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Research on the Mechanism of Multi-Sensor Fusion Configuration Based on the Optimal Principle of the Vehicle

In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And then,combining a specific set of parameters,the NSGA-II algorithm is used to solve the multi-objective model established in this paper,and a Pareto front containing 24 typical configuration schemes is extracted after considering empirical constraints.Finally,using the decision preference method proposed in this paper that combines subjective and objective factors,decision scores are calculated and ranked for various configuration schemes from both cost and performance preferences.The research results indicate that the multi-objective optimization model established in this paper can screen and optimize various configuration schemes from the optimal principle of the vehicle,and the optimized configuration schemes can be quantitatively ranked to obtain the decision results for the vehicle under different preference tendencies.

Intelligent back-looking distance driver model and stability analysis for connected and automated vehicles

The connected and automated vehicles(CAVs)technologies provide more information to drivers in the car-following(CF)process.Unlike the human-driven vehicles(HVs),which only considers information in front,the CAVs circumstance allows them to obtain information in front and behind,enhancing vehicles perception ability.This paper proposes an intelligent back-looking distance driver model(IBDM)considering the desired distance of the following vehicle in homogeneous CAVs environment.Based on intelligent driver model(IDM),the IBDM integrates behind information of vehicles as a control term.The stability condition against a small perturbation is analyzed using linear stability theory in the homogeneous traffic flow.To validate the theoretical analysis,simulations are carried out on a single lane under the open boundary condition,and compared with the IDM not considering the following vehicle and the extended IDM considering the information of vehicle preceding and next preceding.Six scenarios are designed to evaluate the results under different disturbance strength,disturbance location,and initial platoon space distance.The results reveal that the IBDM has an advantage over IDM and the extended IDM in control of CAVs car-following process in maintaining string stability,and the stability improves by increasing the proportion of the new item.

Cooperative driving model for non-signalized intersections with cooperative games

Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions,we propose a driving model using cooperative game theory.First,the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety,rapidity and comfort indicators.Second,the Shapley theorem is adopted,and its group rationality,individual rationality,and uniqueness are proved to be suitable for the characteristic functions of the model.Following this,different drivers’characteristics are considered.In order to simplify the calculation process,a zero-mean normalization method is introduced.In addition,a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem.Finally,the model is confirmed as valid after simulation with a series of initial conditions.

Changes in blood alcohol concentration and driving ability after alcohol intake

Objective: To study the relationship between the amount of consumed alcohol, blood alcohol concentration (BAC), and driving ability among a part of the population in Southwest China and to provide reference for the formulation of the legal limits for safe driving. Methods: Seventy-six randomly selected volunteer drivers each had three times of alcohol intake (100 ml each time). After each drank, BAC was measured with gas chromatograph and driving ability was evaluated. The drivers were grouped according to age, weight, alcohol tolerance and driving experience respectively and changes in BAC and driving ability were analyzed. Results: Average BAC and the percentage of drivers showing impaired driving ability in the groups increased after each intake of 100 ml alcohol. BAC in Group≤60 kg was more susceptible to alcohol than that in Group>60 kg. When each drank, alcohol had greater influence on drivers who had comparatively shorter driving experience. Conclusion: Volume of consumed alcohol, BAC and driving ability have direct associations among one another and are all under the influence of various factors including individual conditions. To set an appropriate legal BAC limit for safe driving should take an overall consideration of all factors.

Markov chain-based platoon recognition model in mixed traffic with human-driven and connected and autonomous vehicles

Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional human-driven vehicles and intersection infrastructure.Thus,this paper develops a Markov chain-based model to recognize platoons.A simulation experiment is performed in Vissim based on field data extracted from video recordings to prove the model’s applicability.The videos,recorded with a high-definition camera,contain field driving data from three Tesla vehicles,which can achieve Level 2 autonomous driving.The simulation results show that the recognition rate exceeds 80%when the connected and autonomous vehicle penetration rate is higher than 0.7.Whether a vehicle is upstream or downstream of an intersection also affects the performance of platoon recognition.The platoon recognition model developed in this paper can be used as a signal control input at intersections to reduce the unnecessary interruption of vehicle platoons and improve traffic efficiency.

Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon optimization.The framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable manner.The automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

Autonomous Driving in the iCity-HD Maps as a Key Challenge of the Automotive Industry

This article provides in-depth insights into the necessary technologies for automated driving in future cities. State of science is reflected from different perspectives such as in-car computing and data man- agement, road side infrastructure, and ~loud solutions. Especially the challenges for the application of HD maps as core technology for automated driving are depicted in this article.

Modeling and gender difference analysis of acceptance of autonomous driving technology

In order to deeply analyze the differences in the acceptance of autonomous driving technology among different gender groups,a multiple indicators and multiple causes model was constructed by integrating a technology acceptance model and theory of planned behavior to comprehensively reveal the gender differences in the influence mechanisms of subjective and objective factors.The analysis is based on data collected from Chinese urban residents.Among objective factors,age has a significant negative impact on women's perceived behavior control and a significant positive impact on perceived ease of use.Education has a significant positive impact on men's perceived behavior control,and has a strong positive impact on women's perceived usefulness(PU).For men,income and education are found to have strong positive impacts on perceived behavior control.Among subjective factors,perceived ease of use(PEU)has the greatest influence on women's behavior intention,and it is the only influential factor for women's intention to use autonomous driving technology,with an influence coefficient of 0.72.The influencing path of men's intention to use autonomous driving technology is more complex.It is not only directly affected by the significant and positive joint effects of attitude and PU,but also indirectly affected by perceived behavior controls,subjective norms,and PEU.

Anomaly detection method based on kinematics model and nonholonomic constraint of vehicle

A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.

A study on key technologies of unmanned driving

Although the development of machine intelligence is far from simulating all the cognitive competence of our brains, still it is absolutely possible to peel the driving activity from people＇s cognitive activities and then make the machine finish some low-level, complicated and lasting driving cognition by simulating our brains. The goal of driving is to replace drivers and free them from boring driving activities. Based on some studies on unmanned driving, this paper summarizes and analyzes the background, significance, research status and key technology of unmanned driving and the research group also introduces some research on brain cognition of driving and sensor placement of intelligent vehicles, which offers more meaningful reference to push the study of unmanned driving.

Application of Automated Guided Vehicle (AGV) Based on Inductive Guidance for Newsprint Rolls Transportation System

The paper presents the development and performance of a kinematics control scheme for the AGV based on inductive guidance in transporting newsprint rolls. The required error is pre-computed using a kinematics model of the AGV taking into account the effect of various factors that contribute to improve tracking performance of the AGV. Simulation and experimental results illustrate that the kinematics model performs well and the results of various factors contribute to tracking performance of the AGV.

GPS and Google Earth based 3D assisted driving system for trucks in surface mines

In order to reduce the number of surface mining accidents related to low visibility conditions and blind spots of trucks and to provide 3D information for truck drivers and real time monitored truck information for the remote dispatcher, a 3D assisted driving system (3D-ADS) based on the GPS, mesh-wireless networks and the Google-Earth engine as the graphic interface and mine-mapping server, was developed at Virginia Tech. The research results indicate that this 3D-ADS system has the potential to increase reliability and reduce uncertainty in open pit mining operations by customizing the local 3D digital mining map, con-structing 3D truck models, tracking vehicles in real time using a 3D interface and indicating available escape routes for driver safety.

Effect of Transmission Design on Electric Vehicle （EV） Performance

The aim of this paper is to develop a simple EV model and predict its energy consumption with a variable and fixed ratio gearbox over a standard driving cycle in order to understand whether this could offer significant efficiency gains. The powertrain of a generic electric vehicle was modelled in Matlab / Simulink using the QSS Toolkit. The electric vehicle was then fitted with different transmissions with different levels of complexity. Simulations were done to investigate the energy consumptions across 6 standard driving cycles. The emerging conclusions are that it is possible to improve overall energy consumption levels by around 5 to 12 % with a variable ratio gearbox depending on the driving cycle used. However, there are many other practical considerations which must be weighed against this positive result - and the paper discusses the impact of several of these such as, gearbox efficiency, additional weight, cost and complexity, effect on drivability and potential for motor downsizing.

