高速公路ETC单片式电子标签应用发展方向研究

根据全国高速公路电子不停车收费(ETC)系统联网运行数年之后的新发展形势,结合现有和未来的收费业务需求,提出单片式和伪单片式两种车载电子标签(OBU)类型,并通过分析两种OBU的优缺点、应用条件和实施可行性等,得出近期发展伪单片式OBU,远期发展单片式OBU的应用建议。     

一种新型智能车载单元OBU系统的设计与量产

OBU(On Board Unit),即车载单元^[1]。在智能网联车路系统中,OBU使不同厂商车辆,以及路侧单元RSU(Road Side Unit)^[1]互联互通。本文设计了一种新型OBU系统,融合了5G通信、C-V2X通信(Cellular Vehicle to Everything,V2X)^[2]和GNSS定位、硬件加密等功能。针对客户需求和OBU系统架构,对软硬件子单元进行了详细分析和设计,经落地优化、批量生产,成功大规模应用于城市公交系统与车路协同项目中。     

日本推进ETC应用的四大妙招

招数一： 政府补贴为拉动经济、鼓励出行和消费，日本将ETC的应用列入刺激政策，出台了补助100万台OBU（车载机）购买的制度，让购买者可以用在当地买两碗面条的钱买到一个OBU，一时间销量激增。     

ETC系统的邻道干扰问题分析及射频指标控制

基于国标ETC车道系统的实际运行情况,分析了邻道干扰产生的主要原因,利用建立的邻道干扰车道模型和坐标系,采用边界分析法计算了与解决邻道干扰相关的天线方向性图约束条件和与之相关的射频指标约束条件,提出了OBU截止电平的概念。研究表明:在合理的工程安装条件下,通过设定必要的设备射频指标约束,可在保证OBU与本车道RSU正常通信质量的基础上,切断OBU和相邻车道RSU通信的下行通信链路,同时,在上行链路上采用相邻车道不同信道配置和采用RSU窄带接收,从而防止避免邻道干扰的产生。最后根据理论分析和计算,结合工程实际应用,给出了可供参考的RSU天线方向性图约束条件和OBU接收射频参数范围。     

基于低碳交通的集中控制多车道方法研究

本文提出了一种利用集中控制多车道方法，来解决传统多车道自由流的邻道干扰、交易盲区、交易成功率低的问题。该方法首先利用宽天线和同步控制技术来消除邻道干扰和交易盲区，然后利用定位天线对OBU进行动态定位，通过RSU控制器达到对OBU进行动态的跟踪交易。     

不停车收费系统（ETC）关键技术应用研究（2）

3 OBU选型比较 OBU也称为电子标签或车载单元,它是一种具有微波通信功能和信息存储功能的移动设备识别装置,是公路联网收费电子不停车收费专用设备。     

试论ETC系统工程实施及运营可靠性问题

本文针对ETC系统工程实施及运营可靠性问题进行探讨,在分析我国ETC系统工程发展基础上,重点从OBU运行可靠性和RSU运行可靠性两个方面探讨了ETC设备可靠性,最后分析ETC车道布局及系统工作方式,希望对于今后我国的ETC系统工程发展具有一定帮助。     

车路协同车辆编队系统研究

车辆编队是通过网络技术，使车辆彼此之间紧跟在一起行驶。设计了基于信息物理系统(cyber-physical system CPS)理论的货车编队系统的框架，利用路侧摄像头、毫米波雷达等路侧智能设备、车载OBU智能终端获取道路及车辆信息进行多源信息融合，并通过V2X通信技术进行数据传输，从而实现车、路、云协同工作。     

OBU防拆方案分析

本文主要介绍了OBU防拆手段,结合汽车行业的相关技术,提出可以实施的可行性方案。     

不停车收费系统（ETC）关键技术应用研究（1）

长三角地区高速公路不停车收费（ETC）联网系统的正式开通,证明上海市在该项技术方面的合作研究与应用取得了成功。简要介绍了近年来上海市在ETC技术应用研究中的两项关键技术：自动车辆识别技术（AVI）和电子标签（OBU）技术的研究成果,以供参考。     

基于GPS的电子不停车收费车载设备系统开发

分析了传统的高速公路的收费方式和电子不停车收费方式,并针对现有收费方式的弊端,设计集成了具有GPS、GSM／GPRS功能的新一代不停车收费车载设备,它综合利用了卫星定位、无线通信及专用短程通信等技术,实现了车辆的不停车收费功能,并支持信息服务功能,成功应用于卫星定位和无线接入技术的电子不停车收费系统。     

卫星收费系统GPS定位信息和路段匹配方法研究

描述了1种GPS定位信息和电子地图收费路段匹配的方法,分为地图精简和地图匹配2部分。根据GPS定位收费系统对地图及地图匹配的要求,对电子地图进行了精简。路段识别采用了GPS位置点和路段收费位置节点的匹配方法,通过设定收费标示值,配合路段间拓扑关系、路段的收费属性值信息,进行地图匹配计算,判断当前车辆是否行驶在收费路段上,从而对行驶在收费路段的车辆进行通行费用计算、对收费地图信息进行精简处理、探讨分析影响地图匹配精度的因素、描述地图匹配的方法。该方法经过实验检测,并在高速公路卫星收费实验系统中实际运行,效果良好。     

车载资通信服务发展议题分析与因应

继计算机、通信及消费性电子3C产品之后,第4C车用电子之车载机（on-board unit,OBU）资通信整合应用服务是政府与国内外产业界均十分关注的发展领域,同时也是智能型运输系统（in-telligent transportation system,ITS）、Telematics与信息通信界共同瞩目的焦点。因此,希望能够掌握无线通信、车载机、无线上网、交通资通平台与交通实时信息加值之发展趋势,并分析提供用路人实时交通信息、以及建立产业加值链之相关议题,以促使ITS相关产业及服务之永续发展。     

