完整街道理念下的城市道路横断面规划

完整街道设计理念注重维护所有道路活动者的空间权利,重视人行道、自行车道、公交专用车道设计以及对路侧步行空间的协同考虑,有利于纠正国内城市道路设计偏重小汽车交通的误区。首先,突破国内现行道路红线管理范畴,将道路空间规划对象扩展至建筑前区。然后,在分析国外完整街道设计内容的基础上,探讨国内完整道路横断面规划控制原则体系。最后,以天津市道路横断面设计实践为例,分析完整街道实施进展与现存问题,以期推动完整街道理念在国内的推广与落实。

Nonlinear parity space applied to an electric autonomous vehicle

The autonomous navigation of an electric vehicle requires the implementation of a number of sensors and actuators intended to inform it about his environment or his position and velocity and deliver necessary inputs. That＇s why it is important to detect and locate sensor and actuator faults as soon as possible to enable the operator to run the vehicle in degraded mode or use the fault tolerant control system if it exists. The main purpose of this paper deals with sensors or actuators faults diagnosis of autonomous vehicle. A diagnosis method using a nonlinear model of the vehicle is developed. Nonlinear state space model of the autonomous electric vehicle is used with the method of nonlinear analytical redundancy to detect and to isolate faults occurred on sensors or actuators. Computer simulations are carried out to verify the effectiveness of the method.