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3D Road Network Modeling and Road Structure Recognition in Internet of Vehicles
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作者 Dun Cao Jia Ru +3 位作者 Jian Qin Amr Tolba Jin Wang Min Zhu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第2期1365-1384,共20页
Internet of Vehicles (IoV) is a new system that enables individual vehicles to connect with nearby vehicles,people, transportation infrastructure, and networks, thereby realizing amore intelligent and efficient transp... Internet of Vehicles (IoV) is a new system that enables individual vehicles to connect with nearby vehicles,people, transportation infrastructure, and networks, thereby realizing amore intelligent and efficient transportationsystem. The movement of vehicles and the three-dimensional (3D) nature of the road network cause the topologicalstructure of IoV to have the high space and time complexity.Network modeling and structure recognition for 3Droads can benefit the description of topological changes for IoV. This paper proposes a 3Dgeneral roadmodel basedon discrete points of roads obtained from GIS. First, the constraints imposed by 3D roads on moving vehicles areanalyzed. Then the effects of road curvature radius (Ra), longitudinal slope (Slo), and length (Len) on speed andacceleration are studied. Finally, a general 3D road network model based on road section features is established.This paper also presents intersection and road section recognition methods based on the structural features ofthe 3D road network model and the road features. Real GIS data from a specific region of Beijing is adopted tocreate the simulation scenario, and the simulation results validate the general 3D road network model and therecognitionmethod. Therefore, thiswork makes contributions to the field of intelligent transportation by providinga comprehensive approach tomodeling the 3Droad network and its topological changes in achieving efficient trafficflowand improved road safety. 展开更多
关键词 Internet of vehicles road networks 3D road model structure recognition GIS
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Development and Validation of a Scaled Electric Combat Vehicle Tire Model
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作者 Haniyeh Fathi Aricha Mehrotra Zeinab El-Sayegh 《World Journal of Engineering and Technology》 2024年第1期24-39,共16页
Pneumatic tire modeling and validation have been the topic of several research papers, however, most of these papers only deal with pneumatic passenger and truck tires. In recent years, wheeled-scaled vehicles have ga... Pneumatic tire modeling and validation have been the topic of several research papers, however, most of these papers only deal with pneumatic passenger and truck tires. In recent years, wheeled-scaled vehicles have gained lots of attention as a feasible testing platform, nonetheless up to the authors’ knowledge there has been no research regarding the use of scaled tires and their effect on the overall vehicle performance characteristics. This paper presents a novel scaled electric combat vehicle tire model and validation technique. The pro-line lockdown tire size 3.00 × 7.35 is modeled using the Finite Element Analysis (FEA) technique and several materials including layered membrane, beam elements, and Mooney-Rivlin for rubber. The tire-rim assembly is then described, and the rigid body analysis is presented. The tire is then validated using an in-house custom-made static tire testing machine. The tire test rig is made specifically to test the pro-line tire model and is designed and manufactured in the laboratory. The tire is validated using vertical stiffness and footprint tests in the static domain at different operating conditions including several vertical loads. Then the tire is used to perform rolling resistance and steering analysis including the rolling resistance coefficient and the cornering stiffness. The analysis is performed at different operating conditions including longitudinal speeds of 5, 10, and 15 km/h. This tire model will be further used to determine the tractive and braking performance of the tire. Furthermore, the tire test rig will also be modified to perform cornering stiffness tests. 展开更多
关键词 Tire modeling Tire Testing Machine vehicle Dynamics Unmanned vehicle modeling Finite Element Analysis Tire Mechanics
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Economic Analysis and Research of New Energy Vehicle Promotion Model
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作者 Zihang Wang Xudong Wang +2 位作者 Zhenyin Zhang Shaolong Wang Chenyang Xu 《Proceedings of Business and Economic Studies》 2024年第1期169-179,共11页
