为解决网联汽车由于驾驶员误差存在导致的速度轨迹偏移问题,本文提出一种实时的考虑驾驶员误差的网联混合车队生态驾驶策略。首先通过实车试验采集不同驾驶员的驾驶员误差数据,建立基于马尔可夫链的驾驶员误差模型,用于预测未来一段时...为解决网联汽车由于驾驶员误差存在导致的速度轨迹偏移问题,本文提出一种实时的考虑驾驶员误差的网联混合车队生态驾驶策略。首先通过实车试验采集不同驾驶员的驾驶员误差数据,建立基于马尔可夫链的驾驶员误差模型,用于预测未来一段时间的驾驶员误差。然后以最小化整个车队的燃油消耗为优化目标,将车队速度轨迹优化问题描述为一个最优控制问题,采用快速随机模型预测控制(fast stochastic model predictive control,FSMPC)算法求解车队中网联汽车的最优速度轨迹。仿真和智能网联微缩车试验结果表明,相比于传统的基于快速模型预测控制(fast model predictive control,FMPC)的生态驾驶策略,本文所提出的生态驾驶策略能够有效减小车辆的速度轨迹偏移,并降低整个车队的燃油消耗,且满足实时性要求。展开更多
Driving a vehicle is one of the most common daily yet hazardous tasks. One of the great interests in recent research is to characterize a driver’s behaviors through the use of a driving simulation. Virtual reality te...Driving a vehicle is one of the most common daily yet hazardous tasks. One of the great interests in recent research is to characterize a driver’s behaviors through the use of a driving simulation. Virtual reality technology is now a promising alternative to the conventional driving simulations since it provides a more simple, secure and user-friendly environment for data collection. The driving simulator was used to assist novice drivers in learning how to drive in a very calm environment since the driving is not taking place on an actual road. This paper provides new insights regarding a driver’s behavior, techniques and adaptability within a driving simulation using virtual reality technology. The theoretical framework of this driving simulation has been designed using the Unity3D game engine (5.4.0f3 version) and programmed by the C# programming language. To make the driving simulation environment more realistic, the HTC Vive Virtual reality headset, powered by Steamvr, was used. 10 volunteers ranging from ages 19 - 37 participated in the virtual reality driving experiment. Matlab R2016b was used to analyze the data obtained from experiment. This research results are crucial for training drivers and obtaining insight on a driver’s behavior and characteristics. We have gathered diverse results for 10 drivers with different characteristics to be discussed in this study. Driving simulations are not easy to use for some users due to motion sickness, difficulties in adopting to a virtual environment. Furthermore, results of this study clearly show the performance of drivers is closely associated with individual’s behavior and adaptability to the driving simulator. Based on our findings, it can be said that with a VR-HMD (Virtual Reality-Head Mounted Display) Driving Simulator enables us to evaluate a driver’s “performance error”, “recognition errors” and “decision error”. All of which will allow researchers and further studies to potentially establish a method to increase driver safety or alleviate “driving errors”.展开更多
驱动的可靠运行对于操作系统至关重要,驱动的长久稳定运行依赖于正确的驱动配置.由于硬件本身存在大量约束条件,对系统进行修改,或者对驱动、内核升级,或者对设备更新换代时容易发生驱动配置错误,而该类错误尚无法通过现有的方法直接进...驱动的可靠运行对于操作系统至关重要,驱动的长久稳定运行依赖于正确的驱动配置.由于硬件本身存在大量约束条件,对系统进行修改,或者对驱动、内核升级,或者对设备更新换代时容易发生驱动配置错误,而该类错误尚无法通过现有的方法直接进行定位和解决.文中设计并实现了AiLsDc(Automatically inserting Log system for Driver configuration)自动日志插入辅助检错系统,能够根据参数配置规范文档中的规则进行驱动配置检查.AiLsDc首先按照定义的驱动配置规范规格XML文档对驱动源码进行插装和修改,运行时动态检查驱动的配置是否满足配置规范文档的要求.当出现参数违例时,日志记录模块将会自动记录可能引起该违例的错误原因和错误位置.通过对比和检查日志,能够在出错时快速定位从而辅助纠错,提高开发效率.实用性评测表明,系统能够捕获配置异常,而性能评测结果表明,AiLsDc系统在提高驱动的可靠性的同时,带来的开销很小.展开更多
