基于大货车GPS数据的轨迹相似性度量有效性研究

目前,中国货车上全球定位系统(GPS)的强制安装,使得利用包含时间、空间和速度等信息的货车轨迹数据来研究货车运行模式成为可能。基于距离的轨迹相似性度量算法,采用全国道路货运车辆公共监管与服务平台获取的货车GPS轨迹数据,对比分析其在货车轨迹模式识别中的应用。选用文献中最常用的4种基于距离的轨迹相似性度量算法,分别为离散弗雷歇距离(DFD)、动态时间规整(DTW)、最长公共序列(LCS)和实序列编辑距离(EDR)。试验结果表明:当使用二维地理空间轨迹数据(即经度和纬度)时,4种基于距离的轨迹相似性度量算法都能很好地对相似轨迹进行分类(正确率均高于85%),这与现有文献的结论一致。虽然一般认为二维轨迹相似性算法可以直接应用到多维轨迹数据,但是解决具体问题时可能出现的误差以及各种轨迹相似性算法的适用性仍然不确定。目前几乎没有文献对三维及其以上的多维轨迹数据进行实例分析研究,因而,通过相同路线上的三维GPS货车轨迹数据(包括经度,纬度和速度)对4种基于距离的轨迹相似性度量算法进行验证。将第3维速度加入到二维空间轨迹上后发现LCS算法对基于地理空间轨迹的速度模式分类效果优于其他3种基于距离的轨迹相似性度量算法。这说明运用LCS轨迹相似性度量算法来识别基于三维GPS轨迹的货车运行模式是可行的,LCS算法在货车运营管理等方面将有很大的应用潜力。     

郑万高铁隧道大断面机械化施工关键技术研究

为实现大断面隧道机械化施工,针对郑万高速铁路湖北段隧道机械化施工所面临的掌子面稳定性控制、支护结构参数优化、机械化施工工法及施工工艺参数选取等主要问题,采取现场试验、资料调研、理论分析等手段,提出掌子面稳定性综合分级方法及稳定性控制措施,并对超前支护、洞身支护参数进行优化。郑万高速铁路采用全断面法和微台阶法2种工法进行施工,同时,对高压劈裂注浆、低预应力锚杆、超挖控制、高标号初喷混凝土等施工工艺进行探索和应用; 在信息化项目管理平台的基础上,建立基于施工动态管理的隧道作业面分类管理方法。研究成果在郑万高速铁路的成功应用将极大提高隧道建设的机械化水平,为隧道机械化施工提供参考。     

Analysis of high dynamic car manoeuvres using two types of lever-arm correction

As navigation algorithms using Kalman filters, fuzzy or adaptive algorithms, interacting multiple model (IMM) algorithms and other possible solutions combining data from several sensors, have been progressively used in the last decade, there has been little advance in developing a robust and accurate device available for car manufacturers. The most solutions fail in long-term reliability and/or use too generalized linearization models. This is why in this paper we have examined some high dynamic manoeuvres which are usually a part of automotive tests. Some major issues during these manoeuvres were identified and a modified Kalman filter solution is presented. The problem of positioning of an inertial device within a vehicle is addressed and a transformation of measured data to the centre of gravity (COG) or rotation point (RP) of the vehicle is introduced. We also propose a few methods to identify the start and the stop of a brake test and show distance difference between conventional and modified Kalman algorithm during driving in circles. Finally, a direct and indirect lever-arm correction is introduced and real road tests are made to present an improvement in outputs using one-device sensor setup.     

钢-混凝土组合结构在沈阳市东西快速干道工程中的应用

沈阳市东西快速干道工程为减少满堂支架施工对路口交通的影响 ,同时 ,也为了保证整个高架桥梁高一致 ,决定采用钢 -混凝土组合结构。针对该结构的负弯矩区桥面板易引起开裂的问题 ,提出各种处理方法 ,并据此予以结构设计。     

连续下降进近(CDA)航迹的 Gauss 伪谱优化方法

针对优化恒定下滑角的直线连续下降进近(CDA)飞行航迹问题,采用高斯伪谱法将 Bolza型最优控制问题(OCP)转化成飞行器不同襟翼状态下的非线性规划问题,得出时间优化连续下降进近飞行航迹.对连续下降进近的飞行器建立动力学模型,确定飞行位置的状态变量及航迹角的控制变量,提出时间最小化性能指标.选取 B737-800机型,在终端区和飞行状态限制条件下利用 GPOPS工具仿真高斯伪谱法时间优化航迹,确定 TOD 位置和飞行速度控制曲线.并与其它 CDA 航迹算法进行比较研究.对比分析终端区17条 CDA 航迹及1条传统阶梯式进近航迹的进近状态,结果显示,采用高斯伪谱法获得的 CDA 航迹相比于传统进近航迹的下降时间缩短了16.67%,且优于其它算法获得的 CDA 航迹.验证使用高斯伪谱法优化 CDA 航迹可节省下降时间,提高航迹预测的精度和飞行控制系统的计算效率.      

