We develop a generalized and systematic mathematical approach to determine the trajectories swept by each wheel and other related components of the vehicle. The solution can be numerically obtained for any trajectory under different circumstances. This chapter discusses a trajectory calculation method for long vehicle turning, based on a set of differential equations. Trajectory planning for long vehicle tuning always plays an important role to secure safety and efficient operation, especially when turning in narrow spaces limited by surrounding objects such as buildings. Safety and efficiency are two major issues when it comes to long vehicle driving and operating, particularly those with very large lateral and longitudinal sizes.
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