Implementation of Fuzzy-PID in Smart Car Control

An unmanued smart car control system and the fuzzy-PID control algorithm are produced.A design scheme of fuzzy-PID controller is put forward.The simulation analysis from matlab indicated that the dynamic performance of fuzzy-PID control algorithm is better than that of usual PID.Experimental result of smart car show that it can follow the black guid line well and fast-stable complete running the whole trip.

Feedback control scheme of traffic jams based on the coupled map car-following model

Based on the pioneering work of Konishi et al. [Phys. Rev. E （1999） 60 4000], a new feedback control scheme is presented to suppress traffic jams based on the coupled map car-following model under the open boundary condition. The effect of the safe headway on the traffic system is considered. According to the control theory, the condition under which traffic jams can be suppressed is analyzed. The results are compared with the previous results concerning congestion control. The simulations show that the suppression performance of our scheme on traffic jams is better than those of the previous schemes, although all the schemes can suppress traffic jams. The simulation results are consistent with theoretical analyses.

STUDY ON CONTROL STRATEGY OF CLUTCH STARTING FOR CAR WITH A METAL PUSHING BELT-PLANETARY GEAR CONTINUOUSLY VARIABLE TRANSMISSION SYSTEM

The automatic control of clutch starting in car with a metal pushingbelt-planetary gear continuously variable transmission (CVT) is a complex problem. A suited controlstrategy is required to realize quick and smooth start. A simulation state space equation isestablished on clutch staring control of a car with CVT by bond graph theory. According to the fuzzycontrol method with the expert system, a fuzzy control system of car starting process to weaken thejerk motion is introduced. The simulation results indicate that the jerk motion of clutch startingis below 10 m/s^3.

A control method for congested traffic in the coupled map car-following model

Based on the pioneer work of Konishi et al, a new control method is presented to suppress the traffic congestion in the coupled map （CM） car-following model under an open boundary. A control signal concluding the velocity differences of the two vehicles in front is put forward. The condition under which the traffic jam can be contained is analyzed. The results axe compared with that presented by Konishi et al [Phys. Rev. 1999 E 60 4000-4007]. The simulation results show that the temporal behavior obtained by our method is better than that by the Konishi＇s et al. method, although both the methods could suppress the traffic jam. The simulation results are consistent with the theoretical analysis.

An improved car-following model with consideration of the lateral effect and its feedback control research

A car-following model is presented, in which the effects of non-motor vehicles on adjacent lanes are taken into ac- count. A control signal including the velocity differences between the following vehicle and the target vehicle is introduced according to the feedback control theory. The stability condition for the new model is derived. Numerical simulation is used to demonstrate the advantage of the new model including the control signal; the results are consistent with the analytical ones

Simulation on a Car Interior Aerodynamic Noise Control Based on Statistical Energy Analysis

How to simulate interior aerodynamic noise accurately is an important question of a car interior noise reduction. The unsteady aerodynamic pressure on body surfaces is proved to be the key effect factor of car interior aerodynamic noise control in high frequency on high speed. In this paper, a detail statistical energy analysis （SEA） model is built. And the vibra-acoustic power inputs are loaded on the model for the valid result of car interior noise analysis. The model is the solid foundation for further optimization on car interior noise control. After the most sensitive subsystems for the power contribution to car interior noise are pointed by SEA comprehensive analysis, the sound pressure level of car interior aerodynamic noise can be reduced by improving their sound and damping characteristics. The further vehicle testing results show that it is available to improve the interior acoustic performance by using detailed SEA model, which comprised by more than 80 subsystems, with the unsteady aerodynamic pressure calculation on body surfaces and the materials improvement of sound/damping properties. It is able to acquire more than 2 dB reduction on the central frequency in the spectrum over 800 Hz. The proposed optimization method can be looked as a reference of car interior aerodynamic noise control by the detail SEA model integrated unsteady computational fluid dynamics （CFD） and sensitivity analysis of acoustic contribution.

