Vehicle-motion analysis for an automatizated parking manoeuvre

摘要

During an automatizated parking manoeuvre, we have to know the vehicle's position in a quite exact way at every moment. The model should not contain unknown vehicle parameters like spring stiffness or moment of inertia of the bodywork about its axes. Because of the low velocity we can assume that the dynamic effects can be neglected. Every four-^s(or more-) wheeled car has steering geometry error. This means that pole point of the velocities determined by the outside wheels is not the same as the pole point determined by the inside wheels. This kinematical error will be balanced by the deformations of the tires. These deformations will cause side slip on the tires. As consequence of these effects we have to use modified tire model. The simplest vehicle model we use is a bicycle model. For modelling the behaviour of the tires, we use a simplified brush model, while we ignore the vertical motion of the bicycle. Further examination and model development needed for the simulation of a parking manoeuvre with a four-wheeled car. This model is suitable to simulate the steering geometry error as well.