Consensus of multi-vehicle cooperative attack with stochastic multi-hop time-varying delay and actuator fault

A consensus-distributed fault-tolerant(CDFT)control law is proposed for a class of leader-following multi-vehicle cooperative attack(MVCA)systems in this paper.In particular,the switching communication topologies,stochastic multi-hop timevarying delays,and actuator faults are considered,which may lead to system performance degradation or on certain occasions even cause system instability.Firstly,the estimator of actuator faults for the following vehicle is designed to identify the actuator faults under a fixed topology.Then the CDFT control protocol and trajectory following error are derived by the relevant content of Lyapunov stability theory,the graph theory,and the matrix theory.The CDFT control protocol is proposed in the same manner,where a more realistic scenario is considered,in which the maximum trajectory following error and information on the switching topologies during the cooperative attack are available.Finally,numerical simulation are carried out to indicate that the proposed distributed fault-tolerant(DFT)control law is effective.

Connect & Drive:design and evaluation of cooperative adaptive cruise control for congestion reduction

Road throughput can be increased by driving at small inter-vehicle time gaps. The amplification of velocity disturbances in upstream direction, however, poses limitations to the minimum feasible time gap. This effect is covered by the notion of string stability. String-stable behavior is thus considered an essential requirement for the design of automatic distance control systems, which are needed to allow for safe driving at time gaps well below 1 s. Using wireless inter-vehicle communications to provide real-time information of the preceding vehicle, in addition to the information obtained by common Adaptive Cruise Control （ACC） sensors, appears to significantly decrease the feasible time gap, which is shown by practical experiments with a test fleet consisting of six passenger vehicles. The large-scale deployment of this system, known as Cooperative ACC （CACC）, however, poses challenges with respect to the reliability of the wireless communication system. A solution for this scalability problem can be found in decreasing the transmission power and/or beaconing rate, or adapting the communications protocol. Although the main CACC objective is to increase road throughput, the first commercial application of CACC is foreseen to be in truck platooning, since short distance following is expected to yield significant fuel savings in this case.

Modelling of a Human Driver’s Interaction with Vehicle Automated Steering Using Cooperative Game Theory

The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such interaction, while its counterpart, cooperative game theory is rarely discussed for similar applications despite it may be potentially more suitable. This paper describes the modelling of a human driver’s steering interaction with an automated steering system using cooperative game theory. The distributed Model Predictive Control approach is adopted to derive the driver’s and the automated steering system’s strategies in a Pareto equilibrium sense, namely their cooperative Pareto steering strategies. Two separate numerical studies are carried out to study the influence of strategy parameters, and the influence of strategy types on the driver’s and the automated system’s steering performance. It is found that when a driver interacts with an automated steering system using a cooperative Pareto steering strategy, the driver can improve his/her performance in following a target path through increasing his/her effort in pursuing his/her own interest under the driver-automation cooperative control goal. It is also found that a driver’s adoption of cooperative Pareto steering strategy leads to a reinforcement in the driver’s steering angle control, compared to the driver’s adoption of non-cooperative Nash strategy. This in turn enables the vehicle to return from a lane-change maneuver to straight-line driving swifter.

Cooperative driving model for non-signalized intersections with cooperative games

Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions,we propose a driving model using cooperative game theory.First,the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety,rapidity and comfort indicators.Second,the Shapley theorem is adopted,and its group rationality,individual rationality,and uniqueness are proved to be suitable for the characteristic functions of the model.Following this,different drivers’characteristics are considered.In order to simplify the calculation process,a zero-mean normalization method is introduced.In addition,a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem.Finally,the model is confirmed as valid after simulation with a series of initial conditions.

Cooperative Intelligence for Autonomous Driving

Autonomous driving is an emerging technology attracting interests from various sectors in recent years.Most of existing work treats autonomous vehicles as isolated individuals and has focused on developing separate intelligent modules.In this paper,we attempt to exploit the connectivity among vehicles and propose a systematic framework to develop autonomous driving techniques.We first introduce a general hierarchical information fusion framework for cooperative sensing to obtain global situational awareness for vehicles.Following this,a cooperative intelligence framework is proposed for autonomous driving systems.This general framework can guide the development of data collection,sharing and processing strategies to realize different intelligent functions in autonomous driving.

