Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel horizon.The proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms

A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

Mechanical properties and friction-wear characteristics of VN/Ag multilayer coatings with heterogeneous and transition interfaces

The heterogeneous multilayer interface of VN/Ag coatings and transition multilayer interface of VN/Ag coatings were prepared on Inconel 781 and Si(100),and the microstructures,mechanical and tribological properties were investigated from 25 to 700℃.The results showed that the surface roughness and average grain size of VN/Ag coatings with transition multilayer interface are obviously larger than those of VN/Ag coatings with heterogeneous multilayer interface.The coatings with transition multilayer interface have higher adhesion force and hardness than the coatings with heterogeneous multilayer interface,and both coatings can effectively restrict the initiation and propagation of microcracks.Both coatings have excellent self-adaptive lubricating properties with a decrease of friction coefficient as the temperature increases,but their wear rates reveal a drastic increase.The phase composition of the worn area of both coatings was investigated,which indicates that a smooth Ag,Magnéli phase(V2O5)and bimetallic oxides(Ag3VO4 and AgVO3)can be responsible to the excellent lubricity of both coatings.To sum up,the coatings with transition multilayer interface have excellent adaptive lubricating properties and can properly control the diffusion rate and release rate of the lubricating phase,indicating that they have great potential in solving the problem of friction and wear of mechanical parts.

Gear downshift control of inverse-automatic mechanical transmission of electric vehicle

In order to improve the driving dynamics and riding comfort of pure electric vehicles,taking a two-speed I-AMT(Inverse-Automatic Mechanical Transmission)with rear friction clutch as the research object,a gear shift strategy,which consists of the open-loop control of the clutch position control and the closed-loop control of the drive motor speed control,is proposed.Considering the inherent time-delay and external disturbances within the motor speed adjustment system,a two DOF(degree-of-freedom)Smith predictor with feedforward input is designed to track the target speed of the drive motor.The feedforward input is used to eliminate the influence of clutch sliding friction on the motor speed control,while the feedback speed tracking controller is applied to realize the speed tracking performance with the existence of time-delay and the external disturbance.In order to verify the effectiveness of the gear shift control strategy and the accuracy of the two DOF Smith controller with feedforward control,simulation results comparison is firstly carried out to illustrate the effectiveness of the control scheme.Then,a light pure electric vehicle equipped with I-AMT was used for downshift experiments under large throttle,which is the most difficult working scenario to control the transmission.The experimental results show that the two DOF Smith controller can eliminate the influence of time-delay on the closed-loop control,and the proposed whole gear shift control strategy can limit the clutch slippage time within 1.5 s,resulting in a smaller shift jerk,thus guarantee the driving dynamics and riding comfort simultaneously.

Research progress on train operation safety in Xinjiang railway under wind environment

Railway lines in the Xinjiang wind area face severe wind disasters year-round,which seriously affects the safety and economy of the railway in China.Therefore,the wind characteristics and statistics of wind-induced accidents along the Xinjiang railway lines are presented and the basic research route for evaluating the train running safety under crosswinds and effective measures to improve the windproof performances of trains are proposed,which are meaningful to deal with wind-induced train accidents.Based on this research route,a series of numerical simulations are conducted to evaluate train safety and the corresponding measures are provided.The results show the following.The running safety of the train under crosswinds mainly depends on the aerodynamic loads acting on the train.The relationships between the safe speed limit and train type,the load weight,the embankment height,the road cutting depth,the railway line curve parameters,the yaw angle and other factors are obtained.The critical wind-vehicle speed relationship,as well as the engineering speed limit value under different running conditions,are determined.Large values of the aerodynamic and dynamic indices mainly appear in special locations,such as near earth-embankment-type windbreak walls,shallow cuttings and the transition sections between various types of windbreak walls.Measures such as increasing the height of the earth-embankment-type windbreak walls,adding wind barriers with reasonable heights in shallow cuttings and optimizing the design of different types of transition sections are proposed to significantly improve the safe speed limits of trains under crosswinds.