本文根据B站up:忠厚老实的老王 的视频《自动驾驶决策规划算法第一章第三节(上) 直角坐标与自然坐标转换》整理,连接:https://www.bilibili.com/video/BV1tQ4y1r7fh?spm_id_from=333.1007.top_right_bar_window_history.content.click
Planning-Frenet坐标和Cartesian坐标转换上
Planning-Frenet坐标和Cartesian坐标转换下
2 坐标转换
2.1 变量说明:
r h ⃗ \vec{r_h} rh | 车的位置矢量 | r h ⃗ \vec{r_h} rh | 投影的位置矢量 |
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v ⃗ \vec{v} v | 车的速度 | s ˙ \dot{s} s˙ | 投影的速率 |
a ⃗ \vec{a} a | 车的加速度 | — | — |
κ h \kappa _h κh | 车的位置矢量在车轨迹上的曲率 | κ r \kappa _r κr | 投影位置矢量在道路几何上的曲率 |
τ h ⃗ \vec{\tau_h} τh | 车的位置矢量在车轨迹上的切线方向的单位向量 | τ r ⃗ \vec{\tau_r} τr | 投影位置矢量在道路几何上的切线方向的单位向量 |
n h ⃗ \vec{n_h} nh | 车的位置矢量在车轨迹上的法线方向的单位向量 | n r ⃗ \vec{n_r} nr | 投影位置矢量在道路几何上的法线方向的单位向量 |
2.2 基础公式
计算所需要的公式,即为上述
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(1−1)—(1−4):
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(2-1)
\begin{cases} ①\vec{\dot{r_h}} = |\vec{v_h}| \vec{\tau _h} = \vec{v_h}\\ ②\vec{\dot{r_r}} = \dot{s} \vec{\tau _r} \\ ③\vec{\dot{\tau_h}} = \frac{d \vec{\tau _h}}{dt} = \kappa_h |\vec{v_h}| \vec{n_h} \\ ④\vec{\dot{n_h}} = - \kappa_h |\vec{v_h}| \vec{\tau_h} \\ ⑤\vec{\dot{\tau_r}} = \kappa_r \dot{s_r} \vec{n_r} \\ ⑥\vec{\dot{n_r}} = - \kappa_r \dot{s_r} \vec{\tau_r} \\ ⑦\vec{a} = |\vec{\dot{v_h}}| \vec{\tau_h} + |\vec{v_h}|^2 \kappa_h \vec{n_h} \end{cases} \tag{2-1}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧①rh˙=∣vh∣τh=vh②rr˙=s˙τr③τh˙=dtdτh=κh∣vh∣nh④nh˙=−κh∣vh∣τh⑤τr˙=κrsr˙nr⑥nr˙=−κrsr˙τr⑦a=∣vh˙∣τh+∣vh∣2κhnh(2-1)
2.3 C a r t e s i a n Cartesian Cartesian坐标系转换到 F r e n e t Frenet Frenet坐标系
已知 r h ⃗ , v h ⃗ , a h ⃗ , κ h , τ h ⃗ , n h ⃗ \vec{r_h}, \vec{v_h}, \vec{a_h}, \kappa_h, \vec{\tau_h}, \vec{n_h} rh,vh,ah,κh,τh,nh和 F r e n e t Frenet Frenet坐标系起点 ( x 0 , y 0 ) (x_0,y_0) (x0,y0),求 s , s ˙ , s ¨ , l , l ′ , l ′ ′ , l ˙ , l ¨ s, \dot{s}, \ddot{s}, l, l^{\prime}, l^{\prime \prime}, \dot{l}, \ddot{l} s,s˙,s¨,l,l′,l′′,l˙,l¨。
2.3.1 计算ADC
在Frenet
坐标系中的投影点
需要根据车辆坐标 ( x h , y h ) (x_h, y_h) (xh,yh),在参考路径上找到 x r , y r , θ r , κ r x_r, y_r, \theta_r, \kappa_r xr,yr,θr,κr。首先找到距离车辆坐标 ( x h , y h ) (x_h, y_h) (xh,yh)最近的点,称为匹配点 x m , y m , θ m , κ m x_m, y_m, \theta_m, \kappa_m xm,ym,θm,κm
根据匹配点和ADC
坐标可以得到:
