| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To derive an optimal trajectory and resultant vehicle force for allowing a vehicle to reach a target location and a speed direction at the target location, by using a simple map when the maximum value of the resultant vehicle force is limited with an ellipse. <P>SOLUTION: When the maximum value of a resultant vehicle force is limited with an ellipse whose aspect ratio isγ<SB>0</SB>, the maximum value of the resultant vehicle force is set, and an trajectory and a resultant vehicle force for minimizing an avoidance distance are derived in order to allow a vehicle to reach a target location and a speed direction at the target location by using a map that determines a relationship among first and second parameters calculated from components F<SB>1</SB>/m in the longitudinal direction of the vehicle body of the maximum value of the resultant vehicle acceleration, the aspect ratioγ<SB>0</SB>, components Y<SB>e</SB>of the horizontal direction of the vehicle body at the target location, components v<SB>x0</SB>of the longitudinal direction of the vehicle body at the speed of the vehicle, and components v<SB>y0</SB>of the horizontal direction of the vehicle body at the speed of the vehicle, a value relating to a first introduction parameterμ<SB>1</SB>introduced to derive the minimum avoidance trajectory, a value relating to a second introduction parameterμ<SB>2</SB>, and the time when the vehicle reaches the location shown by the minimum distances X<SB>s</SB>and Y<SB>e</SB>under specific conditions. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
