An Integrated Control Framework for Torque Vectoring and Active Suspension System

Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.

Research on Innovative Ways of Integrating Aesthetic Education with Ideological and Political Education in the New Era

Aesthetic education and ideological and political education undertake the educational responsibilities of educating people with beauty and cultivating people with morals,respectively.The innovation of aesthetic education and the reform of ideological and political education have common educational goals and target students.Integrating aesthetic education with ideological and political education can promote the overall healthy development of students,which has both historical and practical significance.In this paper,the importance and characteristics of integrating aesthetic education with ideological and political education in colleges and universities are analyzed from multiple dimensions,and four feasible ways of integrating aesthetic education with ideological and political education are proposed.The latter draws on extracurricular activities,emotional touch,a pleasant aesthetic atmosphere,and educational synergy to improve students’aesthetic literacy and cultivate correct ideological and political concepts among students.A survey of 1,047 students showed that the understanding and acceptance of ideological and political education were strengthened and improved after implementing these innovative integration ways.Taken together,the exploration and practice of these integration ways contribute to expanding the effect of ideological and political education in the new era and constitute important parts of the reform of college and university education in the new journey.

Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues

This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.