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为了给驾驶员完成标准机动动作提供决策支持,提出一种使用哈密尔顿–雅克比(Hamilton-Jacobi)方程求解机动动作可行状态空间的研究方法.使用关键点将机动动作划分为不同阶段,将各关键点的标准状态约束作为目标集,逆时间求解目标集对应的可达集得到各阶段的边界状态范围,目标集和可达集均由零水平集表示.使用该方法得到斤斗动作三维度运动模型下各阶段的可达集及斤斗动作的可行状态空间,为了使运动模型的控制量与驾驶员实际操纵更为接近,构建了以迎角变化率为控制量的四维度运动模型,在此基础上对斤斗动作各阶段的可达集进行了分析.
In order to provide decision support for the driver to complete the standard maneuver, a research method to solve the feasible state space of the maneuver using Hamilton-Jacobi equation is proposed. The key points are used to divide the maneuver into different phases, The standard state constraint of point is regarded as the target set, and the reachable set corresponding to the target set is inversely time-resolved to obtain the boundary state range of each stage. Both the target set and the reachable set are represented by zero level sets. Using this method, In order to make the control quantity of the motion model closer to the actual operation of the driver, a four-dimensional motion model based on the change rate of attack angle is used as the control volume. Based on this, On the reckless movements of the reachable set of each stage were analyzed.