【Advanced】Modeling and Simulation of Kinematic Model for Steering of MATLAB_Simulink Intelligent Car
发布时间: 2024-09-14 04:33:27 阅读量: 31 订阅数: 22
# 2.1 Vehicle Kinematics Model
### 2.1.1 Fundamental Principles of Kinematics Model
The vehicle kinematics model is a mathematical model used to describe the motion state of a vehicle. It is based on Newton's laws of motion and establishes a vehicle coordinate system and motion equations to portray the vehicle's movement in three-dimensional space. The kinematics model primarily focuses on the vehicle's motion state, without considering the internal mechanical structure and dynamic characteristics of the vehicle.
### 2.1.2 Establishment of Kinematics Model Coordinate System
The vehicle kinematics model typically employs a right-handed Cartesian coordinate system to describe the vehicle's motion state. The origin of the coordinate system is usually located at the vehicle's center of mass, with the x-axis pointing in the direction of the vehicle's forward motion, the y-axis pointing to the right side of the vehicle, and the z-axis pointing upwards. By establishing a coordinate system, the vehicle's motion can be broken down into translational movements along the x, y, z axes and rotational movements around the x, y, z axes.
### 2.1.3 Kinematics Model Motion Equations
The motion equations of the kinematics model are mathematical equations describing the change in the vehicle's motion state over time. The motion equations include both translational and rotational motion equations. The translational motion equations describe the motion of the vehicle's center of mass along the x, y, z axes, while the rotational motion equations describe the vehicle's rotation around the x, y, z axes. These equations can be used to predict the vehicle's motion state under given input conditions, such as velocity, acceleration, and displacement.
# 2. Kinematics Model Establishment
### 2.1 Vehicle Kinematics Model
#### 2.1.1 Fundamental Principles of Kinematics Model
The vehicle kinematics model is based on Newton's laws of motion and describes the vehicle's motion state in space. In this model, the vehicle is simplified into a rigid body, and its motion can be described using kinematic quantities such as displacement, velocity, and acceleration.
#### 2.1.2 Establishment of Kinematics Model Coordinate System
To describe the vehicle's motion, a coordinate system must be established. The following coordinate systems are typically used:
- **Inertial Coordinate System (I Coordinate System):** The ground is used as the reference, with the x-axis pointing in the direction of the vehicle's forward motion, the y-axis pointing to the right side of the vehicle, and the z-axis pointing upwards.
- **Body Coordinate System (B Coordinate System):** With the vehicle's center of mass as the origin, the x-axis points in the direction of the vehicle's forward motion, the y-axis points to the left side of the vehicle, and the z-axis is parallel to the z-axis of the I Coordinate System.
#### 2.1.3 Kinematics Model Motion Equations
Based on Newton's laws of motion, the motion equations of the vehicle kinematics model can be established:
- **Linear Motion Equations:**
```python
F = ma
```
Where:
- F: The resultant force acting on the vehicle
- m: The mass of the vehicle
- a: The acceleration of the vehicle
- **Angular Motion Equations:**
```python
T = Iα
```
Where:
- T: The resultant torque acting on the vehicle
- I: The moment of inertia of the vehicle
- α: The angular acceleration of the vehicle
### 2.2 Steering Kinematics Model
#### 2.2.1 Establishment of Steering Kinematics Model
The steering kinematics model describes the vehicle's motion state during steering. In the model, the vehicle is simplified into a single-track model, with steering controlled by the steering angle of the front wheels.
#### 2.2.2 Motion Equations of Steering Kinematics Model
The motion equations of the steering kinematics model are:
```python
v = rω
```
Where:
- v: The forward velocity of the vehicle
- r: The turning radius of the vehicle
- ω: The angular velocity of the vehicle
**Logical Analysis of Code Blocks:**
These equations describe the
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