{ d ⃗ = ( x h − x m , y h − y m ) τ m ⃗ = ( c o s θ m , s i n θ m ) (2-2) \begin{cases} \vec{d} = (x_h - x_m, y_h - y_m) \\ \vec{\tau_m} = (cos{\theta_m}, sin{\theta_m}) \tag{2-2} \end{cases} {d=(xh−xm,yh−ym)τm=(cosθm,sinθm)(2-2)
将车辆坐标在曲线投影点处的 t r ⃗ \vec{t_r} tr近似为 τ ⃗ \vec{\tau} τ,可以得到:
r r ⃗ = ( x r y r ) = r m ⃗ + ( d ⃗ ⋅ τ m ⃗ ) τ m ⃗ = ( x m y m ) + ( d ⃗ ⋅ τ m ⃗ ) ( c o s θ m s i n θ m ) (2-3) \vec{r_r} = \begin{pmatrix} x_r \\ y_r \end{pmatrix} = \vec{r_m} + (\vec{d} \cdot \vec{\tau_m}) \vec{\tau_m} = \begin{pmatrix} x_m \\ y_m \end{pmatrix} + (\vec{d} \cdot \vec{\tau_m}) \begin{pmatrix} cos{\theta_m} \\ sin{\theta_m} \end{pmatrix} \tag{2-3} rr=(xryr)=rm+(d⋅τm)τm=(xmym)+(d⋅τm)(cosθmsinθm)(2-3)
其中的向量点乘可以转化为以下形式:
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(2-4)
\vec{d} \cdot \vec{\tau_m} = |\vec{d}| |\vec{\tau_m}| cos<\theta_h, \theta_r> = |\vec{d}| cos(\theta_h - \theta_r) \tag{2-4}
d⋅τm=∣d∣∣τm∣cos<θh,θr>=∣d∣cos(θh−θr)(2-4)
为了后续计算表达简明,车辆在 F r e n e t Frenet Frenet坐标系下的投影点在 c a r t e s i a n cartesian cartesian坐标系下的坐标,记为 x r , y r , θ r , κ r x_r, y_r, \theta_r, \kappa_r xr,yr,θr,κr,因此可以得到: r r ⃗ = ( x r , y r ) , τ r ⃗ = ( c o s θ r , s i n θ r ) , n r ⃗ = ( − s i n θ r , c o s θ r ) \vec{r_r} = (x_r,y_r), \vec{\tau_r} = (cos \theta_r, sin \theta_r), \vec{n_r} = (-sin \theta_r, cos \theta_r) rr=(xr,yr),τr=(cosθr,sinθr),nr=(−sinθr,cosθr)。
利用向量三角形和微积分求出 s , s ˙ , s ¨ , l , l ′ , l ′ ′ , l ˙ , l ¨ s, \dot{s}, \ddot{s}, l, l^{\prime}, l^{\prime \prime}, \dot{l}, \ddot{l} s,s˙,s¨,l,l′,l′′,l˙,l¨。
核心公式: r r ⃗ + l × n r ⃗ = r h ⃗ \vec{r_r} + l \times \vec{n_r} = \vec{r_h} rr+l×nr=rh。
2.3.2 计算 l l l
公式
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\vec{r_r} + l \vec{n_r} = \vec{r_h}
rr+lnr=rh两边点乘
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l = (\vec{r_h} - \vec{r_r}) \cdot \vec{n_r} \tag{2-5}
l=(rh−rr)⋅nr(2-5)
写成三角函数形式:
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l = sign((y_h - y_r) cos(\theta_r) - (x_h - x_r)sin(\theta_r)) \sqrt{(y_h - y_r)^2 - (x_h - x_r)^2} \tag{2-6}
l=sign((yh−yr)cos(θr)−(xh−xr)sin(θr))(yh−yr)2−(xh−xr)2(2-6)
3.3.3 计算 s ˙ ( s r ˙ ) \dot{s}(\dot{s_r}) s˙(sr˙):
公式
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\vec{r_r} + l \times \vec{n_r} = \vec{r_h}
rr+l×nr=rh两边同时对时间求导得:
