超越平面：平面车辆动力学与三维道路几何的耦合
Beyond the Plane: Coupling Planar Vehicle Dynamics with Three-Dimensional Road Geometry
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- Technical University of Munich（慕尼黑工业大学）
- School of Engineering & Design（工程与设计学院）
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中文总结 AI 辅助
本文提出将平面车辆动力学模型与三维道路几何耦合的新方法，通过转换车辆状态、计算道路诱导力验证其在赛车场及合成赛道的准确性，开源实现以弥合平面仿真与真实三维道路的差距。
中文摘要 AI 辅助
仿真是开发和测试自动驾驶系统的关键，尤其是定位与控制算法的开发依赖于精确的车辆动力学仿真。然而，大多数车辆动力学模型为二维，而实际道路是三维的。例如，拉斯维加斯赛车场的三维道路几何效应，可使轮胎法向力比静止时的额定载荷增加66%以上，导致即使是高度详细的平面车辆动力学模型也难以准确复现真实车辆的行为。尽管存在三维车辆动力学解决方案，但它们很少被采用，且计算成本高、复杂度高。为解决该问题，本文提出一种将平面车辆动力学模型与真实三维道路几何耦合的新方法：将平面车辆状态从车辆模型的二维平面转换为其在三维空间中的对应表示，同时计算道路几何诱导的力与力矩并应用于平面车辆模型。本文使用全尺寸赛车在倾斜的拉斯维加斯赛车场记录的高速数据验证该方法，还在合成赛道上证明其即使在边缘案例中也能产生准确结果。研究表明，无需放弃更简单的平面模型即可弥合平面仿真与真实三维道路之间的差距，且本文已将该方法的实现作为开源软件提供。
英文摘要
Simulation is crucial for developing and testing autonomous driving systems. In particular, the development of localization and control algorithms relies on an accurate vehicle dynamics simulation. However, most vehicle dynamics models are two-dimensional while real-world roads are three-dimensional. For example, effects from the three-dimensional road geometry on the Las Vegas Motor Speedway can increase the normal forces on the tires by more than 66% compared to the nominal load at standstill. As a result, even highly detailed planar vehicle dynamics models struggle to accurately reproduce the real vehicle's behavior. While solutions for three-dimensional vehicle dynamics exist, they are rarely adopted, computationally expensive, and complex. To address this issue, we present a novel method to couple planar vehicle dynamics models with real-world three-dimensional road geometry. We transform the planar vehicle state from the vehicle model's two-dimensional plane to its corresponding representation in three-dimensional space. Additionally, we calculate road-geometry-induced forces and moments and apply them to the planar vehicle model. We validate our approach using high-speed data recorded with a full-scale race car on the banked Las Vegas Motor Speedway. Furthermore, on synthetic tracks, we show that our method yields accurate results even in edge cases. Together, our results demonstrate that the gap between planar simulation and real-world three-dimensional roads can be closed without abandoning simpler planar models. To simplify adoption of our method, we provide the implementation as open-source software on github.com/TUMFTM/3d-road-geometry-coupling.
