论文讲解视频

Hello Everyone，This is the video that introduce our paper. I am the author robot.

First, let us see what is 3D-VIPM. The full name of 3D-VIPM is 3D Vehicle Inverted Pendulum Mode, which is a virtual model used to assist in the comfort and stability control of autonomous driving. Therefore, there is no physical object. This video provides a basic explanation of 3D-VIPM. It lasts approximately 2 minutes and enables a quick understanding of the entire model. Thank you for watching.

this part is about Force acting on human body. When you are driving a car or riding in one, I think everyone has experienced the thrust on the back, the force that pushes you outwards when you turn, or the force that makes you lean forward when you brake. All these are caused by inertia. The thrust is due to acceleration, while the force of turning is caused by centrifugal force. At the same time, to overcome these adverse forces, we often need to hold onto the handrail or tense our muscles.These forces make us uncomfortable, make the driving ride unstable, and reduce people's driving experience.And what we need to do is to minimize these forces. Autonomous driving and 3D—VIPM makes all this possible

Some aspects of robots have been imagine to the inverted pendulum model. There have been similar studies before, for instance, in the previous IROS conference, a virtual model was proposed - a 3D linear inverted pendulum mode for biped robots. They imagined the robot's walking as an inverted pendulum to facilitate the control of the robot's walking. This research had a huge impact and still holds relevance to this day. Similarly, we have discovered that when sitting on a chair, it is similar to an inverted pendulum. As shown in the right picture, we assume that the buttocks of the person in contact with the chair back are the fulcrum of the inverted pendulum, and the entire upper body constitutes an inverted pendulum. The force exerted on the human body can be assumed to be an external force acting on the center of mass of the inverted pendulum.

If the control method of the inverted pendulum is adopted to control the entire vehicle, or to do the action planning or trajectory planning for it, then the vehicle will be more stable. The trajectory 1 and trajectory 2 on the right are the trajectory planning schematics for straight-line driving, deceleration and turning when following the inverted pendulum model. The precise trajectory diagrams are also provided in the paper.

Thanks. Hope this video can help you read the paper more quickly.