Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (6): 1229-1244.doi: 10.13229/j.cnki.jdxbgxb20210893

   

Methods and applications of ground vehicle mobility evaluation

Chen HUA1,2(),Run-xin NIU1,Biao YU1()   

  1. 1.Hefei Institutes of Physical Science，Chinese Academy of Sciences，Hefei 230031，China
    2.Science Island Branch of Graduate School，University of Science and Technology of China，Hefei 230026，China
  • Received:2021-09-08 Online:2022-06-01 Published:2022-06-02
  • Contact: Biao YU E-mail:ba20168187@mail.ustc.edu.cn;byu@hfcas.ac.cn

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Abstract:

Firstly， the definition of mobility was discussed， and then the main existing ground vehicle mobility evaluation methods， i.e.， empirical model， semi-empirical model， numerical simulation and machine learning， were analysed and summarized comprehensively， also the advantages and disadvantages of each method were compared. In order to describe the vehicle mobility completely， application of these methods are discussed，such as military vehicles， sea-floor operation， planetary exploration and agricultural vehicles. Finally， according to the problems existing in the vehicle mobility evaluation methods， this paper proposed some key technologies and exploratory research directions from real-time evaluation of vehicle mobility and real-time terrain perception， path planning on deformed terrain and autonomous mobility evaluation for unmanned systems， so as to provide a beneficial reference to the development of vehicle mobility elevation methods.

Key words: vehicle engineering, terramechanics, mobility evaluation, off-road, numerical simulation

CLC Number: 

  • U461.5

Fig.1

Mobility map"

Fig.2

Flow chart of mobility evaluation method based on cone index"

Table 1

Average maximum pressure expectations"

地表条件平均最大应力/（kN·m-2）

理想值

（多次通过）

良好的

最大允许值

（大多数可在一次通过情况下通过）

温带浸粒烟土150200300
热带浸粒烟土90140240
沼泽地305060
沼泽地流动层/欧洲沼泽区51015
雪地1025~3040

Fig.3

Bevameter"

Fig.4

GO/NOGO map and path planning result"

Fig.5

Soil trafficability evaluation framework"

Fig.6

Wheel and soil interaction simulation"

Fig.7

Grid used to simulate the soil characteristics with different sizes"

Fig.8

Model of the particle interaction force"

Fig.9

Simulation experiment of soil parameters calibration"

Fig.10

Multi-body dynamics simulation ofwheeled and tracked vehicles driving on the DEM terrain"

Fig.11

Simulation of tire interacting with SPH soil model"

Fig.12

Simulation of the vehicle driving on the snow"

Table 2

Large scale soil modeling technologylevel evaluation"

评估指标Lagrangian/ALE FEMEulerian FEMDEMSPHMPM
总 计2736474240
土壤形变范围49999
嵌入障碍物能力37999
车辆交互保真度56888
仿真计算速率57659
实验验证精度53753
当前应用趋势54865

Fig.13

Interaction between tire and soil RVE model"

Fig.14

Mobility distribution results based on ANN"

Fig.15

Test scenario in simulation environment"

Table 3

Comparison of mobility evaluation methods"

方法评估手段评估对象方法局限性应用前景
经验方法实地试验常见轮式、履带式车辆实地测试数据泛化性差较差
半经验方法实地试验和理论推导不受限制半经验公式存在模型简化与假设一般
数值模拟法理论推导和计算机仿真不受限制仿真时间较长、建模难度较大较好
机器学习法训练数据和机器学习算法不受限制训练数据获取困难，泛化性差好

Fig.16

Framework of NRMM"

Fig.17

Framework of NG-NRMM"

Fig.18

Mobility distribution map"

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