China-ASEAN Technological Cooperation Digital and green technologies remain the focus of cooperation

At the 11th Forum on China-ASEAN Technology Transfer and Collaborative Innovation(hereinafter referred to as the China-ASEAN Innovation Forum)in July 2023,ASEAN Secretary-General Kao Kim Hourn highlighted the pivotal role of technology transfer and innovation in driving economic growth.He emphasized that technology transfer can assist China and ASEAN in bypassing traditional developmental stages.

Theoretical Analysis of Cooperative Driving at Idealized Unsignalized Intersections

Cooperative driving is widely viewed as a promising method to better utilize limited road resources and alleviate traffic congestion.In recent years,several cooperative driving approaches for idealized traffic scenarios(i.e.,uniform vehicle arrivals,lengths,and speeds)have been proposed.However,theoretical analyses and comparisons of these approaches are lacking.In this study,we propose a unified group-by-group zipper-style movement model to describe different approaches synthetically and evaluate their performance.We derive the maximum throughput for cooperative driving plans of idealized unsignalized intersections and discuss how to minimize the delay of vehicles.The obtained conclusions shed light on future cooperative driving studies.

Institution-based Network on China-Africa Cooperation for Schistosomiasis Elimination (INCAS): Driving schistosomiasis elimination in Africa

The burden of schistosomiasis remains a global public health problem,especially in sub-Saharan Africa despite progress in terms of morbidity control.Successful control efforts achieved by China in the last six decades came with considerable experience and lessons that could benefit schistosomiasis control programs in other endemic countries.China's role and commitment to global health cooperation has become increasingly important;this has created a platform for partnership with developing partners for the establishment of Forum on China-Africa health cooperation which prioritizes the pursuit of global elimination target for schistosomiasis and malaria,control of HIV/AIDS,and improved access to reproductive health care.Chinese government's commitment towards achieving schistosomiasis elimination in Africa prompted the establishment of Institution-based Network on China-Africa Cooperation for Schistosomiasis Elimination (INCAS),by the National Institute of Parasitic Diseases to promote schistosomiasis elimination in Africa.Schistosomiasis experts from six provincial institutions and counterparts from 10 African countries participated in the first workshop on China-Africa cooperation for Schistosomiasis Elimination in Africa at Lilongwe,Malawi,in 2015.Experts at the inaugural meeting shared experiences from their national schistosomiasis control programs,as well as identified areas for collaborative synergy targeting schistosomiasis elimination in Africa.The establishment of INCAS,which comprises of 28 member-institutions from China and Africa,was proposed at this meeting.We,therefore,provide information on INCAS activities,cooperation mechanism,as well as assess the strengths,weaknesses,opportunities,and threats as we target schistosomiasis elimination in Africa using the INCAS platform.

跨国产学研合作的动力模型与案例分析

以国家为分析单元,研究提出跨国产学研合作的动力模型,包括政治动力、市场动力、研究动力和社会动力4个方面,以及地缘政治、市场因素、研发投资等14项因素。以中美清洁能源联合研究中心(CERC)为案例,对动力模型进行阐述和验证。案例分析显示,强大的合作动力可促成跨国产学研合作,动力不足时合作难以实现。最后,提出促进未来跨国产学研合作的五点建议,包括聚焦全球共同挑战、推动制度性开放、发挥非对称优势、强化人文交流纽带、政府与市场协作发力等。

考虑时延的异质协作车队事件触发控制研究

针对目前研究较少考虑车辆混行造成的异质问题与时延问题,本文提出了一种具有时延的异质协作式自动驾驶车队事件触发控制方法 .首先,建立了考虑混行的异质车辆时延模型;其次,基于PID(proportional-integral-derivative)控制与模型预测控制(MPC),设计了不同模式下的事件触发控制器;然后,在城市和紧急情况下,对所提出的控制器进行了仿真分析;最后,基于Jetson Nano模型车进行了实车实验.仿真与实验结果表明,所提出的事件触发控制方法能够在不同情况下更好地权衡控制精度与计算速度间的矛盾.在带有通信时延的紧急情况下,仍能够保持较低的误差.