New energy vehicles represent the inevitable trend of future development.Compared to traditional fuel vehicles,they are more energy-saving and environmentally friendly,effectively reducing air pollution and mitigating... New energy vehicles represent the inevitable trend of future development.Compared to traditional fuel vehicles,they are more energy-saving and environmentally friendly,effectively reducing air pollution and mitigating excessive exploitation of oil resources,a stance strongly supported by governments.However,new energy vehicles possess certain drawbacks in terms of price and usability compared to traditional counterparts.Therefore,external support is imperative for their development.This paper delineates four main sections:the background of new energy vehicle promotion and application,a comparative analysis of domestic and foreign promotion models,specific promotion suggestions,and future development prospects.By leveraging insights from economic analysis,the optimal promotion model for new energy vehicles is elucidated. 展开更多
关键词 New energy vehicle engineering Promotion model Economic analysis Sustainable development
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Multi-Body Dynamics Modeling of Heavy Goods Vehicle-Rail Interaction
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作者 Lili Liu Jianhua Liu Jihong Zuo 《Open Journal of Applied Sciences》 2024年第7期1715-1722,共8页
Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonablenes... Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling. 展开更多
关键词 vehicle-Rail Coupling Dynamic modeling Wheel-Rail Interaction Forces
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Mathematical Models of Tire-Longitudinal Road Adhesion and Their Use in the Study of Road Vehicle Dynamics 被引量:7
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作者 刘昭度 《Journal of Beijing Institute of Technology》 EI CAS 1996年第2期204+193-204,共13页
Mathematical models of tire-longitudinal road adhesion for use in the study of road vehicle dynamics are set up so as to express the relations of longitudinal adhesion coefficients with the slip ratio. They perfect th... Mathematical models of tire-longitudinal road adhesion for use in the study of road vehicle dynamics are set up so as to express the relations of longitudinal adhesion coefficients with the slip ratio. They perfect the Pacejka's models in practical use by taking into account the influences of all essential parameters such as road surface condition. vehicle velocity. slip angle. vertical load and slip ratio on the longitudinal adhesion coefficients. The new models are more comprehensive more concise. simpler and more convenient in application in all kinds of simulations of car dynamics in various sorts of braking modes. 展开更多
关键词 MATHEMATICAL model tire-longitudinal ROAD ADHESION coefficient: ROAD vehicle DYNAMICS
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An interacting multiple model-based two-stage Kalman filter for vehicle positioning 被引量:2
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作者 徐启敏 李旭 +1 位作者 李斌 宋向辉 《Journal of Southeast University(English Edition)》 EI CAS 2017年第2期177-181,共5页
To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system(... To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system(MEMS) inertial sensors, a novel interacting multiple model-based two-stage Kalman filter(IMM-TSKF) is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF. 展开更多
关键词 interacting multiple model(IMM) two-stage filter uncertain noise vehicle positioning
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Mathematical Models of Tire-Lateral Road Adhesion for Use in Road Vehicle Dynamics Studies 被引量:1
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作者 刘昭度 《Journal of Beijing Institute of Technology》 EI CAS 1997年第1期92-99,共8页
Mathematical models of tire-lateral mad adhesion for use in mad vehicle dynamics studies are set up to express the relations of adhesion coefficients with slip ratio in lateral direction.The models of tire-lateral mad... Mathematical models of tire-lateral mad adhesion for use in mad vehicle dynamics studies are set up to express the relations of adhesion coefficients with slip ratio in lateral direction.The models of tire-lateral mad adhesion revolutionize the Pacejka's model in concept and therefore make it possible for applications in vehicle dynamics studies by the expression of lateral adhesion coefficient as a function of wheel slip ratio,instead of the wheel slip angle,taking into account in the mean time the influences of mad surface condition, vehicle velocity,vertical load,tire slip angle,and wheel camber angle. 展开更多
关键词 mathematical model tire-lateral road adhesion coefficient vehicle dynamics
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Ensuring Secure Platooning of Constrained Intelligent and Connected Vehicles Against Byzantine Attacks:A Distributed MPC Framework 被引量:1
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作者 Henglai Wei Hui Zhang +1 位作者 Kamal AI-Haddad Yang Shi 《Engineering》 SCIE EI CAS CSCD 2024年第2期35-46,共12页
This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control fram... This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings. 展开更多
关键词 model predictive control Resilient control Platoon control Intelligent and connected vehicle Byzantine attacks
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A landslide monitoring method using data from unmanned aerial vehicle and terrestrial laser scanning with insufficient and inaccurate ground control points 被引量:1