基于数据驱动的人机混驾多车协同控制算法

针对多车协同控制系统中，传统控制算法需要准确获取系统中与驾驶员驾驶行为相关的参数以及与车辆系统动力学相关参数等问题，提出基于数据驱动的自适应动态规划控制算法。以有人与无人驾驶车辆混行的多车协同控制系统为研究对象，通过分析系统的横纵向控制模型，推导出系统状态方程，采用递推数值方法在线逼近最优解，并通过对最优反馈控制矩阵进行优化求解，得到最优控制输入。该算法简化了系统的控制输入参数，仅仅利用V2X通信获得的车辆的前轮转角以及车辆期望的纵向加速度作为控制输入，即可实现无人驾驶车辆的优化控制。基于Carsim和Simulink进行联合仿真测试验证，结果表明，该算法控制参数简单、收敛速度快、控制精度高、适应性强，能够控制无人驾驶车辆在多车系统中保持期望的车速并且与前车保持期望的车间距，同时在任意曲率道路上行驶时与车道中心线之间的横向误差趋于0。      

道路交通无序拥挤控制模型的研究

为了解决道路交通无序拥挤控制问题,定义交通序参数、路段交通的有序和无序,建立涨落后无序拥挤控制过程数学规划模型,采用动态分流决策方法求解模型得出无序拥挤控制的最佳方案,并给出相应的算法,最后用一个例子说明算法的实用性。     

On the Theory of Nonlinear Dynamics and its Applications in Vehicle Systems Dynamics

We present a brief outline of nonlinear dynamics and its applications to vehicle systems dynamics problems. The concept of a phase space is introduced in order to illustrate the dynamics of nonlinear systems in a way that is easy to perceive. Various equilibrium states are defined, and the important case of multiple equilibrium states and their dependence on a parameter is discussed. It is argued that the analysis of nonlinear dynamic problems always should start with an analysis of the equilibrium states of the full nonlinear problem whereby great care must be taken in the choice of the numerical solvers. When the equilibrium states are known certain linearizations around one chosen state may be applied carefully in order to facilitate or speed up the numerical solution of the dynamical problem. It is argued, however, that certain problems cannot be linearized. The applications of nonlinear dynamics in vehicle simulations is discussed, and it is argued that it is necessary to know the equilibrium states of the full nonlinear system before the simulation calculations are performed.     

On the Theory of Nonlinear Dynamics and its Applications in Vehicle Systems Dynamics

We present a brief outline of nonlinear dynamics and its applications to vehicle systems dynamics problems. The concept of a phase space is introduced in order to illustrate the dynamics of nonlinear systems in a way that is easy to perceive. Various equilibrium states are defined, and the important case of multiple equilibrium states and their dependence on a parameter is discussed. It is argued that the analysis of nonlinear dynamic problems always should start with an analysis of the equilibrium states of the full nonlinear problem whereby great care must be taken in the choice of the numerical solvers. When the equilibrium states are known certain linearizations around one chosen state may be applied carefully in order to facilitate or speed up the numerical solution of the dynamical problem. It is argued, however, that certain problems cannot be linearized. The applications of nonlinear dynamics in vehicle simulations is discussed, and it is argued that it is necessary to know the equilibrium states of the full nonlinear system before the simulation calculations are performed.     

Dynamic Interaction of Vehicles with Tracks and Roads

The principle problems of the new developing scientific field - dynamics of vehicles, tracks and roads - are defined. Basic theoretical models for the analysis of railway and road vehicles, tracks and roads and principle methods of their solution are shown. The dynamic interactions between vehicles and routes are emphasized and several basic equations are given to show the behaviour of their elements. The effect of some parameters, like speed, track or roads irregularities etc. is explained. The possibilities are described how to simplify the theoretical models to obtain a simple solution.     