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\vec{\dot{r_r}} + l \vec{\dot{n_r}} + \dot{l} \vec{n_r} = \vec{\dot{r_h}} \tag{2-7}
rr˙+lnr˙+l˙nr=rh˙(2-7)
利用基础公式①②⑤⑥得:
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\dot{s_r} \vec{\tau _r} + l (- \kappa_r \dot{s_r} \vec{\tau_r}) + \dot{l} \vec{n_r} = \vec{v_h} \tag{2-8}
sr˙τr+l(−κrsr˙τr)+l˙nr=vh(2-8)
两边同时点乘
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\dot{s_r}+l(-\kappa_r \dot{s_r}) = \vec{v_h} \cdot \vec{\tau_r}
sr˙+l(−κrsr˙)=vh⋅τr,得到:
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\dot{s_r} = \frac{\vec{v_h} \cdot \vec{\tau_r}}{1-\kappa_r l} \tag{2-9}
sr˙=1−κrlvh⋅τr(2-9)
转化为三角函数形式:
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vec{v_h} \cdot \vec{\tau_r} = |\vec{v_h}| \vec{\tau_h} \cdot \vec{\tau_r} = |\vec{v_h}| |\vec{\tau_h}| |\vec{\tau_r}| cos<\vec{\tau_h}, \vec{\tau_r}> = |\vec{v_h}| cos(\theta_h - \theta_r) \tag{2-10}
vecvh⋅τr=∣vh∣τh⋅τr=∣vh∣∣τh∣∣τr∣cos<τh,τr>=∣vh∣cos(θh−θr)(2-10)
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因此,公式
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(2−9)可以等价写为:
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\dot{s_r} = \frac{|\vec{v_h}| cos(\theta_h - \theta_r)}{1-\kappa_r l} \tag{2-11}
sr˙=1−κrl∣vh∣cos(θh−θr)(2-11)
3.3.4 计算 l ˙ \dot{l} l˙
由公式
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\dot{s_r} \vec{\tau _r} + l (- \kappa_r \dot{s_r} \vec{\tau_r}) + \dot{l} \vec{n_r} = \vec{v_h}
sr˙τr+l(−κrsr˙τr)+l˙nr=vh,两边同时点乘
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\dot{l} = \vec{v_h} \cdot \vec{n_r} \tag{2-12}
l˙=vh⋅nr(2-12)
写成三角函数形式有:
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\dot{l} = \vec{v_h} \cdot \vec{n_r} = |\vec{v_h}| |\vec{n_r}| cos<\vec{v_h}, \vec{n_r}> = |\vec{v_h}| cos(\theta_h - (\theta_r + \frac{\pi}{2})) = |\vec{v_h}| sin(\theta_h - \theta_r) \tag{2-13}
l˙=vh⋅nr=∣vh∣∣nr∣cos<vh,nr>=∣vh∣cos(θh−(θr+2π))=∣vh∣sin(θh−θr)(2-13)
3.3.5计算 l ′ l^{\prime} l′
l ′ = d l d s = d l d t d s r d t = l ˙ s r ˙ = ( 1 − κ r l ) v h ⃗ ⋅ n r ⃗ v h ⃗ ⋅ τ r ⃗ (2-14) l^{\prime} = \frac{dl}{ds}=\frac{\frac{dl}{dt}}{\frac{ds_r}{dt}}=\frac{\dot{l}}{\dot{s_r}} = (1-\kappa_r l) \frac{\vec{v_h} \cdot \vec{n_r}}{\vec{v_h} \cdot \vec{\tau_r}} \tag{2-14} l′=dsdl=dtdsrdtdl=sr˙l˙=(1−κrl)vh⋅τrvh⋅nr(2-14)