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作者 Jiawen Zhou Nan Jiang +1 位作者 Congjiang Li Haibo Li 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第10期4125-4140,共16页
Non-contact remote sensing techniques,such as terrestrial laser scanning(TLS)and unmanned aerial vehicle(UAV)photogrammetry,have been globally applied for landslide monitoring in high and steep mountainous areas.These... Non-contact remote sensing techniques,such as terrestrial laser scanning(TLS)and unmanned aerial vehicle(UAV)photogrammetry,have been globally applied for landslide monitoring in high and steep mountainous areas.These techniques acquire terrain data and enable ground deformation monitoring.However,practical application of these technologies still faces many difficulties due to complex terrain,limited access and dense vegetation.For instance,monitoring high and steep slopes can obstruct the TLS sightline,and the accuracy of the UAV model may be compromised by absence of ground control points(GCPs).This paper proposes a TLS-and UAV-based method for monitoring landslide deformation in high mountain valleys using traditional real-time kinematics(RTK)-based control points(RCPs),low-precision TLS-based control points(TCPs)and assumed control points(ACPs)to achieve high-precision surface deformation analysis under obstructed vision and impassable conditions.The effects of GCP accuracy,GCP quantity and automatic tie point(ATP)quantity on the accuracy of UAV modeling and surface deformation analysis were comprehensively analyzed.The results show that,the proposed method allows for the monitoring accuracy of landslides to exceed the accuracy of the GCPs themselves by adding additional low-accuracy GCPs.The proposed method was implemented for monitoring the Xinhua landslide in Baoxing County,China,and was validated against data from multiple sources. 展开更多
关键词 Landslide monitoring Data fusion Terrestrial laser scanning(TLS) Unmanned aerial vehicle(UAV) model reconstruction
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Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking 被引量:23
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作者 龚建伟 徐威 +3 位作者 姜岩 刘凯 郭红芬 孙银健 《Journal of Beijing Institute of Technology》 EI CAS 2015年第4期441-448,共8页
A multi-constrained model predictive control ( MPC ) algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering l... A multi-constrained model predictive control ( MPC ) algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability. 展开更多
关键词 autonomous ground vehicle active steering control model predictive control trajecto-ry tracking
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Coupled dynamic model of state estimation for hypersonic glide vehicle 被引量:13
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作者 ZHANG Kai XIONG Jiajun FU Tingting 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第6期1284-1292,共9页
Aiming at handling complicated maneuvers or other unpredicted emergencies for hypersonic glide vehicle tracking,three coupled dynamic models of state estimation based on the priori information between guidance variabl... Aiming at handling complicated maneuvers or other unpredicted emergencies for hypersonic glide vehicle tracking,three coupled dynamic models of state estimation based on the priori information between guidance variables and aerodynamics are presented. Firstly, the aerodynamic acceleration acting on the target is analyzed to reveal the essence of the target’s motion.Then three coupled structures for modeling aerodynamic parameters are developed by different ideas: the spiral model with a harmonic oscillator, the bank model with trigonometric functions of the bank angle and the guide model with the changing rule of guidance variables. Meanwhile, the comparison discussion is concluded to show the novelty and advantage of these models.Finally, a performance assessment in different simulation cases is presented and detailed analysis is revealed. The results show that the proposed models perform excellent properties. Moreover, the guide model produces the best tracking performance and the bank model shows the second; however, the spiral model does not outperform the maneuvering reentry vehicle(MaRV) model markedly. 展开更多
关键词 hypersonic glide vehicle state estimation dynamic model aerodynamic parameter guidance variable
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Research on Hydrodynamics Model Test for Deepsea Open-Framed Remotely Operated Vehicle 被引量:7
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作者 范士波 连琏 任平 《China Ocean Engineering》 SCIE EI 2012年第2期329-339,共11页
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong... This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1:1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions. 展开更多
关键词 Remotely Operated vehicle (ROV) model test hydrodynamics coefficients motion modeling
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Design and Optimization for the Occupant Restraint System of Vehicle Based on a Single Freedom Model 被引量:6
