车辆坐标系与世界坐标系中速度、加速度转换关系推导与分析
在不同的坐标系中,向量的大小和方向都是不变的,但是可以根据不同的坐标系将向量描述成不同的结果。
已知 x − o − y x-o-y x−o−y为车身坐标系, e ⃗ x \vec{e}_x ex和 e ⃗ y \vec{e}_y ey分别为 x x x轴和 y y y轴方向的单位向量, θ \theta θ为车辆横摆角, θ ˙ \dot{\theta} θ˙为车辆横摆角速度; X − O − Y X-O-Y X−O−Y为大地坐标系, e ⃗ X \vec{e}_X eX和 e ⃗ Y \vec{e}_Y eY分别为 X X X轴和 Y Y Y轴方向的单位向量。
依据单位向量的平方为1的原理,可以建立如下等式:
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\vec{e}_x^2 + \vec{e}_y^2 = \vec{e}_X^2 + \vec{e}_Y^2 \qquad(1)
ex2+ey2=eX2+eY2(1)
式(1)左右两边同时乘以
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⃗
x
\vec{e}_x
ex,可得:
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\vec{e}_x \cdot \vec{e}_x \cdot \vec{e}_x + \vec{e}_x \cdot \vec{e}_y \cdot \vec{e}_y = \vec{e}_x \cdot \vec{e}_X \cdot \vec{e}_X + \vec{e}_x \cdot \vec{e}_Y \cdot \vec{e}_Y \qquad(2)
ex⋅ex⋅ex+ex⋅ey⋅ey=ex⋅eX⋅eX+ex⋅eY⋅eY(2)
( e ⃗ x ⋅ e ⃗ x ) e ⃗ x + ( e ⃗ x ⋅ e ⃗ y ) e ⃗ y = ( e ⃗ x ⋅ e ⃗ X ) e ⃗ X + ( e ⃗ x ⋅ e ⃗ Y ) e ⃗ Y ( 3 ) (\vec{e}_x \cdot \vec{e}_x) \vec{e}_x + (\vec{e}_x \cdot \vec{e}_y) \vec{e}_y = (\vec{e}_x \cdot \vec{e}_X) \vec{e}_X + (\vec{e}_x \cdot \vec{e}_Y) \vec{e}_Y \qquad(3) (ex⋅ex)ex+(ex⋅ey)ey=(ex⋅eX)eX+(ex⋅eY)eY(3)
根据图1可得向量点乘关系:
{
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\begin{cases} \vec{e}_x \cdot \vec{e}_y = 0 \\ \vec{e}_X \cdot \vec{e}_Y = 0 \\ \vec{e}_x \cdot \vec{e}_X = \cos \theta \\ \vec{e}_x \cdot \vec{e}_Y = \cos (\pi / 2 - \theta) = \sin \theta \\ \vec{e}_y \cdot \vec{e}_X = \cos (\pi / 2 + \theta) = -\sin \theta \\ \vec{e}_y \cdot \vec{e}_Y = \cos \theta ; \end{cases} \qquad(4)
⎩
⎨
⎧ex⋅ey=0eX⋅eY=0ex⋅eX=cosθex⋅eY=cos(π/2−θ)=sinθey⋅eX=cos(π/2+θ)=−sinθey⋅eY=cosθ;(4)
将式(4)带入式(3)可得:
e ⃗ x = cos θ ⋅ e ⃗ X + sin θ ⋅ e ⃗ Y ( 5 ) \vec{e}_x = \cos \theta \cdot \vec{e}_X + \sin \theta \cdot \vec{e}_Y \qquad(5) ex=cosθ⋅eX+sinθ⋅eY(5)
同理,可得:
{
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\begin{cases} (\vec{e}_x \cdot \vec{e}_x) \vec{e}_x + (\vec{e}_x \cdot \vec{e}_y) \vec{e}_y = (\vec{e}_x \cdot \vec{e}_X) \vec{e}_X + (\vec{e}_x \cdot \vec{e}_Y) \vec{e}_Y \\ (\vec{e}_y \cdot \vec{e}_x) \vec{e}_x + (\vec{e}_y \cdot \vec{e}_y) \vec{e}_y = (\vec{e}_y \cdot \vec{e}_X) \vec{e}_X + (\vec{e}_y \cdot \vec{e}_Y) \vec{e}_Y \end{cases} \qquad(6)
{(ex⋅ex)ex+(ex⋅ey)ey=(ex⋅eX)eX+(ex⋅eY)eY(ey⋅ex)ex+(ey⋅ey)ey=(ey⋅eX)eX+(ey⋅eY)eY(6)
{ e ⃗ x = cos θ ⋅ e ⃗ X + sin θ ⋅ e ⃗ Y e ⃗ y = − sin θ ⋅ e ⃗ X + cos θ ⋅ e ⃗ Y ( 7 ) \begin{cases} \vec{e}_x = \cos \theta \cdot \vec{e}_X + \sin \theta \cdot \vec{e}_Y \\ \vec{e}_y = -\sin \theta \cdot \vec{e}_X + \cos \theta \cdot \vec{e}_Y \end{cases} \qquad(7) {ex=cosθ⋅eX+sinθ⋅eYey=−sinθ⋅eX+cosθ⋅eY(7)
