汽车与挂车停车咨询系统的开发
Development of an Advisory System for Parking of a Car and Trailer
AI总结：
针对车辆-挂车系统倒车不稳定且转向反直觉的问题，本文基于运动学与逆运动学构建图形咨询系统，通过仿真验证其可帮助驾驶员直观预测挂车运动并完成分段连续倒车停车。
摘要：
挂车倒车停车是一项具有挑战性的任务，因为车辆-挂车系统在倒车运动中具有不稳定特性，并且为完成停车操作，需要在车辆端执行反直觉的转向动作。本文提出一种应对此类操作的策略，通过咨询式图形辅助来帮助人类驾驶员手动倒车车辆-挂车系统。文中推导了描述车辆-挂车系统低速运动的运动学模型，并通过生成等效的虚拟挂车车轴转向指令建立其逆运动学。咨询系统图形基于逆运动学生成，可在给定当前车辆转向角和构型（挂接角）的情况下显示挂车的预期朝向。研究设置了仿真与动画来测试该方法的有效性，用户可在其中自由选择车速和车辆转向角，从而能够停下车辆-挂车系统并试验不同的转向输入，以观察其对预测挂车运动的影响，然后依据咨询图形采用最佳输入继续操作，由此形成一系列分段连续的控制动作，这与手动挂车倒车停车通常的执行方式相似。结果表明，该咨询图形能够让驾驶员在任意给定构型（挂接角）下直观理解挂车运动。
英文摘要：
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy to tackle this kind of maneuver with an advisory graphic aid to help the human driver with the task of manually backing up the vehicle-trailer system. A kinematic vehicle-trailer model is derived to describe the low-speed motion of the vehicle-trailer system, and its inverse kinematics is established by generating an equivalent virtual trailer axle steering command. The advisory system graphics is generated based on the inverse kinematics and displays the expected trailer orientation given the current vehicle steer angle and configuration (hitch angle). Simulation study and animation are set up to test the efficacy of the approach, where the user can select both vehicle speed and vehicle steering angle freely, which allows the user to stop the vehicle-trailer system and experiment with different steering inputs to see their effect on the predicted trailer motion before proceeding with the best one according to the advisory graphics, hence creating a series of piecewise continuous control actions similar to how manual trailer reverse parking is usually carried out. The advisory graphics proves to provide the driver with an intuitive understanding of the trailer motion at any given configuration (hitch angle).
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
