Influence of highway space alignment continuous degradation in 3- dimensional space on autonomous vehicle trajectory deviation based on PreScan simulation

The advent of autonomous vehicles(AVs)is expected to transform the current transportation system into a safe and reliable one.The existing infrastructures,operational criteria,and design method were developed to meet the requirements of human drivers.However,previous studies have shown that in the traditional horizontal and vertical combined design methods,where the two-dimensional alignment elements change,there are varying changes in curvature and torsion,which cause the continuous degradation of the spatial curve and torsion.This continuous degradation will inevitably cause changes in the trajectory of Autonomous Vehicles(AVs),thereby affecting driving safety.Therefore,studying the characteristics of autonomous vehicles trajectory deviation has theoretical significance for optimizing highway alignment safety design.Driving simulation tests were performed by using PreScan and Simulink to calibrate the lateral deviation.A machine learning approach called the Gradient Boosting Decision Tree(GBDT)algorithm was implemented to build a model and express the relationship between space alignment parameters and lane deviation.The results showed that the AV’s driving trajectory is significantly affected by the space alignment factors when the vehicle is driving in the inner lane,the downhill section,and the left-turn section.These findings will provide a novel perspective for road safety research based on autonomous vehicle driving trajectories.

MPC-based Torque Distribution for Planar Motion of Four-wheel Independently Driven Electric Vehicles:Considering Motor Models and Iron Losses

The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.

Modeling and Analysis of UAV-Assisted Mobile Network with Imperfect Beam Alignment

With the rapid development of emerging 5G and beyond(B5G),Unmanned Aerial Vehicles(UAVs)are increasingly important to improve the performance of dense cellular networks.As a conventional metric,coverage probability has been widely studied in communication systems due to the increasing density of users and complexity of the heterogeneous environment.In recent years,stochastic geometry has attracted more attention as a mathematical tool for modeling mobile network systems.In this paper,an analytical approach to the coverage probability analysis of UAV-assisted cellular networks with imperfect beam alignment has been proposed.An assumption was considered that all users are distributed according to Poisson Cluster Process(PCP)around base stations,in particular,Thomas Cluster Process(TCP).Using thismodel,the impact of beam alignment errors on the coverage probabilitywas investigated.Initially,the ProbabilityDensity Function(PDF)of directional antenna gain between the user and its serving base station was obtained.Then,association probability with each tier was achieved.A tractable expression was derived for coverage probability in both Line-of-Sight(LoS)andNon-Line-of-Sight(NLoS)condition links.Numerical results demonstrated that at low UAVs altitude,beam alignment errors significantly degrade coverage performance.Moreover,for a small cluster size,alignment errors do not necessarily affect the coverage performance.

Estimation of Vehicle Speed Based on Wheel Speeds from ASR System in Four-Wheel Drive Vehicles

Three major methods currently in the use of determining vehicle speed based on wheel speeds, the minimum wheel speed, minimum wheel speed corrected by slope method and the Kalman filter method, are analyzed, with merits and defects of each approach stated. Through simulations, the Kalman filter method based on minimum wheel speed shows improved accuracy, in addition to better adaptivity to vehicle reference speed. It also can be used to acceleration ship regulation （ASR） in part-time four-wheel drive vehicles.

Track Tension Analysis of Four-Wheel Drive Tracked Vehicles

The distribution of track tension on track link is complex when the tracked vehicles run at a high speed.A multi-drive track link structure,which changes the traditional induction wheel into the driving wheel was proposed.The mathematical model of the system was established and the distribution of track tension was studied.The combined simulation model of RecurDyn and Simulink of the structure with multi-drive track was established.The simulation results show that our proposed structure has more uniform tension distribution than traditional structures,especially under the high speed condition.The maximum tension can be reduced by 28 kN-36 kN and the transmission efficiency can be improved by10%-16% under high speed condition with this new structure.

Research on the Variable Steering Ratio of Four-Wheel-Steering Vehicle

The steering characteristic of a four-wheel-steering vehicle is numerically simulated for in-depth research of the handling stability of four-wheel steering. The research results show that the deteriorating tendency of the steering stability due to the increase of the vehicle speed is improved obviously in the case of four-wheel steering. The approach of variable steering ratio is discussed. The use of the variable steering ratio can not only raise the steering stability of vechicles at high vehicle speed, but also reduce the dicomfort and steering burden of drivers; and hence is helpful for the subjective evaluation of four-wheel steering vehicles.

