Analysis Of Optimal Velocity Profiles Based On Vehicle Handing Inverse Dynamics

As one of research methods of vehicle handling dynamics,vehicle handing inverse dynamics has been developed much at home and abroad.Espaically, the researches on"minimum-time handling"problem is very meaningful to vehicle handling.Based on optimal control theory and semi-analytic,the paper approached to generate optimal velocity profiles for minimum-time travel along a prescribed path given the acceleration capacity of the vehicle.Come into contact with practical motor racing,the paper established research path according to F1 Autodrome.We built motion equation on the given path,and kinematics analysis followed.Then we established optimal control model according to Pontryagin minimum principle. The minimum-time problem was provided for special cases with one-by-one optimal control analysis.In view of initial and final condition, we generated optimal velocity profiles for minimum-time travel along a prescribed path given the acceleration capacity of the vehicle.At last we carryed through the simulation using ADAMS/Car Event Builder. The simulation path is coincident with the optimal velocity profiles,which proved the feasibility of our research.