Chrono::Vehicle: template-based ground vehicle modelling and simulation
Chrono::Vehicle: template-based ground vehicle modelling and simulation
复制标题
Chrono::Vehicle：基于模板的地面车辆建模和仿真
DOI：
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发表时间：
2019
影响因子：
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通讯作者：
A. Tasora
中科院分区：
文献类型：
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作者：
R. Serban;Michael Taylor;D. Negrut;A. Tasora
Chrono::Vehicle 是开源多物理仿真包 Chrono 的一个模块，旨在对轮式和履带式地面车辆多体系统进行建模、仿真和可视化。其软件架构和设计是为了提供一种快速且用户友好的机制来组装复杂的车辆模型，同时利用底层的 Chrono 建模和仿真功能，允许与其他可选 Chrono 模块（例如，其颗粒动力学和流固交互 (FSI) 功能）无缝连接，并提供模块化和富有表现力的 API 来促进其在第三方应用程序中的使用。车辆模型被指定为子系统的层次结构，每个子系统都是预定义子系统模板的实例。 Chrono::Vehicle 用 C++ 编写，作为中间件库提供。在本文中，我们概述了 Chrono::Vehicle 软件设计理念、其主要功能和特性，描述了其支持的地面车辆移动模拟类型，并概述了未来发展和计划扩展的几个方向。
Chrono::Vehicle is a module of the open-source multi-physics simulation package Chrono, aimed at modelling, simulation, and visualisation of wheeled and tracked ground vehicle multi-body systems. Its software architecture and design was dictated by the desire to provide an expeditious and user friendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modelling and simulation capabilities, allowing seamless interfacing to other optional Chrono modules (e.g., its granular dynamics and fluid-solid interaction (FSI) capabilities), and providing a modular and expressive API to facilitate its use in third-party applications. Vehicle models are specified as a hierarchy of subsystems, each of which is an instantiation of a predefined subsystem template. Written in C++, Chrono::Vehicle is offered as a middleware library. In this paper, we provide an overview of the Chrono::Vehicle software design philosophy, its main capabilities and features, describe the types of ground vehicle mobility simulations it enables, and outline several directions of future development and planned extensions.