A new braking force distribution strategy for electric vehicle based on regenerative braking strength continuity

Regenerative braking was the process of converting the kinetic energy and potential energy, which were stored in the vehicle body when vehicle braked or went downhill, into electrical energy and storing it into battery. The problem on how to distribute braking forces of front wheel and rear wheel for electric vehicles with four-wheel drive was more complex than that for electric vehicles with front-wheel drive or rear-wheel drive. In this work, the frictional braking forces distribution curve of front wheel and rear wheel is determined by optimizing the braking force distribution curve of hydraulic proportional-adjustable valve, and then the safety brake range is obtained correspondingly. A new braking force distribution strategy based on regenerative braking strength continuity is proposed to solve the braking force distribution problem for electric vehicles with four-wheel drive. Highway fuel economy test(HWFET) driving condition is used to provide the speed signals, the braking force equations of front wheel and rear wheel are expressed with linear equations. The feasibility, effectiveness, and practicality of the new braking force distribution strategy based on regenerative braking strength continuity are verified by regenerative braking strength simulation curve and braking force distribution simulation curves of front wheel and rear wheel. The proposed strategy is simple in structure, easy to be implemented and worthy being spread.

An improved RANSAC algorithm for 3D wheel alignment

Aiming at the defects of traditional four-wheel aligner such as many sensors,complex operation and slow detection speed,a fast and accurate 3D four-wheel alignment detection method is studied.Firstly,a new and special circle center target board is designed to calibrate the camera,and then the registration of the homography matrix is optimized by using the improved RANSAC(Random sample consensus)algorithm combined with the designed special target board,and the parameters of the wheel alignment system are adjusted by using the space vector principle.Accurate measurements are made to obtain the parameters of the four-wheel alignment.Design a calibration comparison experiment between the traditional target board and the new type of target board,and conduct a comparative test with the existing four-wheel aligner of the depot.The experimental results show that the use of the new target board-binding optimization algorithm can improve the calibration efficiency by about 9%to 21%,while improving the calibration accuracy by about 10.6%to 17.8%.And through the real vehicle test,it is verified that the use of the new target combined with the optimization algorithm can ensure the accuracy and reliability of the four-wheel positioning.This method has a certain significance in the rapid detection of vehicle four-wheel alignment parameters.

大跨度钢-混结合梁悬索桥涡激振动控制指标体系研究

为保证已建桥梁发生涡激振动后桥梁结构的安全以及桥上行车和行人安全,提出综合考虑人员舒适性、结构受力和停车线形三方面的大跨度钢-混结合梁悬索桥涡激振动控制指标体系。该体系包含9项指标,分别为驾乘人员舒适度、驾乘人员晕动症、行人舒适度(狄克曼指标)、加劲梁强度、加劲梁应力、加劲梁挠度、桥面纵坡、竖曲线半径和停车视距。以武汉鹦鹉洲长江大桥为背景,分别计算了“限速”和“封桥”2个交通管制措施下9项指标对应的涡激振动振幅限值。在此基础上,将9项指标对应的涡激振动振幅限值的最小值作为涡激振动限值建议取值。结果表明:当该桥发生低阶竖弯涡激振动(VS1、VAS1)时,涡激振动的控制因素为加劲梁挠度指标;当大桥发生VAS2模态的竖弯涡激振动时,涡激振动由驾乘人员晕动症指标和行人舒适度指标共同控制;当大桥发生高阶竖弯涡激振动(VAS3、VAS4)时,涡激振动由行人舒适度指标控制。涡激振动控制指标体系及限值标准的计算框架可适用于不同桥型涡激振动限值的计算。

An Integrated Control Framework for Torque Vectoring and Active Suspension System

Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.