Behavior Analysis of Self-Driving Tourists Based on Content Analysis of Network Travel Notes: A Case Study of the Inner Mongolia Autonomous Region

Self-diiviiig tour is one of the most important wajrs for people to travel, and network travel notes actually reflect the traveling information of self-driving tourists. In this paper, witii the network travel notes of self-driving tourists as the tesearch object^ methods such as text analysis and visualization were adopted to study behavior patterns of self-driving tourists, tourism experience, time-space migration, and distribution of tourism resources in Inner Mongolia, fi：om the multiple dimensions of mobile drivers, perceived, dimensions, and spatial migration. The results showed tiiat ①self-cidviiig tourists had a variety of motivations for traveling, in which love for nature dominated; ②self-driving tour destinations were mainly Hulunbuir, Ordos, and Alxa League; ③spatial migration was characterized by obvious seasonal fluctuations. The fesearch on the behavior of self-driving tourists in Inner Mongolia is an important part of the study of the connection between tourism resources and market connection in Inner Mongolia, and is of significance for guiding the theory, practice and poliqr foimuktion of self-doving tours in Inner Mongolia.

Genetic-fuzzy HEV control strategy based on driving cycle recognition

A genetic-fuzzy HEV control strategy based on driving cycle recognition （DCR） was built. Six driving cycles were selected to represent different traffic conditions e.g. freeway, urban, suburb. A neural algorithm was used for traffic condition recognition based on ten parameters of each driving cycle. The DCR was utilized for optimization of the HEV control parameters using a genetic-fuzzy approach. A fuzzy logic controller （FLC） was designed to be intelligent to manage the engine to work in the vicinity of its optimal condition. The fuzzy membership function parameters were optimized using the genetic algorithm （GA） for each driving cycle. The result is that the DCR_ fuzzy controller can reduce the fuel consumption by 1. 9%, higher than only CYC _ HWFET optimized fuzzy （0.2%） or CYC _ WVUSUB optimized fuzzy （0.7%）. The DCR_ fuzzy method can get the better result than only optimizing one cycle on the complex real traffic conditions.

Emission Performance of Motorcycles in Real-Road Conditions

WMTC,which means a worldwide motorcycle testing cycle,is now regarded as the most possible choice for the global motorcycle emission testing cycle,but whether or not it can be used in China is still unknown.In this study,a large number of data on the speed-time trace of motorcycles were sampled from various kinds of roads in 5 cities in China.Based on a series of criterion numbers defined,the driving character of motorcycles in the real-road conditions of China was obtained.With the aid of a specially designed program,an emission testing cycle that can indicate the driving characteristics of motorcycle in the real-road conditions was synthesized,and the exhaust emission tests of 20 motorcycles under the synchronized cycle and WMTC were carried out based on a CVS system and a motorcycle chassis dynamometer.The results show that although there do exist differences in some criterion numbers between the real-road condition and WMTC,such as proportion of idling mode,mean speed,mean running speed and the average acceleration and deceleration rates,the driving behaviors are similar.The results of exhaust emission tests indicate that the emission values of motorcycles under the synchronized cycle and WMTC have a relatively strong correlation.This means that WMTC can be introduced as a standard motorcycle emission test regulation into China.

Research on the Drunk Driving Intelligent Test System Based onμC/OS- II

The article design the hardware system scheme using STM32F407 as the control core circuit, and designed the software structure of the system and application layer multi task and priority based on transplanted μ C/OS operating system. Aimed at that the traditional drunk driving detection system has low sensitivity and unable to distinguish diffuse alcohol sigmal interference. For accurate identification of pilot and crew alcohol concentration, the paper puts forward a driving intelligent identification wine system based on embedded μC/OS- II. The experimental results show that the detection sensitivity of the system has high accuracy rate, effectively prevent the purpose for the prevention of drunk driving, drunk driving has very good practical value.

Psychological Tests for the Privileged Vehicles Drivers

The aim of the publication is to present the results of the research with the documents research method, involving studies of literature, legislation, and source acts on development of the system supporting the psychological tests （psychological tests battery） of the police drivers, including the privileged drivers of the police. The system, in its assumptions, should inter alia allow to make assessment of intellectual and psychomotor skills as well as personality （in accordance with the detailed guidelines of annex 6 to Regulation of the Minister of Health of 8 ]uly 2014 on the psychological tests of the vehicles drivers using the tools of proven accuracy, reliability above .7, objective, standardised, and normalised within a group of police drivers）. The described research is conducted based on the grant for realisation of the development project： ＂Development of Psychological Tests Supporting System of the Drivers for the Police＂, no. DOB-BIO7/20/01/2015. The method for the research of the documents in the form of indirect observation allowed to analyse the legal acts, both national and international, and the laws in force in the European Union.