写成三角函数形式:
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l^{\prime} = (1-\kappa_r l) \frac{\vec{v_h} \cdot \vec{n_r}}{\vec{v_h} \cdot \vec{\tau_r}} = (1-\kappa_r l) tan(\theta_h - \theta_r) \tag{2-14}
l′=(1−κrl)vh⋅τrvh⋅nr=(1−κrl)tan(θh−θr)(2-14)
3.3.6 计算 s ¨ ( s r ¨ ) \ddot{s}(\ddot{s_r}) s¨(sr¨)
s r ¨ = d ( v h ⃗ ⋅ τ r ⃗ 1 − κ r l ) d t = 1 ( 1 − κ r l ) 2 ( d ( v h ⃗ ⋅ τ r ⃗ ) d t ( 1 − κ r l ) − ( v h ⃗ ⋅ τ r ⃗ ) ( − κ r ˙ l − κ r l ˙ ) ) = 1 1 − κ r l ( d v h ⃗ d t ⋅ τ r ⃗ + v h ⃗ ⋅ d τ r ⃗ d t ) + 1 1 − κ r l v h ⃗ ⋅ τ r ⃗ 1 − κ r l ( κ r ˙ l + κ r l ˙ ) ) = 1 1 − κ r l ( a ⃗ ⋅ τ r ⃗ + v h ⃗ ⋅ ( κ r s r ˙ n r ⃗ ) ) + 1 1 − κ r l s r ˙ ( d κ r d s r d s r d t l + κ r d l d s r d s r d t ) = a ⃗ ⋅ τ r ⃗ 1 − κ r l + ( κ r s r ˙ ) ( v h ⃗ ⋅ n r ⃗ ) 1 − κ r l + s r ˙ 2 1 − κ r l ( κ r ′ l + κ r l ′ ) (2-15) \begin{aligned} \ddot{s_r} &= \frac{d (\frac{\vec{v_h} \cdot \vec{\tau_r}}{1-\kappa_r l})} {dt} \\ &= \frac{1}{(1-\kappa_r l)^2} (\frac{d(\vec{v_h} \cdot \vec{\tau_r})}{dt}(1-\kappa_r l) - (\vec{v_h} \cdot \vec{\tau_r})(-\dot{\kappa_r}l - \kappa_r \dot{l})) \\ &= \frac{1}{1-\kappa_r l}(\frac{d \vec{v_h}}{dt} \cdot \vec{\tau_r} + \vec{v_h} \cdot \frac{d \vec{\tau_r}}{dt}) + \frac{1}{1-\kappa_r l} \frac{\vec{v_h} \cdot \vec{\tau_r}}{1-\kappa_r l} (\dot{\kappa_r}l + \kappa_r \dot{l})) \\ &= \frac{1}{1-\kappa_r l}(\vec{a} \cdot \vec{\tau_r} + \vec{v_h} \cdot (\kappa_r \dot{s_r} \vec{n_r})) + \frac{1}{1-\kappa_r l} \dot{s_r} (\frac{d \kappa_r}{ds_r} \frac{ds_r}{dt} l + \kappa_r \frac{dl}{ds_r} \frac{ds_r}{dt}) \\ &= \frac{\vec{a} \cdot \vec{\tau_r}}{1-\kappa_r l} + \frac{(\kappa_r \dot{s_r})(\vec{v_h} \cdot \vec{n_r})}{1-\kappa_r l} + \frac{\dot{s_r}^2}{1-\kappa_r l}({\kappa_r}^{\prime}l + \kappa_r l^{\prime}) \end{aligned} \tag{2-15} sr¨=dtd(1−κrlvh⋅τr)=(1−κrl)21(dtd(vh⋅τr)(1−κrl)−(vh⋅τr)(−κr˙l−κrl˙))=1−κrl1(dtdvh⋅τr+vh⋅dtdτr)+1−κrl11−κrlvh⋅τr(κr˙l+κrl˙))=1−κrl1(a⋅τr+vh⋅(κrsr˙nr))+1−κrl1sr˙(dsrdκrdtdsrl+κrdsrdldtdsr)=1−κrla⋅τr+1−κrl(κrsr˙)(vh⋅nr)+1−κrlsr˙2(κr′l+κrl′)(2-15)
由于
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\dot{l} = \vec{v_h} \cdot \vec{n_r}, \dot{l} = \frac{dl}{ds} \frac{ds}{dt} = l^{\prime} \dot{s_r}
