);河南省高等学校重点科研项目计划(19B520014)资助。

摘　　要：为了使汽车驾驶模拟器得到更加准确的运动状态参数,首先建立了车辆的7自由度在环动力学模型和计算模型,得到以轮胎滚动角速度和驱动轮转向角为输入,且以横纵向和横摆角度为输出的二阶非线性常微分方程组,然后对二阶非线性常微分方程进行降阶处理,最后通过设定固定步长,并依次解算出车辆的运动状态参数。通过仿真实验表明,利用提出的解算方法得到的结果具有较高的精度,位移最大误差仅为0.0037 m,速度最大误差仅为0.02 m/s,横摆角速度和横摆角度的最大误差分别仅为0.0057 rad/s和0.0047 rad,运算耗时较扩展卡尔曼滤波估计方法相比降低了43.2%,能够大幅提升模拟驾驶的逼真度。In order to get more accurate motion state parameters of vehicle driving simulator,the 7-DOF loop dynamic model and calculation model of vehicle are established firstly,and the second-order nonlinear ordinary differential equations with tire rolling angular velocity and steering angle of driving wheel as inputs and transverse longitudinal and yaw angle as outputs are obtained.Then,the second-order nonlinear ordinary differential equations are reduced.Finally,the fixed step length is set,and the parameters of vehicle motion state are calculated in turn.The simulation results show that the proposed method has higher accuracy,the maximum displacement error is only 0.0037 m,the maximum speed error is only 0.02 m/s,the maximum yaw rate and yaw angle error are only 0.0057 rad/s and 0.0047 rad respectively,and the computation time is reduced by 43.2%compared with the extended Kalman filter,which can greatly improve the fidelity of simulation driving.

关 键 词：汽车驾驶模拟器 在环动力学模型 解算 降阶处理 固定步长 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]