{ ( e ⃗ X ⋅ e ⃗ x ) e ⃗ x + ( e ⃗ X ⋅ e ⃗ y ) e ⃗ y = ( e ⃗ X ⋅ e ⃗ X ) e ⃗ X + ( e ⃗ X ⋅ e ⃗ Y ) e ⃗ Y ( e ⃗ Y ⋅ e ⃗ x ) e ⃗ x + ( e ⃗ Y ⋅ e ⃗ y ) e ⃗ y = ( e ⃗ Y ⋅ e ⃗ X ) e ⃗ X + ( e ⃗ Y ⋅ e ⃗ Y ) e ⃗ Y ( 8 ) \begin{cases} (\vec{e}_X \cdot \vec{e}_x) \vec{e}_x + (\vec{e}_X \cdot \vec{e}_y) \vec{e}_y = (\vec{e}_X \cdot \vec{e}_X) \vec{e}_X + (\vec{e}_X \cdot \vec{e}_Y) \vec{e}_Y \\ (\vec{e}_Y \cdot \vec{e}_x) \vec{e}_x + (\vec{e}_Y \cdot \vec{e}_y) \vec{e}_y = (\vec{e}_Y \cdot \vec{e}_X) \vec{e}_X + (\vec{e}_Y \cdot \vec{e}_Y) \vec{e}_Y \end{cases} \qquad(8) {(eX⋅ex)ex+(eX⋅ey)ey=(eX⋅eX)eX+(eX⋅eY)eY(eY⋅ex)ex+(eY⋅ey)ey=(eY⋅eX)eX+(eY⋅eY)eY(8)
{ e ⃗ X = cos θ ⋅ e ⃗ x − sin θ ⋅ e ⃗ y e ⃗ Y = sin θ ⋅ e ⃗ x + cos θ ⋅ e ⃗ y ( 9 ) \begin{cases} \vec{e}_X = \cos \theta \cdot \vec{e}_x - \sin \theta \cdot \vec{e}_y \\ \vec{e}_Y = \sin \theta \cdot \vec{e}_x + \cos \theta \cdot \vec{e}_y \end{cases} \qquad(9) {eX=cosθ⋅ex−sinθ⋅eyeY=sinθ⋅ex+cosθ⋅ey(9)
根据图1可以建立:
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\vec{v} = v_X \cdot \vec{e}_X + v_Y \cdot \vec{e}_Y = v_x \cdot \vec{e}_x + v_y \cdot \vec{e}_y \qquad(10)
v=vX⋅eX+vY⋅eY=vx⋅ex+vy⋅ey(10)
将式(7)代入式(10)中可得:
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v_X \cdot \vec{e}_X + v_Y \cdot \vec{e}_Y = (v_x \cos \theta - v_y \sin \theta) \vec{e}_X + (v_x \sin \theta + v_y \cos \theta) \vec{e}_Y \qquad(11)
vX⋅eX+vY⋅eY=(vxcosθ−vysinθ)eX+(vxsinθ+vycosθ)eY(11)
根据等式两边对应向量乘数相等可得:
{
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\begin{cases} v_X = v_x \cos \theta - v_y \sin \theta \\ v_Y = v_x \sin \theta + v_y \cos \theta \end{cases} \qquad(12)
{vX=vxcosθ−vysinθvY=vxsinθ+vycosθ(12)
同理,将式(9)代入式(10)中可得:
{
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\begin{cases} v_x = v_X \cos \theta + v_Y \sin \theta \\ v_y = -v_X \sin \theta + v_Y \cos \theta \end{cases} \qquad(13)
{vx=vXcosθ+vYsinθvy=−vXsinθ+vYcosθ(13)
根据图2可以建立:
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\vec{a} = a_X \cdot \vec{e}_X + a_Y \cdot \vec{e}_Y = a_x \cdot \vec{e}_x + a_y \cdot \vec{e}_y \qquad(14)
a=aX⋅eX+aY⋅eY=ax⋅ex+ay⋅ey(14)
采用上文中推导速度关系类似的方法,可以将式(7)和式(9)代入式(14)中分别得到式(15)和式(16):
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\begin{cases} a_X = a_x \cos \theta - a_y \sin \theta \\ a_Y = a_x \sin \theta + a_y \cos \theta \end{cases} \qquad(15)
{aX=axcosθ−aysinθaY=axsinθ+aycosθ(15)