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作者 ZHANG Junyuan MA Yue +1 位作者 CHEN Chao ZHANG Yan 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2013年第3期492-497,共6页
Throughout the vehicle crash event, the interactions between vehicle, occupant, restraint system (VOR) are complicated and highly non-linear. CAE and physical tests are the most widely used in vehicle passive safety d... Throughout the vehicle crash event, the interactions between vehicle, occupant, restraint system (VOR) are complicated and highly non-linear. CAE and physical tests are the most widely used in vehicle passive safety development, but they can only be done with the detailed 3D model or physical samples. Often some design errors and imperfections are difficult to correct at that time, and a large amount of time will be needed. A restraint system concept design approach which based on single-degree-of-freedom occupant-vehicle model (SDOF) is proposed in this paper. The interactions between the restraint system parameters and the occupant responses in a crash are studied from the view of mechanics and energy. The discrete input and the iterative algorithm method are applied to the SDOF model to get the occupant responses quickly for arbitrary excitations (impact pulse) by MATLAB. By studying the relationships between the ridedown efficiency, the restraint stiffness, and the occupant response, the design principle of the restraint stiffness aiming to reduce occupant injury level during conceptual design is represented. Higher ridedown efficiency means more occupant energy absorbed by the vehicle, but the research result shows that higher ridedown efficiency does not mean lower occupant injury level. A proper restraint system design principle depends on two aspects. On one hand,the restraint system should lead to as high ridedown efficiency as possible, and at the same time, the restraint system should maximize use of the survival space to reduce the occupant deceleration level. As an example, an optimization of a passenger vehicle restraint system is designed by the concept design method above, and the final results are validated by MADYMO, which is the most widely used software in restraint system design, and the sled test. Consequently, a guideline and method for the occupant restraint system concept design is established in this paper. 展开更多
关键词 vehicle crash occupant restraint system concept design single-degree-of-freedom occupant-vehicle model
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Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles 被引量:6
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作者 Hai Huang Guo-Cheng Zhang +3 位作者 Ji-Yong Li Qiang Zhang Jin-Yu Xu Hong-De Qin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第1期114-126,共13页
Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether ... Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments.To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore,path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator. 展开更多
关键词 Underwater vehicle Adaptive control Disturbance observer Multi-body dynamic model
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A Hybrid Approach to Modeling and Control of Vehicle Height for Electronically Controlled Air Suspension 被引量:8
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作者 SUN Xiaoqiang CAI Yingfeng +2 位作者 WANG Shaohua LIU Yanling CHEN Long 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第1期152-162,共11页
The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on t... The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties. 展开更多
关键词 electronically controlled air suspension vehicle height control hybrid system mixed logical dynamical model predictive control
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Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles 被引量:22
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作者 Wei He Xinxing Mu +1 位作者 Liang Zhang Yao Zou 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第1期148-156,共9页
This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic ... This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination.To achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical framework.Specifically,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position controller.Next,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque.Finally,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,respectively.In terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.Simulations are carried out to verify the effectiveness of the proposed control scheme. 展开更多
关键词 Flapping-wing micro aerial vehicles(FWMAVs) modelING neural networks trajectory tracking
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Experimental Model and Analytic Solution for Real-time Observation of Vehicle's Additional Steer Angle 被引量:3
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作者 ZHANG Xiaolong LI Liang +2 位作者 PAN Deng CAO Chengmao SONG Jian 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第2期340-347,共8页
