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...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.展开更多
This paper focuses on the economic development and urban morphology as well as its impact on the transportation system during the urban expansion of Shanghai in the last more than 20 years(1986-2008).Based on data fro...This paper focuses on the economic development and urban morphology as well as its impact on the transportation system during the urban expansion of Shanghai in the last more than 20 years(1986-2008).Based on data from 3 comprehensive transport surveys of Shanghai since 1986,the changes in residential trip demand,vehicle use,and the spatial distribution of trips were studied to understand the demands on the transportation system.The factors contributing to those changes in transportation demand were discussed,by which the conclusions were arrived:1) economic development promotes population growth and stimulates residential trip demand greatly;2) unsynchronized migration of population and job from central district to periphery district of Shanghai make trips and congestion diffuse in the same way;and 3) urban sprawl from a city center encourages the single-occupant vehicle mode,which imposes greater pressure on the roadway system.It is concluded that urban development should coordinate with the transportation system planning and expansion.展开更多
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 ...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.展开更多
Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence （AI）. The development of such systems can significantly promote innovation in AI technologies. This pape...Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence （AI）. The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and de- velopments in each area are introduced.展开更多
基金supported by the National Nature Science Foundation of China(61520106008,61790563,U1664263)
文摘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.
基金Under the auspices of National Natural Science Foundation of China (No 70803034)
文摘This paper focuses on the economic development and urban morphology as well as its impact on the transportation system during the urban expansion of Shanghai in the last more than 20 years(1986-2008).Based on data from 3 comprehensive transport surveys of Shanghai since 1986,the changes in residential trip demand,vehicle use,and the spatial distribution of trips were studied to understand the demands on the transportation system.The factors contributing to those changes in transportation demand were discussed,by which the conclusions were arrived:1) economic development promotes population growth and stimulates residential trip demand greatly;2) unsynchronized migration of population and job from central district to periphery district of Shanghai make trips and congestion diffuse in the same way;and 3) urban sprawl from a city center encourages the single-occupant vehicle mode,which imposes greater pressure on the roadway system.It is concluded that urban development should coordinate with the transportation system planning and expansion.
基金This work is supported by National Natural Science Foundation of China under Grant No. 61300006, No. 61305055, No. 61035004, No. 61273213, No. 61203366 and No. 90920305, and China National High-Tech Project （863） under grant No. 2015AA015401, and Chinese Academy of engineering consulting Project No. 2015-XY-42.
文摘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.
文摘Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence （AI）. The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and de- velopments in each area are introduced.