船舶运动模型参数辨识研究综述

创建精确且可靠的运动模型是有效分析船舶操纵性和保障船舶智能航行的关键。相较于常用的船舶运动建模方法（包括经验法、试验法、计算流体动力学数值法），参数辨识技术是1种实用有效、迁移性强的建模手段，但因受到诸如船舶强非线性运动特性、时变耦合的环境干扰、内外多重不确定性等众多复杂因素的影响而面临极大挑战。围绕船舶运动模型参数辨识技术的4个核心内容，即最优输入设计、船舶运动数学模型、参数估计算法、辨识模型测试验证，重点梳理了富含操控特性的激励数据获取、多型船舶运动模型、经典-智能-混合参数辨识方法、辨识模型评估方法相关的研究现状，剖析了噪声干扰、参数漂移、参数时变、评价指标选取等主要问题，发现面对操纵与航行特征复杂的船舶，获取覆盖广域运动特征的高质量数据仍无较好方法，参数漂移现象与模型复杂度紧密相关，且无法完全避免。面向数据高质量化、辨识实时性、航行场景复杂化等的发展要求，对船舶运动模型参数辨识技术在船舶操纵运动数据获取与处理，如鲁棒估计与信息融合、鲁棒在线参数辨识、多新息智能算法、复杂场景下的船舶运动辨识建模如受限条件下船舶运动辨识建模等重点方面进行了展望。      

基于动态系统的交通分布优化预测方法

研究运输系统中动态交通分布的预测方法,即在运输系统中,当各交通小区的发生交通量及吸引交通量出现变化后,需根据当前交通OD分布表迅速确定下一阶段的交通OD分布表。确定OD分布是交通运输规划与管理的一项重要研究内容,目前已有的预测方法都需经反复多次迭代才能得到计算结果,计算速度不能满足动态交通系统的要求。论文通过建立预测动态交通分布的优化数学模型及严格的数学推导,得到了求最优交通分布的一个解析公式,应用闭回路法设计了满足非负约束并使误差增长最小的一种调整方法。由算例表明该模型计算速度快,计算效果好,适合动态系统的交通分布预测。     

Tangential problem solution for non-elliptical contact areas with the FastSim algorithm

This article deals with the application of the FastSim algorithm to the solution of the tangential contact problem for non-elliptical contact areas. At first, the causes creating problems for the solution of non-hertzian contact areas with this algorithm shall be analyzed. Then, different currently existing methods shall be studied, analyzing their accuracy characteristics and computational cost to determine whether or not they are appropriate to use in dynamic simulations. Finally, a new strategy shall be proposed that, in the opinion of the authors, offers good characteristics of precision and computational cost.     

Development of a bushing with an active compliance chamber for variable displacement engines

In this paper a novel active compliance chamber is designed, which can be used to control the dynamic stiffness of a common hydraulic bushing. This chamber offers a simple and cost-effective solution for the variable displacement engine (VDE) isolation problem. A VDE system requires a soft bushing for the half cylinder mode and a regular one for normal engine operations. A magnetic actuator is used to produce mechanical pulses. The linearisation technique is used for simplifying the nonlinear equation of motion. Different current sources are used to feed the magnetic actuator. The pressure inside the chamber follows linearly the current input signal. The phase shift in various current inputs is used in the form of the transfer functions to create the required pressure response pattern in the frequency domain. Since the dynamic stiffness of a conventional hydraulic bushing is a direct function of the pressure inside it, the active compliance chamber can be used to alter the pressure and consequently produce the required dynamic stiffness response. As a result, it can address the engine vibration problem for VDE situation.     

装载机避障轨迹规划及模型预测轨迹跟踪

轮式装载机在工作区域行驶时，避障过程频繁，以往的避障轨迹规划未考虑整车转向半径约束和车速变化，也较少考虑整车在动力学模型条件下的轨迹跟踪性能。针对上述情况，以自动驾驶轮式装载机为对象，基于最优快速随机扩展树算法（RRT^*），考虑车身膨胀圆个数，生成全局最优避障路径，以整车最小稳定转向半径为约束，利用CC-Steer算法对避障路径进行平滑处理，采用路径-速度分解算法规划满足整车在加速、匀速和减速状态下的避障行驶轨迹。基于整车动力学模型，考虑行驶过程中的横向位置偏差和航向角偏差，并将整车动力传动系统视为1阶惯性环节，构建装载机动力学状态空间方程。以加速度和铰接角为控制输入，以车速、横向位置偏差和航向角偏差为控制输出，建立整车动力学预测模型，以加速度、铰接角和车速为约束条件，将目标函数转换为二次规划问题，建立满足装载机在工作区域避障的模型预测轨迹跟踪控制系统。以规划的非匀速行驶避障轨迹为目标，利用构建的模型预测轨迹跟踪系统，进行自动驾驶轮式装载机的轨迹跟踪仿真。研究结果表明：所提方法能够很好地控制自动驾驶轮式装载机从初始位姿驶向目标位姿，实现整车在工作区域的避障过程，且在避障过程中满足整车的约束要求，保证整车在轨迹跟踪过程中的安全稳定性能。     

