The study presents possibilities for reconstruction of electric power supply systems in Bulgarian Black Sea resorts and possibilities to use statistical methods in energy planning. The paper shows the use of classic s...The study presents possibilities for reconstruction of electric power supply systems in Bulgarian Black Sea resorts and possibilities to use statistical methods in energy planning. The paper shows the use of classic statistical methods in combination with advanced digital measurement systems in order to obtain the correlation dependencies, nature of energy consumption and opportunities for energy forecasting. The main purpose of the study is to obtain statistical dependencies of the nature of power consumption and correlations between electricity consumption and ambient temperature in order to improve the accuracy of energy planning. The analysis includes application of energy management systems for proper energy planning, improving economical efficiency and reducing power and energy losses.展开更多
Nowadays the actual parking situation is becoming more and more complex. Because of the inexpert driving skill of novice drivers, there is often collision in the parking process. Fortunately, with the development of p...Nowadays the actual parking situation is becoming more and more complex. Because of the inexpert driving skill of novice drivers, there is often collision in the parking process. Fortunately, with the development of path planning and intelligent control technology, the appearance of the automatic parking control system will provide a good solution to the narrow parking problems. Here with the help of MATLAB/Simulink, we build a simulation platform, and then respectively simulate the parallel parking and vertical parking process, to seek for the best initial parking point and path.展开更多
The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting la...The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.展开更多
文摘The study presents possibilities for reconstruction of electric power supply systems in Bulgarian Black Sea resorts and possibilities to use statistical methods in energy planning. The paper shows the use of classic statistical methods in combination with advanced digital measurement systems in order to obtain the correlation dependencies, nature of energy consumption and opportunities for energy forecasting. The main purpose of the study is to obtain statistical dependencies of the nature of power consumption and correlations between electricity consumption and ambient temperature in order to improve the accuracy of energy planning. The analysis includes application of energy management systems for proper energy planning, improving economical efficiency and reducing power and energy losses.
文摘Nowadays the actual parking situation is becoming more and more complex. Because of the inexpert driving skill of novice drivers, there is often collision in the parking process. Fortunately, with the development of path planning and intelligent control technology, the appearance of the automatic parking control system will provide a good solution to the narrow parking problems. Here with the help of MATLAB/Simulink, we build a simulation platform, and then respectively simulate the parallel parking and vertical parking process, to seek for the best initial parking point and path.
基金supported by the National Natural Science Foundation of China (Grant No. 10772152)the Natural Science Foundation of Shandong Province of China (Grant No. ZR2010FM008)
文摘The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.