基于红外传感器的多无人机对高速飞行器协同定位跟踪方法综述

为了实现高精度远距离稳定定位与跟踪,多无人机搭载红外传感器对高速飞行器的定位跟踪方法成为研究热点。就此背景进行了综合评述,以相关技术难点及关键技术为切入点,分析了瞬时定位和动态跟踪问题的研究现状和发展方向。在瞬时协同定位方面,首先对目标瞬时定位的算法进行了分析对比,然后对造成定位误差的影响因素进行分析并探讨了误差补偿方法,最后针对传感器资源优化,讨论了能够使计算结果最优的传感器分布阵型。在动态跟踪方面,首先探讨了时间不同步问题对目标跟踪的影响及补偿方法,然后对目标运动学建模的问题进行了分析,最后对最优估计问题中各种滤波算法的应用进行对比。综述表明,无人机搭载红外传感器对高速飞行器进行定位和跟踪,存在误差来源多、相对运动速度快的技术难点,需要特别关注定位算法、误差来源及最优估计算法的影响,以尽可能实现稳定跟踪。

毫米波雷达和视觉融合的车辆鲁棒跟踪方法

针对单传感器实际工作环境中的漏检错检问题,提出了一种具有鲁棒性的摄像头毫米波雷达并联融合识别追踪车辆方法。构建基于毫米波雷达多维数据的目标识别网络R-DenseNet,毫米波雷达数据经过初筛后输入R-DenseNet神经网络得到毫米波雷达识别结果;摄像头的图像数据输入YOLO-v4tiny网络得到摄像头识别结果。对原始目标采用融合规则进行融合,筛选掉雷达错检点和噪点;对融合成功目标点采用真实目标存活判断方法进行持续追踪,捕捉摄像头毫米波雷达错检漏检的情况,使用Kalman滤波、YOLO重识别等方法补齐数据。实验结果证明:该融合方法可以有效排除错误目标,对于跟踪期间单传感器漏检、错检及两传感器同时漏检的情况具有较好的鲁棒性,跟踪较为稳定。

基于三维线形的轻型高速公路纵断面指标研究

为了探究轻型高速公路路线纵断面设计关键参数,基于Carsim/Trucksim软件搭建了人-车-路耦合系统,根据普遍性和不利性原则,选取轿车、面包车和轻型货车作为轻型车辆的代表性车型,开展了代表性车型在直坡路段和弯坡组合路段的行驶仿真。根据轻型车辆在纵断面和弯坡组合路段运行特征,确定了轻型高速公路的控制车型以及路线纵断面的坡度、坡长参数。结果表明:轻型高速公路纵断面设计参数应以轻型货车和面包车作为控制车型;高速行驶下,车辆在弯坡组合路段的速度衰减比在单纵坡路段更为剧烈;根据速度衰减特性和允许速度降幅,轻型高速公路设计速度为100km/h时,若允许轻型货车通行,应以比功率为25W/kg的轻型货车作为控制车辆,路线纵断面最大纵坡为5%,最大坡长为750m,若不允许轻型货车通行,路线纵断面最大纵坡为6%,可不限制最大坡长;设计速度为120km/h和140km/h时,应以比功率为35W/kg的面包车作为控制车辆,路线纵断面最大纵坡分别为6%和5%,对应的最大坡长均为1200m。

复杂海况下运载火箭自对准算法

运载火箭对发射窗口和对准精度高度敏感。海上发射平台受风、浪、涌等复杂海况的综合作用产生低频、宽幅、时变晃动,传统的静基座对准方法不能适应,有限的配套设施又不便开展光瞄辅助对准或传递对准。对此,设计了基于晃动辨识的粗对准方法和在线修正量测噪声阵的精对准方法。对粗对准的影响因素进行量化分析,实时辨识晃动周期和幅值,结合器件特性和精度要求在线调整粗对准时间,为精对准创造良好初始条件。精对准过程中在线修正卡尔曼滤波器的量测噪声阵,从而适应发射平台的时变晃动。所设计方法于2023年9月在谷神星一号海射型运载火箭上完成了飞行实验验证,在晃动角度约2.1°、角速度约2.35(°)/s的复杂海况下,粗对准算法实现了300.0s内小于2.0°的精度,精对准算法实现了小于0.3°的精度,保障了运载火箭首飞成功。