A New Efficient Obstacle Avoidance Control Method for Cars Based on Big Data and Just-in-Time Modeling

This paper provides a new obstacle avoidance control method for cars based on big data and just-in-time modeling. Just-in-time modeling is a new kind of data-driven control technique in the age of big data and is used in various real systems. The main property of the proposed method is that a gain and a control time which are parameters in the control input to avoid an encountered obstacle are computed from a database which includes a lot of driving data in various situations. Especially, the important advantage of the method is small computation time, and hence it realizes real-time obstacle avoidance control for cars. From some numerical simulations, it is showed that the new control method can make the car avoid various obstacles efficiently in comparison with the previous method.

Driver Sleepiness and Risk of Car Crashes in Shenyang, a Chinese Northeastern City: Population-based Case-control Study

Objective To estimate the association of driver sleepiness with the risk of car crashes. Methods A population-based case-control study was conducted in Shenyang, a northeastern city in China, between November 2001 and July 2002. The case group comprised 406 car drivers involved in crashes, and 438 car drivers recruited at randomly selected sites, and on the day of week, and the time of day when they were driving on highways in the study region during the study period were used as control groups. Face-to-face interviews with drivers were conducted according to a well-structured questionnaire covering the circumstances of their current trip and their background information. Stanford sleepiness scale and Epworth sleepiness scale were used to quantify acute sleepiness and chronic sleepiness respectively. Results There was a strong association between chronic sleepiness and the risk of car crash. Significantly increased risk of crash was associated with drivers who identified themselves as sleepy (Epworth sleepiness score≥10 vs <10; adjusted odds ratio 2.07, 95% confidence interval 1.30 to 3.29), but no increased risk was associated with measures of acute sleepiness. Conclusions Chronic sleepiness in car drivers significantly increases the risk of car crash. Reductions in road traffic injuries may be achieved if fewer people drive when they are sleepy.

Fuzzy Hybrid Control of Vibration Attitude of Full Car via Magneto-rheological Suspensions

A magneto-rheological（MR） semi-active suspension system with the controllable damping forces has received more attention in reducing the vibration of a vehicle. However, many control strategies only discussed one or two vibration states of the vehicle based on a quarter-car model or a half vehicle model via MR suspensions. They cannot provide a satisfying whole-vehicle performance on a road test. Hence, a full car vibration model via an MR suspension system is proposed. To reduce the heave, pitch and roll motion of the vehicle body and the vertical vibration of four wheels, a fuzzy hybrid controller for vibration attitude of full car via MR suspensions is proposed. First, a skyhook-fuzzy control scheme is designed to reduce the heave, roll and pitch motion of the vehicle body. Second, a revised ground hook control strategy is adopted to decrease the vertical vibration of the wheels. Finally, a hybrid control scheme based on a fuzzy reasoning method is proposed to tune the hybrid damping parameter, which is suitable for coordination the attitude of the vehicle body and the wheels. A test and control system for the vibration attitude of full car is set up. It is implemented on a car equipped with four MR suspensions. The results on random highway and rough road indicate that the fuzzy hybrid controller can decrease the vibration accelerations of the vehicle body and the wheels to 65%-80% and 80%-90%, respectively. It reduces the automotive vibrations of heave, roll and pitch more effectively than a passive suspension and an MR suspension with a traditional hybrid control scheme so that it achieves better ride comfort and road holding concurrently. This paper proposes a new fuzzy hybrid control（FHC） method for reducing vibration attitude of full car via MR suspensions and develops a road test to evaluate the FHC.

Research on Obstacle Avoidance Method of Intelligent Car Based on Optimized Fuzzy Control Algorithm

In order to realize the accurate obstacle avoidance function of intelligent car, we propose an intelligent car obstacle avoidance system based on optimized fuzzy control algorithm. Firstly, the kinematics model of intelligent car obstacle avoidance is established, and an efficient environment information collection system composed of multiple sensors is designed to realize the comprehensive collection of obstacle information. Then, the optimized fuzzy control system is adopted to improve the position control accuracy and obstacle avoidance ability. Through the physical debugging and joint simulation of the intelligent car fuzzy controller in the MATLAB and Simulink environment, the simulation results show that the control method can make the collision-free path planned by the intelligent car from the initial state to the obstacle avoidance smoother, and at the same time, the obstacle avoidance of the intelligent car. The actual running distance is reduced by about 16%, which can ensure the practicability of the obstacle avoidance system, provide a new guarantee for the safe operation of the car, and also provide a new idea for the development of the unmanned car.