{ a x = a X cos θ + a Y sin θ a y = − a X sin θ + a Y cos θ ( 16 ) \begin{cases} a_x = a_X \cos \theta + a_Y \sin \theta \\ a_y = -a_X \sin \theta + a_Y \cos \theta \end{cases} \qquad(16) {ax=aXcosθ+aYsinθay=−aXsinθ+aYcosθ(16)
将式(12)对时间进行求导可得:
{
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\begin{cases} \dot{v}_X = \dot{v}_x \cos \theta - v_x \dot{\theta} \sin \theta - \dot{v}_y \sin \theta - v_y \dot{\theta} \cos \theta = (\dot{v}_x - v_y \dot{\theta}) \cos \theta - (\dot{v}_y + v_x \dot{\theta}) \sin \theta \\ \dot{v}_Y = \dot{v}_x \sin \theta + v_x \dot{\theta} \cos \theta + \dot{v}_y \cos \theta - v_y \dot{\theta} \sin \theta = (\dot{v}_x - v_y \dot{\theta}) \sin \theta + (\dot{v}_y + v_x \dot{\theta}) \cos \theta \end{cases} \qquad(17)
{v˙X=v˙xcosθ−vxθ˙sinθ−v˙ysinθ−vyθ˙cosθ=(v˙x−vyθ˙)cosθ−(v˙y+vxθ˙)sinθv˙Y=v˙xsinθ+vxθ˙cosθ+v˙ycosθ−vyθ˙sinθ=(v˙x−vyθ˙)sinθ+(v˙y+vxθ˙)cosθ(17)
对比式(15)与式(17)并结合式(16),可得:
{
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\begin{cases} a_X = \dot{v}_X = (\dot{v}_x - v_y \dot{\theta}) \cos \theta - (\dot{v}_y + v_x \dot{\theta}) \sin \theta \\ a_Y = \dot{v}_Y = (\dot{v}_x - v_y \dot{\theta}) \sin \theta + (\dot{v}_y + v_x \dot{\theta}) \cos \theta \end{cases} \qquad(18)
{aX=v˙X=(v˙x−vyθ˙)cosθ−(v˙y+vxθ˙)sinθaY=v˙Y=(v˙x−vyθ˙)sinθ+(v˙y+vxθ˙)cosθ(18)
{ a x = v ˙ x − v y θ ˙ a y = v ˙ y + v x θ ˙ ( 19 ) \begin{cases} a_x = \dot{v}_x - v_y \dot{\theta} \\ a_y = \dot{v}_y + v_x \dot{\theta} \end{cases} \qquad(19) {ax=v˙x−vyθ˙ay=v˙y+vxθ˙(19)
{ a x = v ˙ X cos θ + v ˙ Y sin θ a y = − v ˙ X sin θ + v ˙ Y cos θ ( 20 ) \begin{cases} a_x = \dot{v}_X \cos \theta + \dot{v}_Y \sin \theta \\ a_y = -\dot{v}_X \sin \theta + \dot{v}_Y \cos \theta \end{cases} \qquad(20) {ax=v˙Xcosθ+v˙Ysinθay=−v˙Xsinθ+v˙Ycosθ(20)
关于车辆坐标系与世界坐标系中速度、加速度关系的推导到此处基本已经完成,如果有朋友觉得加速度关系推导仅依据式(15)与式(17)进行对比而得有些牵强或不太理解,可以往下继续查看另一种推导思路。
本文中将大地坐标系作为惯性坐标系(即坐标系固定不变,可用于车辆进行运动参照),所以
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\vec{e}_X
eX与
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\begin{cases} \dot{\vec{e}}_X=0 \\ \dot{\vec{e}}_Y=0 \end{cases} \qquad(21)
{e˙X=0e˙Y=0(21)
而车身坐标系作为非惯性参考系(即坐标系会随时间不断变化),所以可以将式(7)对时间进行求导,得:
{
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\begin{cases} \dot{\vec{e}}_x = -\dot{\theta} \sin \theta \cdot \vec{e}_X + \dot{\theta} \cos \theta \cdot \vec{e}_Y = \dot{\theta} (-\sin \theta \cdot \vec{e}_X + \cos \theta \cdot \vec{e}_Y) = \dot{\theta} \cdot \vec{e}_y \\ \dot{\vec{e}}_y = -\dot{\theta} \cos \theta \cdot \vec{e}_X - \dot{\theta} \sin \theta \cdot \vec{e}_Y = -\dot{\theta} (\cos \theta \cdot \vec{e}_X + \sin \theta \cdot \vec{e}_Y) = -\dot{\theta} \cdot \vec{e}_x \end{cases} \qquad(22)
