DART：用于越野车辆跳跃的双轴机载可达性门控扭矩反应

中文摘要 AI 辅助

高速通过 crest、ledge 和 ditch 常使车辆腾空，操作不当的着陆会带来重大碰撞风险。研究表明腾空阶段几乎不可控：在1383kg的平台上，典型起飞轮速驱动下，车轮角动量预算将可恢复的俯仰率变化限制在抬头方向约9-13°/s，含反向制动方向则约为该值的两倍；将车轮驱动至传动系统硬限，测得的抬头上限仅提升至16-18°/s。超出该方向预算的起飞俯仰率扰动在飞行中物理上无法恢复，因此关键控制手段在起飞前。DART（Dual-Axis Airborne Reachability-Gated Torque-Reaction）将着陆约束反向传播为闭式认证可行起飞集合，提供保守的可行/不可行条件和起飞前速度整形律。飞行中，DART通过转向解算的车轮反作用扭矩调节俯仰和横滚，由偏航耦合分析得到的每次飞行的横滚锁存器控制。在 deterministic full-scale simulation 中，校准后的起飞前速度调节器使着陆速度降低36%，目标着陆成功率从0/30提升至30/30；在相同的陡缘接近场景下，该机载律在碰撞避免约束下完成29/30次安全着陆，而 reaction-wheel-style PD（RW-PD）和 time-optimal bang-bang（TOBB）均为0/30。在倾斜助跑时，DART在所有横坡上的中位数俯仰误差均≤2°，最大基线偏差出现在γ=12°处。在不同扰动工况下，锁存器在低扰动入口保持仅俯仰分配，当横滚受限时启用双轴控制。所有结果均来自仿真，硬件验证仍待开展。

英文摘要

Traversing crests, ledges, and ditches at high speed often launches vehicles into the air, and a mishandled landing presents a substantial crash hazard. We show that the airborne phase is barely controllable: on a 1383 kg platform the wheel angular-momentum budget caps the recoverable pitch-rate change at roughly $9$-$13^\circ$/s in the tighter nose-up direction under drive at typical takeoff wheel speeds, and at about twice that in the reverse-inclusive braking direction; driving the wheels to their drivetrain hard limit raises the measured nose-up ceiling to only $16$-$18^\circ$/s. Takeoff pitch-rate disturbances beyond this directional budget are physically unrecoverable in flight, so the decisive leverage lies before takeoff. DART (Dual-Axis Airborne Reachability-Gated Torque-Reaction) back-propagates the landing constraint into a closed-form certified feasible-takeoff set, which supplies a conservative go/no-go condition and a pre-takeoff speed-shaping law. In flight, DART regulates pitch and roll via steer-resolved wheel-reaction torque, governed by a per-flight roll latch derived from the yaw-coupling analysis. In deterministic full-scale simulation in BeamNG.tech, a calibrated pre-takeoff speed regulator reduces touchdown speed by 36% and raises on-target landings from 0/30 to 30/30. Under the same steep-lip approach the airborne law completes 29/30 safe landings under crash-avoidance bounds versus 0/30 for reaction-wheel-style PD (RW-PD) and time-optimal bang-bang (TOBB). On banked run-ups DART holds the median pitch error at or below $2^\circ$ at every cross-slope, with the largest baseline separation at $γ=12^\circ$. Across disturbance regimes, the latch preserves pitch-only allocation on low-disturbance entries and enables dual-axis control when roll becomes binding. All results are from simulation; hardware validation remains open.

发表机构

• Research Center for Intelligent Computing Systems, Institute of Computing Technology, CAS（中国科学院计算技术研究所智能计算系统研究中心）
• School of Computer Science and Technology, University of Chinese Academy of Sciences（中国科学院大学计算机科学与技术学院）
• Dong Feng Off-Road Vehicle Co., Ltd（东风越野车有限公司）

机构由 AI 辅助整理，请以论文原文为准。

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20 pages, 9 figures