A control method applied to mixed traffic flow for the coupled-map car-following model

In light of previous work [Phys. Rev. E 60 4000 （1999）], a modified coupled-map car-following model is proposed by considering the headways of two successive vehicles in front of a considered vehicle described by the optimal velocity function. The non-jam conditions are given on the basis of control theory. Through simulation, we find that our model can exhibit a better effect as p = 0.65, which is a parameter in the optimal velocity function. The control scheme, which was proposed by Zhao and Gao, is introduced into the modified model and the feedback gain range is determined. In addition, a modified control method is applied to a mixed traffic system that consists of two types of vehicle. The range of gains is also obtained by theoretical analysis. Comparisons between our method and that of Zhao and Gao are carried out, and the corresponding numerical simulation results demonstrate that the temporal behavior of traffic flow obtained using our method is better than that proposed by Zhao and Gao in mixed traffic systems.

Car Config在汽车电器环境中的应用

伴随着汽车定制化、个性化的需求愈来愈多,同一车型的配置种类纷繁复杂,在整车外部需求增长和内部软硬件管理难度变大的双重压力下,Car Config(整车配置参数)在整车电器的应用重要性不言而喻。文章从Car Config实现的基本原理入手,对其在信号通信数据库中的编码进行解析,分析相关诊断数据,并分别对Car Config在工厂端、售后端、OTA端的应用进行说明,希望能为汽车在定制化、智能化设计方面提供一些参考。

基于ADAMS/Car整车操纵稳定性仿真分析

以ADAMS仿真软件为平台,建立国内某A级车型整车模型,依据GB/T6323.94《汽车操纵稳定性试验方法》,在ADAMS/Car中对建立的整车虚拟样机模型进行了稳态回转试验、转向盘转角阶跃输入试验、转向回正性试验三项操纵稳定性仿真试验。根据QC/T480-1999《汽车操纵稳定性指标限值与评价方法》对仿真试验结果进行了计分评价。最后,将仿真结果与实车路试结果进行了比较,验证虚拟模型仿真试验在整车设计中的可行性。

基于前馈非线性模型预测控制的类车机器人路径跟踪

类车机器人由于零件标准化程度低,侧偏刚度等轮胎力学参数难以准确获得,存在动力学建模十分困难的问题,因此现有研究工作通常以运动学模型作为类车机器人的控制模型,但由于其运动学模型存在模型失配,导致类车机器人与参考路径之间的误差、类车机器人的前轮转角和前轮转角速度出现剧烈振荡现象.针对前述问题,本文基于非线性模型预测控制(Nonlinear model predictive control,NMPC)的滚动优化原理,引入基于逆运动学模型的前馈转角信息,将前轮转向角作为预测模型的第四维,提出了一种基于前馈非线性模型预测控制(Feedforward NMPC,FNMPC)的类车机器人路径跟踪控制算法.并通过Simulink和CarSim进行了联合仿真,结果表明FNMPC有效减小了模型失配导致的振荡现象,同时具有较高的跟踪精度.其中前馈非线性模型预测控制器的位移误差幅值不超过0.1106 m,航向误差幅值不超过0.1253 rad.在相同工况下,线性模型预测控制、前馈线性模型预测控制、纯跟踪控制和Stanley控制误差发散,而本文提出的FNMPC相比已有NMPC跟踪精度更高,且控制增量绝对累计值相比NMPC控制器减小67.53%.通过线控类车机器人底盘作为实验平台完成的测试结果表明,NMPC系统在进入弯道时出现控制失控现象,在相同工况下,FNMPC系统能够有效完成对参考路径的跟踪,同时将位移误差幅值控制在0.1624 m以内,航向误差幅值控制在0.1138 rad以内.

