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相关概念视频

Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
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Collisions in Multiple Dimensions: Problem Solving01:06

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In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
671
Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

343
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
343
PD Controller: Design01:26

PD Controller: Design

241
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
241
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
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相关实验视频

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Driving Simulation in the Clinic: Testing Visual Exploratory Behavior in Daily Life Activities in Patients with Visual Field Defects
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一种基于驾驶安全场的动态路径规划方法,用于避免障碍物.

Ke Liu1, Honglin Wang1, Yao Fu1

  • 1State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China.

Sensors (Basel, Switzerland)
|November 25, 2023
PubMed
概括

本研究引入了一种双层动态路径规划方法,用于避开障碍物,增强驾驶安全场 (DSF) 模型. 新方法通过优化风险评估和车辆动力学来为智能汽车创造更平稳,更安全的道路.

科学领域:

  • 机器人技术和自主系统
  • 智能运输系统 智能运输系统
  • 控制理论 控制理论

背景情况:

  • 准确高效的驾驶风险评估对于安全的自动驾驶航行至关重要.
  • 现有的路径规划方法难以整合车辆运动状态和运动约束来避免障碍.
  • 适应性和平稳路径的开发仍然是动态环境中智能汽车面临的挑战.

研究的目的:

  • 提出一种基于驾驶安全场 (DSF) 的新型双层动态路径规划方法,以避免障碍.
  • 提高驾驶风险建模的准确性和适应车辆动力学特征的适应性.
  • 为了生成无碰撞,曲率连续,动态调节的避障路径.

主要方法:

  • 构建了一个全面的驾驶安全场 (DSF),整合了潜在场 (静态障碍物,车道边界,目标位置) 和动力场 (动态障碍物).
  • 利用来自DSF的结果力方向来指导自我车辆运动,生成尊重动力学和动态约束的初始路径.
  • 采用二次编程 (QP) 进行路径平滑,优化路点和调整多项式曲线以实现曲率连续性.

主要成果:

  • 拟议的路径规划算法显著超过了改进的人工潜力场 (APF) 方法.
  • 实现了路径曲率 (62.29%~87.32%) 和方向角 (34.11%~72.06%) 的大幅降低.
关键词:
驾驶安全领域 驾驶安全领域智能汽车是一种智能汽车.避免障碍 避免障碍 避免障碍路径规划路径规划路径规划

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  • 基于相对车辆速度的阻碍回避机动启动的动态调整,以主动避免.
  • 结论:

    • 双层动态路径规划方法有效地为智能车辆生成安全,舒适和稳定的避障路径.
    • 该方法成功地解决了驾驶风险建模,路径平滑和动力学适应性方面的挑战.
    • 该方法确保了无碰撞,曲率连续的轨迹,适合复杂的驾驶场景.