软硬资源协同驱动视角下高校新型研发机构产学研合作现状、问题及发展路径研究

构成创新创业教育教学和人才培养体系等软硬资源的协同驱动对于优化高校教育教学和人才培养制度体系、助力高校新型研发机构产学研合作具有重要意义。通过梳理国内外高校新型研发机构软硬资源研究现状发现,软资源和硬资源有着互利共生又相得益彰的协同关系,软硬资源协同驱动对于助力高校新型研发机构产学研合作有重要意义。在此基础上,进一步指出中国高校新型研发机构产学研合作在主体资源、发展定位、政策制度以及分配机制上仍存在一系列问题,具体体现为高校新型研发机构的顶层设计和布局尚不完善、分布不平衡,在发展定位软资源与科研平台和设备等硬资源投入方面出现偏差等,这主要由于软硬资源的各自功能发挥和协同驱动作用程度都未能满足产学研合作的需要。因此,需要完善产学研合作的生态系统,在资源共享的前提下,明确产学研各主体的功能定位,构建管理体制、人才培养体系完善的软硬资源协同驱动产学研合作模式。

车路协同感知技术研究进展及展望

近年来,我国自动驾驶研究逐步从聚焦于单车智能技术向车路协同技术转变,为智能交通产业发展带来了重大机遇;我国在车路协同感知领域的研究虽处于起步阶段,但注重技术推动,未来发展前景广阔。本文致力于深入探讨车路协同感知技术的发展动态,梳理了车路协同感知基础支撑技术的特性和发展现状,厘清了车路协同感知技术的研究进展,探讨了其技术发展趋势,并针对推动车路协同感知技术发展提出了一系列建议。研究表明,车路协同感知技术正朝着多源数据融合方向发展,主要集中在纯视觉协同感知技术优化、激光雷达点云处理技术升级、多传感器时空信息匹配与数据融合技术发展以及车路协同感知技术标准体系构建等方面。为进一步促进我国车路协同自动驾驶产业的迅速成长,研究建议,加大对多模态车路协同感知技术的研发投入、深化行业间的合作、制定统一的感知数据处理技术标准并加速技术应用普及,以期推动我国在全球自动驾驶竞争中赢得主动,推动自动驾驶行业稳定持续发展。

中国与湄公河五国贸易合作中制造业产业结构协调发展测度研究

制造业是实体经济的基础,是构筑国家发展战略优势的重要支撑。在解析制造业产业结构协调发展内涵的基础上,构建贸易合作中制造业协调发展评价指标体系,运用组合赋权模型、协调度模型、标准差等方法测度中国与湄公河五国贸易合作中制造业的综合发展水平、协调发展水平及驱动力。结果表明:①综合发展水平虽有波动变化,但总体呈提升趋势:中缅长期为中等水平,近年晋升为较高水平;中老波动提升,但均为较低水平;中越持续提升,近年稳居高水平;中泰稳居高水平,但近年却波动下降;中柬近年稳居中等水平。②协调发展水平总体呈提升态势,但区域空间分异格局显著:中缅长期为中等协调发展水平,近年晋升为较高协调发展水平;中老提升效果显著,但均为较低协调发展水平;中越、中泰近年稳居高度协调发展水平,但中泰协调发展指数波动下降;中柬波动变化显著,近年稳居中等协调发展水平。③协调发展受引力、压力、推力和阻力的共同影响,出现频率较高、阻碍作用较强的主要为高、中技术产业。

多维驱动下“三位一体”新工科创新型人才协同聚力培养

鉴于当前研究生教育存在学科壁垒导致的牢笼化培养,难以满足高端创新人才的社会需求,团队从学术氛围营造、多维能力培养及协同融合等三个方面探索新工科创新人才培养机制。提出开放共享学术生态环境构建策略,以学生为中心,融合多种方案,建立学生志趣与社会需求、应用能力与理论创新的多样化与个性化协同的阶梯式个性化综合素质培养模式,以及项目驱动的校企合作平台协同育人机制,并给出实际应用案例与培养成效。