Torque ripple minimization control of permanent magnet synchronous motors for EPS applications

This paper identifies a control method used to reduce torque ripple of a permanent magnet synchronous motor (PMSM) for an electric power steering (EPS) system. NVH (Noise Vibration Harshness) is important for safe and convenient driving. Vibration caused by motor torque is a problem in column type EPS systems. Maintaining a very low torque ripple is one solution that allows for smoother steering. Theoretically, it is possible to design and drive the motor without torque ripple. However, in reality, a PMSM system torque ripple is caused by the motor itself (saturation in the iron core and EMF distortion) and the imperfect driver. This paper analyzes torque ripple of a PMSM system, and an advanced PMSM control method for the column typed EPS system is presented. Results of the analysis indicate that the compensation current is needed in order to minimize torque ripple when a PMSM is driven.     

Development of a slip control anti-lock braking system model

This paper describes the initial phase of work carried out as part of an on going study investigating the interaction between the tyre, suspension system and an antilock braking system (ABS). The modelling, analysis simulations and integration of results have been performed using an industry standard Multibody Systems Analysis (MBS) program. A quarter vehicle model has been used together with an individual front suspension system represented by interconnected rigid bodies. The tyre model used can be integrated into vehicle handling simulations but only the theory associated with the generation of longitudinal braking forces is described here. An ABS model based on slip control has been used to formulate the braking forces described in this paper. The simulations, which have been performed braking on wet and dry road surfaces, compare the performance of two different tyres.     

Advanced permanent magnet motor drive modeling for automotive application under matlab/simulink environment

This paper proposes an advanced permanent magnet (PM) motor drive modeling for dynamic analysis of automotive control systems with PM motor drives. To enhance the reusability of the proposed PM motor drive model, each component is modeled in an object-oriented manner according to the physical partitioning of a real drive system, and userfriendly and well-organized interfaces are also proposed. These characteristics enable this model to be used as a kind of a programming library. A multi-level modeling strategy is also proposed, which helps make a compromise between model accuracy and simulation speed without structural modification of the system model. The model and modeling strategy developed allow for a comprehensive analysis of each component and dynamic analysis of the total system. System simulation results show the practical effectiveness of the proposed modeling strategy.     

基于车联网BSM数据与路侧视频融合的港口集装箱卡车碰撞危险辨识方法

大型港口集装箱码头运输车辆调度频繁,堆场过道和交换区等区域视距狭窄,容易导致港口集装箱卡车与设施、作业人员和车辆发生擦碰事故。为提高智能集装箱卡车在港口密集区域的轨迹跟踪精度和行车安全感知能力,提出了一种车联网条件下融合车载终端基本安全消息（Basic Safety Messages,BSM）数据和路侧视频数据的集装箱卡车碰撞风险辨识方法。采用YOLOv5s算法提取视频监控范围内的目标车辆和作业人员,根据目标集卡大尺寸特点设计非极大值抑制锚框来提高目标识别准确度。运用透视变换原理将目标像素坐标转换成地理坐标,并应用Deep-SORT算法匹配每帧图像的车辆轨迹信息。应用交互式多模型方法（interactive multi-model,IMM）融合视频轨迹信息和车载单元（on-board units,OBU）定位数据,减小了目标机动过程中的观测误差。基于集卡融合轨迹结果,提出了1种新型的轨迹冲突风险评估模型,能够根据目标集卡与周围目标轨迹的相对运动状态实时感知车辆碰撞危险,该碰撞危险检测结果在实际场景中可通过路侧设备对车载终端和作业人员终端实时播发预警信息。针对集卡跟踪误差的实验结果表明：...     

Approach to functional safety-compliant ECU design for electro-mechanical brake systems

In this paper, we propose a design approach to a functional safety-compliant ECU for an electro-mechanical brake (EMB) control system or an electronic wedge brake (EWB) control system. Brake actuators in a brake-by-wire (BBW) system such as EMB or EWB are characterized by the safety-critical functions which are now executed by using many electric and electronic devices with application software. Based on hazard analysis and risk assessments of the automotive functional safety standard ISO 26262, the proposed EMB control system should be ASIL-D-compliant, which is the highest ASIL level. To this end, a hardware and a software design method is introduced to implement functionl safety-oriented monitoring functions which are based on an asymmetric dual-core architecture with an external watchdog processor. It is shown by using EMB hardware-In-the-Loop-Simulation (HILS) that the proposed ECU design approach is very effective when a hardware fault or software execution faults occur in the EMB ECU, moreover, this functional safety-compliant design can be well combiled with the sensor fault-tolerant control logic.     

Vehicle dynamic control of a passenger car applying flexible body model

Modern software tools have enhanced modelling, analysis and simulation capabilities pertaining to control of dynamic systems. In this regard, in this paper a full vehicle model with flexible body is exposed by using MSC. ADAMS and MSC. NASTRAN. Indeed, one of the most significant vehicle dynamic controls is directional stability control. In this case, the vehicle dynamic control system (VDC) is used to improving the vehicle lateral and yaw motions in critical manoeuvres. In this paper, for design the VDC system, an optimal control strategy has been used for tracking the intended path with optimal energy. For better performance of VDC system, an anti-lock brake system (ABS) is designed as a lower layer of the control system for maintaining the tyre longitudinal slip in proper value. The performances of the controller on rigid and flexible models are illustrated, and the results show the differences between the control efforts for these models, which are related to the differences of dynamic behaviours of rigid and flexible vehicle dynamic models.