{e˙x=−θ˙sinθ⋅eX+θ˙cosθ⋅eY=θ˙(−sinθ⋅eX+cosθ⋅eY)=θ˙⋅eye˙y=−θ˙cosθ⋅eX−θ˙sinθ⋅eY=−θ˙(cosθ⋅eX+sinθ⋅eY)=−θ˙⋅ex(22)
将式(10)对时间求导可得:
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\dot{\vec{v}} = \dot{v}_X \cdot \vec{e}_X + \dot{v}_Y \cdot \vec{e}_Y = \dot{v}_x \cdot \vec{e}_x + v_x \cdot \dot{\vec{e}}_x + \dot{v}_y \cdot \vec{e}_y + v_y \cdot \dot{\vec{e}}_y \qquad(23)
v˙=v˙X⋅eX+v˙Y⋅eY=v˙x⋅ex+vx⋅e˙x+v˙y⋅ey+vy⋅e˙y(23)
注意:在推导得到式(22)和式(23)的过程中,考虑了式(21)的代入。
因为
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=
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\vec{a} = \dot{\vec{v}}
a=v˙,所以结合式(14)、式(22)和式(23),可得:
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\begin{aligned} a_x \cdot \vec{e}_x + a_y \cdot \vec{e}_y &= \dot{v}_x \cdot \vec{e}_x + v_x \cdot \dot{\vec{e}}_x + \dot{v}_y \cdot \vec{e}_y + v_y \cdot \dot{\vec{e}}_y \\ &= (\dot{v}_x - v_y \dot{\theta}) \vec{e}_x + (\dot{v}_y + v_x \dot{\theta}) \vec{e}_y \end{aligned} \qquad(24)
ax⋅ex+ay⋅ey=v˙x⋅ex+vx⋅e˙x+v˙y⋅ey+vy⋅e˙y=(v˙x−vyθ˙)ex+(v˙y+vxθ˙)ey(24)
a X ⋅ e ⃗ X + a Y ⋅ e ⃗ Y = ( v ˙ x − v y θ ˙ ) e ⃗ x + ( v ˙ y + v x θ ˙ ) e ⃗ y = ( ( v ˙ x − v y θ ˙ ) cos θ − ( v ˙ y + v x θ ˙ ) sin θ ) e ⃗ X + ( ( v ˙ x − v y θ ˙ ) sin θ + ( v ˙ y + v x θ ˙ ) cos θ ) e ⃗ Y ( 25 ) \begin{aligned} a_X \cdot \vec{e}_X + a_Y \cdot \vec{e}_Y &= (\dot{v}_x - v_y \dot{\theta}) \vec{e}_x + (\dot{v}_y + v_x \dot{\theta}) \vec{e}_y \\ &= ((\dot{v}_x - v_y \dot{\theta}) \cos \theta - (\dot{v}_y + v_x \dot{\theta}) \sin \theta) \vec{e}_X \\ &+ ((\dot{v}_x - v_y \dot{\theta}) \sin \theta + (\dot{v}_y + v_x \dot{\theta}) \cos \theta) \vec{e}_Y \end{aligned} \qquad(25) aX⋅eX+aY⋅eY=(v˙x−vyθ˙)ex+(v˙y+vxθ˙)ey=((v˙x−vyθ˙)cosθ−(v˙y+vxθ˙)sinθ)eX+((v˙x−vyθ˙)sinθ+(v˙y+vxθ˙)cosθ)eY(25)
a x ⋅ e ⃗ x + a y ⋅ e ⃗ y = v ˙ X ⋅ e ⃗ X + v ˙ Y ⋅ e ⃗ Y = ( v ˙ X cos θ + v ˙ Y sin θ ) e ⃗ x + ( − v ˙ X sin θ + v ˙ Y cos θ ) e ⃗ y ( 26 ) \begin{aligned} a_x \cdot \vec{e}_x + a_y \cdot \vec{e}_y &= \dot{v}_X \cdot \vec{e}_X + \dot{v}_Y \cdot \vec{e}_Y \\ &= (\dot{v}_X \cos \theta + \dot{v}_Y \sin \theta) \vec{e}_x + (-\dot{v}_X \sin \theta + \dot{v}_Y \cos \theta) \vec{e}_y \end{aligned} \qquad(26) ax⋅ex+ay⋅ey=v˙X⋅eX+v˙Y⋅eY=(v˙Xcosθ+v˙Ysinθ)ex+(−v˙Xsinθ+v˙Ycosθ)ey(26)
依据式(24)、式(25)、式(26)可分别得出式(19)、式(18)、式(20)。据此,推导完成。