| 摘要 |
<P>PROBLEM TO BE SOLVED: To derive the vehicle body resultant force and the evasion trajectory that minimizes the speed when reaching the desired position and the direction of speed by using the map of a simple composition. <P>SOLUTION: The vehicle body resultant force that minimizes the speed reaching the desired position and the speed direction is derived: by setting the desired position, speed direction at the position, and the maximum value of the vehicle body resultant force; by computing three parameters different respectively using own vehicle speed x component V<SB POS="POST">x0</SB>and y component V<SB POS="POST">y0</SB>, own vehicle and desired position distance x component X<SB POS="POST">e</SB>, distance y component Y<SB POS="POST">e</SB>, and the maximum value of the vehicle body resultant acceleration F<SB POS="POST">0</SB>/m; and by using the above three parameters and a slowdown three dimensional map that defines, in order to obtain the vehicle body resultant force that minimizes the speed when reaching the desired position and the direction of speed, the relation between a first installation parameter η<SB POS="POST">1</SB>and the value η<SB POS="POST">1</SB>' under a specific assumption, the relation between a second installation parameter η<SB POS="POST">2</SB>and the value η<SB POS="POST">2</SB>' under a specific assumption, and the relation between a second installation parameter η<SB POS="POST">3</SB>and the value η<SB POS="POST">3</SB>' under a specific assumption. <P>COPYRIGHT: (C)2013,JPO&INPIT |