纵断面基础线形行车动力学效应对比研究

为提升旧路改造工程线形,通过受力分析,将线形、平整度参数作为动力学方程的主要变量,并建立“人-车-路”动力学分析模型;设计了对比线形组,一组设置缓和竖曲线,另一组则不设置,采用Newmark-β法编制程序,对半径为7000 m基础线形产生的动力学效应进行计算分析;采用加速度峰值、加速度均方根、振动周期和频率等振动指标,对基础线形组动力学效应进行分析,在分析振动区的形成原因、衰变规律的基础上,划分线形内的振动区和稳定区范围;增设缓和竖曲线后,车辆振动形态发生显著变化,加速度振动峰值和加速度均方根大幅降低,降至常规基础线形的5%以内,有效消除了车辆振动感知;计算分析了车辆类型、重量、悬挂系统参数对两组线形动力学效应的影响,发现增设缓和竖曲线后,振动降幅较大,对各种车辆适应性更强;计算分析线形组与不同平整度使用状态的耦合作用,发现常规基础线形在振动区的耦合作用较为明显,加速度均方根为直坡形态下的95%~161%,而增设缓和竖曲线后,耦合作用系数接近1,线形基本接近“人‒车‒路”系统的理想平面状态。通过以上研究,发现增加缓和竖曲线可有效提升线形行车质量,增强线形对车辆和工况环境的适应性。

带束层角度对电动汽车轮胎性能的影响

采用有限元技术研究带束层角度对205/55R16电动汽车轮胎接地印痕、侧偏刚度和回正刚度的影响。结果表明:随着带束层角度的增大,轮胎接地印痕由方形逐渐变成偏圆形,接地印痕短轴长度变小,接地印痕长轴长度增大,接地印痕面积增大;在相同负荷、不同充气压力和相同充气压力、不同负荷下,随着带束层角度的增大,轮胎侧偏刚度均减小,回正刚度均增大。

轮斗挖掘机+自卸卡车连续采煤开采工艺在哈密一矿的应用

为解决哈密一矿轮斗挖掘机+前装机+自卸卡车间断开采工艺二次倒运带来的环保差、效率低、成本高等问题,拟采用轮斗挖掘机+自卸卡车连续采煤开采工艺;介绍了工艺设备和作业参数,重点论述轮斗挖掘机向自卸卡车智能对准装车系统,并进行了经济指标测算。结果表明:轮斗挖掘机可与自卸卡车进行匹配,并实现智能对准装车,形成高效的、环保的连续采煤工艺,有效解决原煤二次倒运;实现轮斗挖掘机+自卸卡车连续采煤工艺后,累计节约成本588.0元/a,生产效率提升10%。

乘用车四轮定位原理及参数设计研究

本论文探讨了乘用车四轮定位技术在汽车工业中的关键作用,通过全面介绍四轮定位的背景、目的和基础知识,详细探讨了其原理、参数设计、实验验证以及对车辆制造和维护的建议。并且,本论文明确指出了四轮定位在行车安全性和车辆性能优化中的重要性,强调了提高安全性、优化操控性能和提供参数设计理论基础的目标对汽车工业的实际应用意义;同时,论文系统性地介绍了四轮定位的概念,分析了当前技术发展现状,并通过实验验证了理论模型的有效性,为未来实际应用提供了科学依据。

光纤惯导车辆姿态识别系统及其误差分析

光纤惯导具有分辨率高、动态范围大、灵敏度高、寿命长、自主性强、成本低等特点,将其应用到驾驶行为和车辆姿态识别系统中,通过对中低精度光纤惯导的车辆姿态识别系统存在的误差进行分析,提出车载惯导自适应快速对准模式、全参数自标定误差标校方法,以解决中低精度光纤惯导误差随时间不断累积的问题,实现车辆姿态识别自主性,为车辆姿态识别以及驾驶行为识别提供强有力支撑。分析和实验结果表明该车辆姿态识别系统可指导行车安全。

Coordinated shift control of nonsynchronizer transmission for electric vehicles based on dynamic tooth alignment

Multispeed transmissions can enhance the dynamics and economic performance of electric vehicles(EVs),but the coordinated control of the drive motor and gear shift mechanism during gear shifting is still a difficult challenge because gear shifting may cause discomfort to the occupants.To improve the swiftness of gear shifting,this paper proposes a coordinated shift control method based on the dynamic tooth alignment(DTA)algorithm for nonsynchronizer automated mechanical transmissions(NSAMTs)of EVs.After the speed difference between the sleeve(SL)and target dog gear is reduced to a certain value by speed synchronization,angle synchronization is adopted to synchronize the SL quickly to the target tooth slofs angular position predicted by the DTA.A two-speed planetary NS AMT is taken as an example to carry out comparative simulations and bench experiments.Results show that gear shifting duration and maximum jerk are reduced under the shift control with the proposed method,which proves the effectiveness of the proposed coordinated shift control method with DTA.