基于个体信息需求的草原公路防疲劳预警策略

为缓解驾驶人在草原公路行驶产生的驾驶疲劳,设计一种基于个体信息需求的防疲劳预警策略,采用问卷调查将驾驶人划分成视觉型、听觉型和触觉型3类,综合考虑不同类型驾驶人的个性化信息需求,设计路端预警、车端预警和车端路端协同预警3种草原公路驾驶疲劳预警策略,选取21名驾驶人开展驾驶模拟实验,采集驾驶人KSS量表数据、对预警策略的主观评价数据和驾驶行为数据,利用描述性分析、统计分析和基于熵权的TOPSIS综合分析等方法,进行3种驾驶疲劳预警策略的效果测试。结果表明:驾驶人对3种预警策略的接受程度均较高;3种驾驶疲劳预警策略均可以不同程度地缓解驾驶疲劳状态,协同预警策略优于其他两种策略,且疲劳程度越深,缓解效果越显著。基于驾驶人差异化信息需求的车端路端协同防疲劳预警策略有助于提升草原公路驾驶疲劳预防效果。

高速公路雾区车路协同视觉特性与驾驶行为关联关系研究

车路协同预警系统可提升雾区等不良天气条件下高速公路交通的安全性,但其容易引发驾驶人分心,因此有必要建立高速公路雾区车路协同视觉特性与驾驶行为的关联关系。本文利用驾驶模拟技术构建车路协同预警系统测试平台,获取驾驶人的眼动数据和行为数据,使用极端随机树模型对不同分类方案下的驾驶行为数据和视觉分心数据进行了分类预测,找到了驾驶行为与视觉特征的关联点。本研究可为人机交互界面的优化和分心水平的划分提供理论支撑。

四轮独立驱动汽车偏转 差动协同转向路径跟踪

为改善四轮独立驱动汽车在不同车速与路面附着系数下的路径跟踪效果,提出了偏转差动协同转向控制策略。在二自由度动力学模型的基础上,建立多点预瞄与线性二次调节(LQR)结合的前轮偏转转向路径跟踪、滑模控制与四轮转矩优化分配结合的四轮差动转向路径跟踪,采用模糊控制对偏转转向与差动转向路径跟踪的权重进行自适应分配,建立包含路径跟踪层与转角、转矩分配控制层的偏转差动协同控制策略。利用Carsim与Simulink分别建立协同转向路径跟踪与LQR偏转转向路径跟踪联合仿真平台,取车速为54、72 km/h与路面附着系数为0.3、0.8的双移线工况进行仿真得出结论:相较于LQR偏转转向路径跟踪,协同转向路径跟踪在各工况下的横向跟踪精度与稳定性均有所提高。

妨害安全驾驶罪理解与适用问题研究

《刑法修正案(十一)》新增妨害安全驾驶罪,为依法惩治抢夺公交方向盘,暴力干扰公交司机驾驶车辆的行为提供了刑法上的依据,符合罪刑法定原则以及刑法谦抑性原则的要求,满足了司法审判实际需要以及公众的安全需求。但是,妨害安全驾驶罪在适用过程中存在构成要件要素不明确、立法与司法解释冲突等问题。因此,应当厘清妨害安全驾驶罪设立的理论与现实依据,对存在的问题进行分析,通过明确“危及公共安全”的内涵、遵守司法解释的合法边界、采取“双重竞合规则”处理罪名之间的关系等措施对问题加以解决,以期对妨害安全驾驶罪的合理适用有所助益。

党建融合共建与市场合作共赢“双轮驱动”战略探讨

坚持党对国有企业的全面领导,大力推进党建工作与中心工作深度融合,推动基层党建工作创新落实,不断提升企业经营质量效益,是热力企业必须长期坚持和坚决履行的重要责任和使命。结合当前面临的严峻形势和任务目标,经过深入思考、统筹谋划、探索实施,初步构建起党建融合共建与市场合作共赢“双轮驱动”战略模型,架设起党建政治优势的四梁八柱,激发出市场发展创效的繁花锦簇,为践行高质量党建引领高质量发展蹚出一条具有热力特色的创新实践之路。

材料类专业立体化工程实践平台建设与探索

新工科人才是适应并满足新兴产业和新经济发展需要的,是具有更强实践能力、创新能力和国际竞争力的复合型人才。“产业驱动,校企联动,产教融合”是实现新工科人才培养目标的主要途径,课题组以此为出发点,结合巢湖学院地方性、应用型的办学实际,以材料学学科建设为契机,探索校企联动、产教深度融合的工程实践平台构建与实践新模式。