基于CAR值检验法的内部控制研究——以山东新华制药公司为个案

内部控制制度的设计与实施是企业风险管理的重要环节,也是保证财务报表信息可靠性的一个重要因素,内部会计控制制度不完善已成为企业会计品质不高的重要缘由。以山东新华制药公司为例,从其子公司、营业收入来源、销售策略、证券市场分析其内部控制缺陷,运用CAR值检验法对其内部控制缺陷产生的影响进行研究,认为做好企业内部控制相关工作需要严格执行信用政策和评估制度,加强应收账款的日常管理,实行严格的内审和内部控制制度。

Optimal control system of the intermittent bus-only approach

To guarantee bus priority with a minimum impact on car traffic at intersections, an optimal control system of the intermittent bus-only approach （IBA） was proposed. The problems of the existing system are first solved through optimization： the judgment time of the IBA system was advanced to allow a bus to jump car queues if the bus was detected to arrive at the intersection, and the instant that the IBA lane became available to cars was controlled dynamically to increase the capacity of the IBA lane. The total car delay in one cycle was then analyzed quantitatively when implementing the optimal control system. The results show that in comparison with the existing system of the IBA, the car delay is greatly reduced and the probability of a car stopping twice is low after optimizing the IBA system.

虚拟编组下基于跟驰模型的列车群运行控制方法研究

高速铁路移动闭塞方式下运输能力与运输需求之间依然存在缺口,虚拟编组是未来提高运输能力的新方式。本文基于虚拟编组概念,受道路交通跟驰模型启发,引入列车动力学和运动学理论,根据相邻两列车之间的速度和距离关系,提出一种新的追踪列车加速度调整策略,建立相应的列车群虚拟编组加速度控制模型,当实现列车群的虚拟编组时,列车群中所有列车的速度相等,任意相邻列车之间的间距等于期望间距,同时,能够确保列车安全与乘客舒适度。本文以CRH380A动车组为背景验证模型,算例仿真结果表明,本文提出的加速度调整策略能有效实现列车群的虚拟编组;与移动闭塞方式相比,采取虚拟编组方式达到列车协同的时间减少9.7%,列车间距缩小10.1%,效率更高;将列车群视为一个整体时,实现虚拟编组的时间比将整个列车群分为多组时更短。

CAR模型的阶与时滞的强一致估计

研究随机线性反馈控制系统的结构辨识问题。在已知时滞的下界和模型阶的上界的假定下，通过使修改的Ｂａｙｅｓｉａｎ信息准则最小化，推导出由多输入多输出ＣＡＮ模型描述的系统的未知阶与时滞的估计算法，证明了算法是强一致收敛的，且能在有限步内达到其模型结构参数的真值。讨论了当模型的参数矩阵不满秩时减弱条件Ｈ’ｓ的强一致估计算法。

基于电流检测汽车智能语音车窗控制系统设计

带电流检测的语音控制电动车窗控制系统的设计方案采用STM32作为主控制器,使用LD3320语音识别芯片进行语音识别,识别出的指令数据通过串口传送给STM32单片机进行处理,STM32根据语音指令控制车窗电机。方案给出了通过控制电机通电时间进而控制车窗位置的软件算法和防夹功能算法,并创新性提出对车窗位置校准的软件校准算法。将该控制系统应用在某款轿车的玻璃升降器上,验证了该系统能够达到使用要求,具有较强的实用性和现实意义。

基于手势识别的矿车智能控制技术研究

针对露天矿区用于物料运输的矿车控制需求,设计一种基于手势识别的矿车智能控制系统。首先,通过配有加速度传感器的数据手套采集手势数据,经蓝牙模块实现信息的无线传输,再利用微控制器ATmega328P实现控制信息的分析和处理,采用PID控制算法得出矿车的电机转动参数,从而实现对矿车车轮的控制。同时,设计以树莓派4B为主控,搭载有LCD显示器、扬声器、麦克风和摄像头等模块的系统,用以实现音视频的实时互传等功能。实验结果表明,该系统能根据手势的变化对矿车的行驶进行准确地控制,具有十分可观的应用前景。