The current research of real-time observation for vehicle roll steer angle and compliance steer angle(both of them comprehensively referred as the additional steer angle in this paper) mainly employs the linear vehi... The current research of real-time observation for vehicle roll steer angle and compliance steer angle(both of them comprehensively referred as the additional steer angle in this paper) mainly employs the linear vehicle dynamic model, in which only the lateral acceleration of vehicle body is considered. The observation accuracy resorting to this method cannot meet the requirements of vehicle real-time stability control, especially under extreme driving conditions. The paper explores the solution resorting to experimental method. Firstly, a multi-body dynamic model of a passenger car is built based on the ADAMS/Car software, whose dynamic accuracy is verified by the same vehicle's roadway test data of steady static circular test. Based on this simulation platform, several influencing factors of additional steer angle under different driving conditions are quantitatively analyzed. Then ε-SVR algorithm is employed to build the additional steer angle prediction model, whose input vectors mainly include the sensor information of standard electronic stability control system(ESC). The method of typical slalom tests and FMVSS 126 tests are adopted to make simulation, train model and test model's generalization performance. The test result shows that the influence of lateral acceleration on additional steer angle is maximal (the magnitude up to 1°), followed by the longitudinal acceleration-deceleration and the road wave amplitude (the magnitude up to 0.3°). Moreover, both the prediction accuracy and the calculation real-time of the model can meet the control requirements of ESC This research expands the accurate observation methods of the additional steer angle under extreme driving conditions. 展开更多
关键词 vehicle ADAMS model additional steer SVM real-time observation
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Hydrodynamic Modeling with Grey-Box Method of A Foil-Like Underwater Vehicle 被引量:3
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作者 LIU Xin-yu LI Yi-ping +1 位作者 WANG Ya-xing FENG Xi-sheng 《China Ocean Engineering》 SCIE EI CSCD 2017年第6期773-780,共8页
In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sens... In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state. 展开更多
关键词 unmanned underwater vehicle grey-box model HYDRODYNAMICS ridge regression CORRELATIONS
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Dynamic Modeling and Analysis of 9-DOF Omnidirectional Legged Vehicle 被引量:3
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作者 GAO Feng WANG Guofu CUI Ying YANG Xinhong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第4期515-521,共7页
The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area.... The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical characteristics of independent walking control and steering control and its kinematics principle are introduced, and a vehicle has a composite motion mode of parallel link mechanism and steering mechanism is presented. The motion direction control of the proposed vehicle is only dependant on its steering rails, so its motion is simple and effective to control. When the relative motion between the walking and steering is controlled cooperatively, the vehicle can walk perfectly. By controlling the steering rails, the vehicle can walk along arbitrary trajectory on the ground. To achieve a good result of motion control, an equivalent manipulator model needs to be built. In terms of the mechanism feature and the kinematic principle, the simplified manipulator model consists of a rail in stance phase, a rail in swing phase, and an equivalent leg. Considering the ground surface slope during walking, a parameter of inclination angle is added. Based on such a RPP manipulator model, the equations of motion are derived by means of Lagrangian dynamic approach. To verify the dynamic equations, the motion of the manipulator model is simulated based on linear and nonlinear motion planning. With the same model and motion parameters, the dynamic equations can be solved by Matlab and the calculation data can be gained. Compared with the simulation data, the result confirms the manipulator dynamic equations are correct. As a result of such special characteristics of the legged mechanism with steering rails, it has a potential broad application prospects. The derivation of dynamics equation could benefit the motion control of the mechanism. 展开更多
关键词 legged vehicle omnidirectional motion steering rails dynamic modeling dynamic simulation
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Ribbon model based path tracking method for autonomous ground vehicles 被引量:10
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作者 陈清阳 孙振平 +1 位作者 刘大学 李晓辉 《Journal of Central South University》 SCIE EI CAS 2014年第5期1816-1826,共11页
To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following... To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly. 展开更多
关键词 autonomous ground vehicle path tracking ribbon model
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