Intelligent vehicle(Ⅳ)technology has developed rapidly in recent years.However,achieving fully unmanned driving still presents numerous challenges,which means that human drivers will continue to play a vital role in ...Intelligent vehicle(Ⅳ)technology has developed rapidly in recent years.However,achieving fully unmanned driving still presents numerous challenges,which means that human drivers will continue to play a vital role in vehicle operation for the foreseeable future.Human-machine shared driving,involving cooperation between a human driver and an automated driving system(AVS),has been widely regarded as a necessary stage for the development of IVs.Focusing onⅣdriving safety,this study proposed a human-machine shared lateral control strategy(HSLCS)based on the reliability of driver risk perception.The HSLCS starts by identifying the effective areas of driver risk perception based on eye movements.It establishes an anisotropic driving risk field,which serves as the foundation for the AVS to assess risk levels.Building upon the cumulative and diminishing effects of risk perception,the proposed approach leverages the driver's risk perception effective area and converts the risk field into a representation aligned with the driver's perspective.Subsequently,it quantifies the reliability of the driver's risk perception by using area-matching rules.Finally,based on the driver’s risk perception reliability and dif-ferences in lateral driving operation between the human driver and the AVS,the dynamic distribution of driving authority is achieved through a fuzzy rule-based system,and the human-machine shared lateral control is completed by using model predictive control.The HSLCS was tested across various scenarios on a driver-in-the-loop test platform.The results show that the HSLCS can realize the synergy and complementarity of human and machine intelligence,effectively ensuring the safety ofⅣoperation.展开更多
The high-speed reciprocating motion of a detaching roller limits the velocity of a cotton comber and affects the quality of comber slivers. The article has proposed a controllable time-sharing unidirectional hybrid dr...The high-speed reciprocating motion of a detaching roller limits the velocity of a cotton comber and affects the quality of comber slivers. The article has proposed a controllable time-sharing unidirectional hybrid drive mechanism after analyzing detaching roller's current numerical control drive method. The analysis focuses on the detaching roller motion required according to cotton comber's velocity and process. The double-servo motors of the mechanism consists of differential gear trains. The mechanism addresses the problem of increased servo motor power,and failure of promptly responded to the positive inversion process of mechanism driven by servo motors. A velocity calculation model of the detaching roller controllable drive mechanism will be generated by using superposition method and design of differential gear trains. The accuracy of the model will be verified using the test platform. This study has presented a reliable and practical high-speed drive mechanism and can be a reference to future studies on high-speed reciprocating motion drive.展开更多
The failure of the key parts, such as gears, in cutter head driving system of tunneling boring machine has not been properly solved under the interaction of driving motors asynchronously and wave tunneling torque load...The failure of the key parts, such as gears, in cutter head driving system of tunneling boring machine has not been properly solved under the interaction of driving motors asynchronously and wave tunneling torque load. A dynamic model of multi-gear driving system is established considering the inertia effects of driving mechanism and cutter head as well as the bending-torsional coupling. By taking into account the nonlinear coupling factors between ring gear and multiple pinions, the influence for meshing angle by bending-torsional coupling and the dynamic load-sharing characteristic of multiple pinions driving are analyzed. Load-sharing coefficients at different rotating cutter head speeds and input torques are presented. Numerical results indicate that the load-sharing coefficients can reach up to 1.2-1.3. A simulated experimental platform of the multiple pinions driving is carried out and the torque distributions under the step load in driving shaft of pinions are measured. The imbalance of torque distribution of pinions is verified and the load-sharing coefficients in each pinion can reach 1.262. The results of simulation and test are similar, which shows the correctness of theoretical model. A loop coupling control method is put forward based on current torque master slave control method. The imbalance of the multiple pinions driving in cutter head driving system of tunneling boring machine can be greatly decreased and the load-sharing coefficients can be reduced to 1.051 by using the loop coupling control method. The proposed research provides an effective solution to the imbalance of torque distribution and synchronous control method for multiple pinions driving of TBM.展开更多
The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-mach...The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving(HMSD)technology from the automation system.Firstly,a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed.Then,in order to make the planned trajectory close to human behavior,naturalistic driving data is collected,based on which some lane-changing performance features are selected and analyzed.There are three aspects have been taken into consideration for the human-like lane-changing trajectory:vehicle dynamic stability performance,driving cost optimization,and collision avoidance.Finally,the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm.The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application.Furthermore,it could be further employed as an empirical trajectory prediction result.The algorithm employs the distribution state of the historical trajectory for human-like processing,simplifying the operational process and ensuring the credibility,integrity,and interpretability of the results.Moreover,in terms of optimization processing,the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty.Additionally,a new convex polygon collision detection method,namely the vertex embedding method,is proposed for collision avoidance detection.展开更多
A pure electric vehicle driven by dual motors is taken as the research object and the driving scheme of the driving motor is improved to increase the transmission efficiency of existing electric vehicles.Based on the ...A pure electric vehicle driven by dual motors is taken as the research object and the driving scheme of the driving motor is improved to increase the transmission efficiency of existing electric vehicles.Based on the architecture of the transmission system,we propose vehicle performance parameters and performance indexes of a pure electric vehicle,a time-sharing driving strategy of dual motors.First,the parameters of the battery,motor,and transmission system are matched.Then,the electric vehicle transmission model is built in Amesim and the control strategy is designed in Simulink.With the optimization goal of improving the vehicle’s dynamic performance and driving range,the optimal parameters are determined through analysis.Finally,the characteristics of the motor are tested on the bench.The results show that the energy-saving potential of the timesharing driven double motor is higher,and the driving mileage of the double motor drive is increased by 4%.展开更多
基金supported by the National Natural Science Foundation of China under Grant 52172386the National Natural Science Foundation of China under Grant U22A20247+1 种基金the Jilin Province Science and Technology Development Plan Projects under Grant 20210101057JCthe Jilin Provincial Department of Science and Technology under Grant 20220301009GX.
