...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Vehicle Autonomous Systems >A high-fidelity co-simulation platform for motion and control research for vehicle platooning
【24h】

A high-fidelity co-simulation platform for motion and control research for vehicle platooning

机译：用于汽车排运动和控制研究的高保真协同仿真平台

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a high-fidelity cosimulation platform to study the motion and control of a vehicle platooning system. In the study of a vehicle platooning system, the key factors include dynamic performance of all vehicles, the relative spacing and orientations of between vehicles, and the real-time implementation of a tracking controller and an autonomous vehicle in the platooning formation. This cosimulation platform integrates all these key components modelled in two softwares: ADAMS and MATLAB/SIMULINK. The advantages of ADAMS in mechanical system prototyping and those of MATLAB in advanced controller designing are exploited and combined to offer an integrated, visual and high fidelity platform for the investigation of control systems of a vehicle platooning system. The platooning dynamics is modelled in ADAMS with multiple vehicles with proper driving, steering mechanisms and sensing system to detect the distances and relative orientations between vehicles. An advanced non-linear tracking controller is developed and modelled in SIMULINK. The cosimulation of the platooning dynamics and the advanced controller is made possible by proper definition of inputs/outputs variables. This cosimulation platform is illustrated by a pair of car-like vehicles modelled in ADAMS with a non-linear controller built in SIMULINK.
机译：本文提出了一种高保真协同仿真平台，以研究车辆排系统的运动和控制。在研究车辆排系统时，关键因素包括所有车辆的动态性能，车辆之间的相对间距和方向，以及在排队中实时实施跟踪控制器和自动驾驶汽车。该协同仿真平台集成了在两个软件中建模的所有这些关键组件：ADAMS和MATLAB / SIMULINK。 ADAMS在机械系统原型设计中的优势以及MATLAB在先进控制器设计中的优势被充分利用并结合起来，为研究车辆排系统的控制系统提供了一个集成的，可视化的和高保真的平台。排动力学在ADAMS中建模，具有多辆具有适当驾驶，转向机制和感应系统的车辆，以检测车辆之间的距离和相对方向。在SIMULINK中开发并建模了高级非线性跟踪控制器。通过正确定义输入/输出变量，可以实现对排动力学和高级控制器的共同仿真。该协同仿真平台由ADAMS建模的一对类似于汽车的车辆以及SIMULINK内置的非线性控制器来说明。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号