l˙=vh⋅nr,l˙=dsdldtds=l′sr˙,因此:
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\ddot{s_r} = \frac{\vec{a} \cdot \vec{\tau_r}}{1-\kappa_r l} + \frac{\kappa_r \dot{s_r}^2 l^{\prime}}{1-\kappa_r l} + \frac{\dot{s_r}^2}{1-\kappa_r l}({\kappa_r}^{\prime}l + \kappa_r l^{\prime}) \tag{2-16}
sr¨=1−κrla⋅τr+1−κrlκrsr˙2l′+1−κrlsr˙2(κr′l+κrl′)(2-16)
根据基础公式⑦:
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\vec{a} = |\vec{\dot{v_h}}| \vec{\tau_h} + |\vec{v_h}|^2 \kappa_h \vec{n_h}
a=∣vh˙∣τh+∣vh∣2κhnh,由公式
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(2-11)
(2−11),得:
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|\vec{v_h}| = \frac{(1-\kappa_r l) \dot{s_r}}{cos(\theta_h - \theta_r)}
∣vh∣=cos(θh−θr)(1−κrl)sr˙,因此
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\vec{a} \cdot \vec{\tau_r}
a⋅τr转化为三角函数形式:
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(2-17)
\begin{aligned} \vec{a} \cdot \vec{\tau_r} &= |\vec{\dot{v_h}}| cos<\vec{\tau_h}, \vec{\tau_r}> + |\vec{v_h}|^2 \kappa_h \vec{n_h} \cdot \vec{\tau_r} \\ &= |\vec{\dot{v_h}}| cos<\vec{\tau_h}, \vec{\tau_r}> + \kappa_h \frac{(1-\kappa_r l)^2}{cos^2(\theta_h - \theta_r)} {\dot{s_r}}^2 (-sin(\theta_h - \theta_r)) \\ &= |\vec{\dot{v_h}}| cos<\vec{\tau_h}, \vec{\tau_r}> + \kappa_h {\dot{s_r}}^2 \frac{1-\kappa_r l}{cos(\theta_h - \theta_r)} (-(1-\kappa_r l)tan(\theta_h - \theta_r)) \\ &= |\vec{a_h}| cos(\theta_h - \theta_r) + \kappa_h {\dot{s_r}}^2 \frac{1-\kappa_r l}{cos(\theta_h - \theta_r)} (-l^{\prime}) \end{aligned} \tag{2-17}
a⋅τr=∣vh˙∣cos<τh,τr>+∣vh∣2κhnh⋅τr=∣vh˙∣cos<τh,τr>+κhcos2(θh−θr)(1−κrl)2sr˙2(−sin(θh−θr))=∣vh˙∣cos<τh,τr>+κhsr˙2cos(θh−θr)1−κrl(−(1−κrl)tan(θh−θr))=∣ah∣cos(θh−θr)+κhsr˙2cos(θh−θr)1−κrl(−l′)(2-17)
因此公式
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(2-16)
(2−16)的三角函数形式为:
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(2-18)
\ddot{s_r} = \frac{|\vec{a_h}| cos(\theta_h - \theta_r) - {\dot{s_r}}^2(l^{\prime} (\kappa_h \frac{1-\kappa_r l}{cos(\theta_h - \theta_r)} - \kappa_r) - ({\kappa_r}^{\prime}l + \kappa_r l^{\prime}))} {1-\kappa_r l} \tag{2-18}
sr¨=1−κrl∣ah∣cos(θh−θr)−sr˙2(l′(κhcos(θh−θr)1−κrl−κr)−(κr′l+κrl′))(2-18)
3.3.7 计算 l ¨ \ddot{l} l¨