Tangential problem solution for non-elliptical contact areas with the FastSim algorithm

This article deals with the application of the FastSim algorithm to the solution of the tangential contact problem for non-elliptical contact areas. At first, the causes creating problems for the solution of non-hertzian contact areas with this algorithm shall be analyzed. Then, different currently existing methods shall be studied, analyzing their accuracy characteristics and computational cost to determine whether or not they are appropriate to use in dynamic simulations. Finally, a new strategy shall be proposed that, in the opinion of the authors, offers good characteristics of precision and computational cost.     

Multi-objective optimal predictive control of signals in urban traffic network

Traffic congestion in urban network has been a serious problem for decades. In this paper, a novel dynamic multi-objective optimization method for designing predictive controls of network signals is proposed. The popular cell transmission model (CTM) is used for traffic prediction. Two network models are considered, i.e., simple network which captures basic macroscopic traffic characteristics and advanced network that further considers vehicle turning and different traveling routes between origins and destinations. A network signal predictive control algorithm is developed for online multi-objective optimization. A variety of objectives are considered such as system throughput, vehicle delay, intersection crossing volume, and spillbacks. The genetic algorithm (GA) is applied to solve the optimization problem. Three example networks with different complexities are studied. It is observed that the optimal traffic performance can be achieved by the dynamic control in different situations. The influence of the objective selection on short-term and long-term network benefits is studied. With the help of parallel computing, the proposed method can be implemented in real time and is promising to improve the performance of real traffic network.     

基于状态空间采样的高速公路智能网联车辆轨迹动态规划

为实现智能网联车辆在高速公路动态行车环境下的轨迹实时规划，提出一种基于状态空间采样的轨迹动态规划方法。首先，以安全性为原则选取主车当前行驶的理想车道。基于Frenet坐标与笛卡尔坐标的转换关系，建立车辆运动横、纵向解耦的独立积分系统。将高速公路常见的行驶状态分为车道保持与定速巡航、变道以及前车跟随3类，预测主车行驶车道并针对3类行驶状态分别设计轨迹终端的目标配置方法。然后，利用多项式函数生成连接初始配置和目标配置的多条待选轨迹。构建考虑轨迹偏离理想车道程度、始末速度变化、规划周期和轨迹舒适性的综合损失函数，结合速度、加速度、曲率检查来评价各条待选轨迹的成本并进行排序。最后，预测车辆的横、纵向运动轨迹并构建一种胶囊形的车辆虚拟安全边界，通过碰撞检测，确定主车的最优轨迹，设置动态规划触发条件及时更新最优轨迹并避免过度规划浪费资源。研究结果表明：提出的算法能满足高速公路场景的动态规划需求；通过对轨迹规划周期、虚拟安全边界、动态规划时间间隔等关键参数的分析与优化，主车的横摆角速度范围稳定在-0.1~0.15 (°)·s^-1，横向加速度范围稳定在-0.16~0.32 m·s^-2，跟踪参考轨迹的最大误差不超过0.022 m，提出的算法能规划出具有高安全性、稳定性和舒适性的轨迹。     

铁路集装箱运输动态服务网络设计及Benders分解算法

充分考虑箱流的中转方案，研究铁路集装箱运输动态服务网络的设计方法。以总成本最小为优化目标，构建了铁路集装箱运输动态服务网络设计的线性规划模型。根据模型特点，采用Benders算法进行求解，将问题分解为服务网络设计的主问题及箱流分配的子问题，通过计算子问题的对偶模型不断产生主问题的割平面，由此进行迭代求解。为克服算法收敛速度慢的缺点，在主问题模型中添加有效不等式，使主问题更加紧致。以北京、郑州等集装箱办理站构建的运输网络为例，验证了模型和算法的有效性。算例结果表明，对于求解大规模的集装箱运输动态服务网络设计问题，改进后的算法运行46 s得到优化解，GAP为1.56%，未改进的Benders算法运行相同时间后，GAP为45.17%，改进策略的运用有效提高了计算效率; 所得服务网络的总成本比所有箱流均采用直达运输模式服务网络的总成本减少了20%;与现有集装箱班列开行方案相比，优化后的班列发车时段、开行频率在满足运输需求的同时，保证了各组箱流能在规定运到期限内送至目的站。