文摘Intelligent vehicle(Ⅳ)technology has developed rapidly in recent years.However,achieving fully unmanned driving still presents numerous challenges,which means that human drivers will continue to play a vital role in vehicle operation for the foreseeable future.Human-machine shared driving,involving cooperation between a human driver and an automated driving system(AVS),has been widely regarded as a necessary stage for the development of IVs.Focusing onⅣdriving safety,this study proposed a human-machine shared lateral control strategy(HSLCS)based on the reliability of driver risk perception.The HSLCS starts by identifying the effective areas of driver risk perception based on eye movements.It establishes an anisotropic driving risk field,which serves as the foundation for the AVS to assess risk levels.Building upon the cumulative and diminishing effects of risk perception,the proposed approach leverages the driver's risk perception effective area and converts the risk field into a representation aligned with the driver's perspective.Subsequently,it quantifies the reliability of the driver's risk perception by using area-matching rules.Finally,based on the driver’s risk perception reliability and dif-ferences in lateral driving operation between the human driver and the AVS,the dynamic distribution of driving authority is achieved through a fuzzy rule-based system,and the human-machine shared lateral control is completed by using model predictive control.The HSLCS was tested across various scenarios on a driver-in-the-loop test platform.The results show that the HSLCS can realize the synergy and complementarity of human and machine intelligence,effectively ensuring the safety ofⅣoperation.
基金National Basic Research Program of China(973 Program)(No.2010CB334711)the Applied Basic Research of China National Textile and Apparel Council (Textile Vision Science and Education Fund of China in 2012)
文摘The high-speed reciprocating motion of a detaching roller limits the velocity of a cotton comber and affects the quality of comber slivers. The article has proposed a controllable time-sharing unidirectional hybrid drive mechanism after analyzing detaching roller's current numerical control drive method. The analysis focuses on the detaching roller motion required according to cotton comber's velocity and process. The double-servo motors of the mechanism consists of differential gear trains. The mechanism addresses the problem of increased servo motor power,and failure of promptly responded to the positive inversion process of mechanism driven by servo motors. A velocity calculation model of the detaching roller controllable drive mechanism will be generated by using superposition method and design of differential gear trains. The accuracy of the model will be verified using the test platform. This study has presented a reliable and practical high-speed drive mechanism and can be a reference to future studies on high-speed reciprocating motion drive.
基金supported by National Basic Research Program of China(973 Program, Grant No. 2013CB035402)
文摘The failure of the key parts, such as gears, in cutter head driving system of tunneling boring machine has not been properly solved under the interaction of driving motors asynchronously and wave tunneling torque load. A dynamic model of multi-gear driving system is established considering the inertia effects of driving mechanism and cutter head as well as the bending-torsional coupling. By taking into account the nonlinear coupling factors between ring gear and multiple pinions, the influence for meshing angle by bending-torsional coupling and the dynamic load-sharing characteristic of multiple pinions driving are analyzed. Load-sharing coefficients at different rotating cutter head speeds and input torques are presented. Numerical results indicate that the load-sharing coefficients can reach up to 1.2-1.3. A simulated experimental platform of the multiple pinions driving is carried out and the torque distributions under the step load in driving shaft of pinions are measured. The imbalance of torque distribution of pinions is verified and the load-sharing coefficients in each pinion can reach 1.262. The results of simulation and test are similar, which shows the correctness of theoretical model. A loop coupling control method is put forward based on current torque master slave control method. The imbalance of the multiple pinions driving in cutter head driving system of tunneling boring machine can be greatly decreased and the load-sharing coefficients can be reduced to 1.051 by using the loop coupling control method. The proposed research provides an effective solution to the imbalance of torque distribution and synchronous control method for multiple pinions driving of TBM.
基金Open Fund of State Key Laboratory of Automobile Simulation and Control of Jilin University(20201111).
文摘The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving(HMSD)technology from the automation system.Firstly,a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed.Then,in order to make the planned trajectory close to human behavior,naturalistic driving data is collected,based on which some lane-changing performance features are selected and analyzed.There are three aspects have been taken into consideration for the human-like lane-changing trajectory:vehicle dynamic stability performance,driving cost optimization,and collision avoidance.Finally,the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm.The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application.Furthermore,it could be further employed as an empirical trajectory prediction result.The algorithm employs the distribution state of the historical trajectory for human-like processing,simplifying the operational process and ensuring the credibility,integrity,and interpretability of the results.Moreover,in terms of optimization processing,the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty.Additionally,a new convex polygon collision detection method,namely the vertex embedding method,is proposed for collision avoidance detection.
基金Supported by Beijing Institute of Technology Research Fund Program for Young Scholars(3030011181911)the National Natural Science Foundation of China(520020025)。
文摘A pure electric vehicle driven by dual motors is taken as the research object and the driving scheme of the driving motor is improved to increase the transmission efficiency of existing electric vehicles.Based on the architecture of the transmission system,we propose vehicle performance parameters and performance indexes of a pure electric vehicle,a time-sharing driving strategy of dual motors.First,the parameters of the battery,motor,and transmission system are matched.Then,the electric vehicle transmission model is built in Amesim and the control strategy is designed in Simulink.With the optimization goal of improving the vehicle’s dynamic performance and driving range,the optimal parameters are determined through analysis.Finally,the characteristics of the motor are tested on the bench.The results show that the energy-saving potential of the timesharing driven double motor is higher,and the driving mileage of the double motor drive is increased by 4%.