文摘为解决网联汽车由于驾驶员误差存在导致的速度轨迹偏移问题,本文提出一种实时的考虑驾驶员误差的网联混合车队生态驾驶策略。首先通过实车试验采集不同驾驶员的驾驶员误差数据,建立基于马尔可夫链的驾驶员误差模型,用于预测未来一段时间的驾驶员误差。然后以最小化整个车队的燃油消耗为优化目标,将车队速度轨迹优化问题描述为一个最优控制问题,采用快速随机模型预测控制(fast stochastic model predictive control,FSMPC)算法求解车队中网联汽车的最优速度轨迹。仿真和智能网联微缩车试验结果表明,相比于传统的基于快速模型预测控制(fast model predictive control,FMPC)的生态驾驶策略,本文所提出的生态驾驶策略能够有效减小车辆的速度轨迹偏移,并降低整个车队的燃油消耗,且满足实时性要求。
文摘Driving a vehicle is one of the most common daily yet hazardous tasks. One of the great interests in recent research is to characterize a driver’s behaviors through the use of a driving simulation. Virtual reality technology is now a promising alternative to the conventional driving simulations since it provides a more simple, secure and user-friendly environment for data collection. The driving simulator was used to assist novice drivers in learning how to drive in a very calm environment since the driving is not taking place on an actual road. This paper provides new insights regarding a driver’s behavior, techniques and adaptability within a driving simulation using virtual reality technology. The theoretical framework of this driving simulation has been designed using the Unity3D game engine (5.4.0f3 version) and programmed by the C# programming language. To make the driving simulation environment more realistic, the HTC Vive Virtual reality headset, powered by Steamvr, was used. 10 volunteers ranging from ages 19 - 37 participated in the virtual reality driving experiment. Matlab R2016b was used to analyze the data obtained from experiment. This research results are crucial for training drivers and obtaining insight on a driver’s behavior and characteristics. We have gathered diverse results for 10 drivers with different characteristics to be discussed in this study. Driving simulations are not easy to use for some users due to motion sickness, difficulties in adopting to a virtual environment. Furthermore, results of this study clearly show the performance of drivers is closely associated with individual’s behavior and adaptability to the driving simulator. Based on our findings, it can be said that with a VR-HMD (Virtual Reality-Head Mounted Display) Driving Simulator enables us to evaluate a driver’s “performance error”, “recognition errors” and “decision error”. All of which will allow researchers and further studies to potentially establish a method to increase driver safety or alleviate “driving errors”.
文摘驱动的可靠运行对于操作系统至关重要,驱动的长久稳定运行依赖于正确的驱动配置.由于硬件本身存在大量约束条件,对系统进行修改,或者对驱动、内核升级,或者对设备更新换代时容易发生驱动配置错误,而该类错误尚无法通过现有的方法直接进行定位和解决.文中设计并实现了AiLsDc(Automatically inserting Log system for Driver configuration)自动日志插入辅助检错系统,能够根据参数配置规范文档中的规则进行驱动配置检查.AiLsDc首先按照定义的驱动配置规范规格XML文档对驱动源码进行插装和修改,运行时动态检查驱动的配置是否满足配置规范文档的要求.当出现参数违例时,日志记录模块将会自动记录可能引起该违例的错误原因和错误位置.通过对比和检查日志,能够在出错时快速定位从而辅助纠错,提高开发效率.实用性评测表明,系统能够捕获配置异常,而性能评测结果表明,AiLsDc系统在提高驱动的可靠性的同时,带来的开销很小.
