一种基于轮胎独立转向的跨运车变道轨迹规划方法  

A Lane Change Trajectory Planning Method for Straddle Carrier Based on Tire Independent Steering

作　　者：朱娜 刘春明 Zhu Na;Liu Chunming(Shanghai Zhenhua Heavy Industries Co.,Ltd.)

机构地区：[1]上海振华重工(集团)股份有限公司,上海市200125

出　　处：《港口装卸》2022年第6期34-38,共5页Port Operation

基　　金：上海市科委科研项目(编号19511132103);上海振华重工(集团)股份有限公司科研项目(编号2021-ZPKJ-0012)。

摘　　要：集装箱跨运车的行驶轨迹多样,其中变道轨迹是为了跨越不同宽度的车道,减少多台车辆行驶过程中的拥堵现象,从而提高码头的作业效率。提出一种基于轮胎独立转向的跨运车变道轨迹规划方法,依据跨运车的行驶速度和轮胎最大转向角度,通过参数化的函数规划跨运车的变道轨迹。该方法所规划的变道轨迹由圆弧-直线段-圆弧组成,轨迹简单、灵活,可以满足跨运车实际行驶中的变道需求。The trajectory of container crossing is varied,among which the lane change trajectory is designed to span lanes of different widths,reduce the congestion phenomenon during the running of multiple vehicles,and thus improve the operating efficiency of the terminal.A straddle carrier lane change trajectory planning method based on tire independent steering is proposed,which plans the straddle carrier lane change trajectory by parametric functions based on its driving speed and tire maximum steering angle.The lane change trajectory planned by this method consists of arc-straight line segment-arc,which is simple and flexible,and the needs of lane change in the actual driving of straddle carrier can be met.

关 键 词：自动化码头 跨运车 变道 轨迹规划 

分 类 号：U653.92[交通运输工程—港口、海岸及近海工程]