l ¨ = d l ˙ d t = d v h ⃗ d t ⋅ n r ⃗ + v h ⃗ ⋅ d n r ⃗ d t = a ⃗ ⋅ n r ⃗ + v h ⃗ ⋅ ( − κ r s r ˙ τ r ⃗ ) = a ⃗ ⋅ n r ⃗ − κ r s r ˙ ( v h ⃗ ⋅ τ r ⃗ ) = a ⃗ ⋅ n r ⃗ − κ r ( 1 − κ r l ) ( s r ˙ ) 2 (2-19) \begin{aligned} \ddot{l} &= \frac{d{\dot{l}}}{dt} \\ &= \frac{d \vec{v_h}}{dt} \cdot \vec{n_r} + \vec{v_h} \cdot \frac{d \vec{n_r}}{dt} \\ &= \vec{a} \cdot \vec{n_r} + \vec{v_h} \cdot (- \kappa_r \dot{s_r} \vec{\tau_r}) \\ &= \vec{a} \cdot \vec{n_r} - \kappa_r \dot{s_r} (\vec{v_h} \cdot \vec{\tau_r}) \\ &= \vec{a} \cdot \vec{n_r} - \kappa_r (1-\kappa_r l) (\dot{s_r})^2 \end{aligned} \tag{2-19} l¨=dtdl˙=dtdvh⋅nr+vh⋅dtdnr=a⋅nr+vh⋅(−κrsr˙τr)=a⋅nr−κrsr˙(vh⋅τr)=a⋅nr−κr(1−κrl)(sr˙)2(2-19)
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\vec{a} \cdot \vec{n_r}
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\vec{a} \cdot \vec{n_r} = |\vec{\dot{v_h}}| cos<\vec{\tau_h}, \vec{n_r}> = |\vec{\dot{v_h}}| cos(\theta_h - (\theta_r + \frac{\pi}{2})) = |\vec{a}| sin(\theta_h - \theta_r) \tag{2-20}
a⋅nr=∣vh˙∣cos<τh,nr>=∣vh˙∣cos(θh−(θr+2π))=∣a∣sin(θh−θr)(2-20)
因此,
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\ddot{l} = |\vec{a}| sin(\theta_h - \theta_r) - \kappa_r (1-\kappa_r l) (\dot{s_r})^2 \tag{2-21}
l¨=∣a∣sin(θh−θr)−κr(1−κrl)(sr˙)2(2-21)
3.3.8 计算 l ′ ′ l^{\prime \prime} l′′
l ¨ = d l ˙ d t = d l ′ s r ˙ ˙ d t = d l ′ d s r d s r d t s r ˙ + l ′ s r ¨ = l ′ ′ s r ˙ 2 + l ′ s r ¨ (2-22) \begin{aligned} \ddot{l} &= \frac{d{\dot{l}}}{dt} \\ &= \frac{d{\dot{l^{\prime} \dot{s_r}}}}{dt} \\ &= \frac{d {l^{\prime}}}{ds_r} \frac{ds_r}{dt} \dot{s_r} + l^{\prime} \ddot{s_r} \\ &= l^{\prime \prime} {\dot{s_r}}^2 + l^{\prime} \ddot{s_r} \end{aligned} \tag{2-22} l¨=dtdl˙=dtdl′sr˙˙=dsrdl′dtdsrsr˙+l′sr¨=l′′sr˙2+l′sr¨(2-22)
因此,可以得到:
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l^{\prime \prime} = \frac{\ddot{l} - l^{\prime} \ddot{s_r}}{{\dot{s_r}}^2} \tag{2-23}
l′′=sr˙2l¨−l′sr¨(2-23)
写成三角函数形式:
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l^{\prime \prime} = -({\kappa_r}^{\prime}l + \kappa_r l^{\prime}) tan(\theta_h - \theta_r) + \frac{1-\kappa_r l}{cos^2(\theta_h - \theta_r)} (\frac{1-\kappa_r l}{cos(\theta_h - \theta_r)} \kappa_h - \kappa_r) \tag{2-24}
l′′=−(κr′l+κrl′)tan(θh−θr)+cos2(θh−θr)1−κrl(cos(θh−θr)1−κrlκh−κr)(2-24)