摘要
简述了以xPC技术为核心的汽车驾驶辅助实时仿真系统的总体结构。基于汽车各主要部件的动力学分析,建立了整车七自由度非线性动力学模型,详细阐述了利用Matlab/Simulink及Stateflow进行模型实现的过程。仿真及试验表明,模型占用计算资源少,且准确地反映了整车纵、侧向动力学特性,能够满足汽车驾驶辅助实时仿真系统的要求。
A hardware-in-the-loop simulator used for the development of vehicle driver assistant systems was outlined. Based on analysis of dynamics of main vehicle components, a seven-degree-of-freedom nonlinear vehicle dynamics model was built for the simulator. Modeling process for vehicle model with Matlab/Simulink and Stateflow was depicted in detail. Simulation and road tests have been conducted to evaluate the vehicle model. It is shown that the vehiclemodel has small demand for computation resources and good accuracy in terms of both longitudinal and lateral dynamics.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第10期10-14,29,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
北京市科技计划项目(项目编号:GYYKW0608003B)
关键词
汽车
驾驶辅助系统
实时仿真
动力学模型
Vehicle, Driver assistant system, Real-time simulation, Dynamics modeling
