Synthesis of a Model-Based Tire Slip Controller

The Anti-lock Braking System is an important component of the steering system in a modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS are much higher. The controllers have to be able to maintain a specified tire slip for each wheel during braking. The authors propose a design model and based on that a gain-scheduled controller that regulates the tire-slip. Simulation and test results are presented.     

Circuit racing,track texture,temperature and rubber friction

ABSTRACT

Some general observations relating to tyre shear forces and road surfaces are followed by more specific considerations from circuit racing. The discussion then focuses on the mechanics of rubber friction. The classical experiments of Grosch are outlined and the interpretations that can be put on them are discussed. The interpretations involve rubber viscoelasticity, so that the vibration properties of rubber need to be considered. Adhesion and deformation mechanisms for energy dissipation at the interface between rubber and road and in the rubber itself are highlighted. The enquiry is concentrated on energy loss by deformation or hysteresis subsequently. Persson's deformation theory is outlined and the material properties necessary to apply the theory to Grosch's experiments are discussed. Predictions of the friction coefficient relating to one particular rubber compound and a rough surface are made using the theory and these are compared with the appropriate results from Grosch. Predictions from Persson's theory of the influence of nominal contact pressure on the friction coefficient are also examined. The extent of the agreement between theory and experiment is discussed. It is concluded that there is value in the theory but that it is far from complete. There is considerable scope for further research on the mechanics of rubber friction.     

Fusion de données pour l'estimation des temps de parcours via la théorie de l'évidence

The emergence of new information technologies and the transformation that has occurred in traffic management have both increased drivers' already considerable need for road traffic information. The travel time is one of the forms in which this information is presented, and a number of systems are based on its dissemination. In this context, this indicator is used as a measure of the impedance (or cost) of routes on the network and/or a congestion indicator. This raises the problem of estimating travel times with an acceptable degree of accuracy, which is a particularly difficult task in urban areas as a result of difficultes of a theoretical, technical and methodological nature. Thus, in order to find out the traffic conditions that prevail on an urban road, the traffic sensors that are usually used to measure traffic conditions are ineffective under certain circumstances. New measurement devices (cameras, GPS or cellphone tracking, etc.) mean that other sources of data are increasingly used in order to supplement the information provided by conventional measurement techniques and improve the accuracy of travel) time estimates. As a result, travel time estimation becomes a typical data fusion problem. This study deals with a multisource estimate of journey times and attempts to provide a comprehensive framework for the utilization of multiple data and demonstrate the feasibility of a travel time estimation system based on the fusion of data of several different types. In this case two types of data are involved, data from conventional induction loop sensors (essentially flow and occupancy measurements) and data from probe vehicles. The selected modelling framework is the Dempster-Shafer Evidence Theory, which has the advantage of being able to take account of both the imprecision and uncertainty of the data. The implementation of this methodology has demonstrated that, in each case, better results are achieved with fusion than with methods based on a single source of data and that the quality of the information, as measured by correctly classified rates, improves as the degree of precision required of the estimate is increased.     

La logistique urbaine à l’épreuve du facteur 4

In this paper, we are putting forward a methodology and results from a simulation of different town development scenarios, aimed at reducing the impact of greenhouse gas production from the exchange of goods by 75%. The state-of-the-art scenarios are designed based on combining elements relating to recent planning work on town transport systems in France, and empirical results based on surveys and urban logistics modelling work. It shows a set of relevant determinants of potential changes in the formation of goods flows within the town. Based on the fact that, in France, more than half of the car-equivalent vehicle-km produced by the transportation of goods are as a result of households using their cars to go shopping, the scenarios are designed according to a systematic approach to urban mobility of goods and people. They bring together organisational aspects (changes to the urban goods movement system) and aspects of planning and land use, especially with regard to flow generators such as factories, warehouses, shops and households. The calculations, allowing the measurement of the impact of these scenarios on the production of greenhouse gases, are carried out using a model that combines the changes between economic production activities on the one hand, and the changes to household purchases on the other. As a result, organisational changes are proving to be an essential addition to a policy for increasing the density of the urban fabric.     

飞机驾驶舱自动化系统诱发的显性人为差错

对波音(Boeing)与空客(Airbus)2种飞机在降落阶段中驾驶舱自动化所诱发的显性人为差错进行对比分析。针对美国航空航天局(NASA)航空安全自愿报告系统(ASRS)收集的人为差错事件,结合内容分析法将定性的事件描述转换成定量数据,然后从专业角度对飞行员主动报告的事件原因进行分析,并推论事件发生的环境等因素。结果表明,空客在降落阶段所产生的与自动化系统有关的人为差错数量多于波音;但是就飞行机组决策与违规类型的差错而言,波音多于空客。同时,机组资源管理对2种机型飞行员的决策与技能型差错的发生并无显著影响。研究表明高科技的自动化系统能有效提升飞行安全,但也会衍生出新的人-机交互方面的人为差错问题。      

Effect of drowsiness on driving performance variables of commercial vehicle drivers

Driver drowsiness is a major safety concern, especially among commercial vehicle drivers, and is responsible for thousands of accidents and numerous fatalities every year. The design of a drowsiness detection system is based on identifying suitable driver-related and/or vehicle-related variables that are correlated to the driver’s level of drowsiness. Among different candidates, vehicle control variables seem to be more promising since they are unobtrusive, easy to implement, and cost effective. This paper focuses on in-depth analysis of different driver-vehicle control variables, e.g., steering angle, lane keeping, etc. that are correlated with the level of drowsiness. The goal is to find relationships and to characterize the effect of a driver’s drowsiness on measurable vehicle or driving variables and set up a framework for developing a drowsiness detection system. Several commercial drivers were tested in a simulated environment and different variables were recorded. This study shows that drowsiness has a major impact on lane keeping and steering control behavior. The correlation of the number and type of accidents with the level of drowsiness was also examined. Significant patterns in lateral position variations and steering corrections were observed, and two phases of drowsiness-related degradation in steering control were identified. The two steering degradation phases examined are suitable features for use in drowsiness detection systems.     

Behaviour of the Normal Contact Force Under Multiple Wheel/Rail Interaction

The wheel/rail contact forces are calculated in the frequency domain using a track model with multiple wheels on the rail. The effects of the wave reflections between the wheels on the contact force are studied. Different pad stiffnesses are used in the calculations to investigate the influence on the contact force. It is shown that the contact force can have up to four main peaks in the frequency region 550-1200?Hz due to the wave reflections between the wheels, so that the wavelengths of short pitch corrugation can be expected to be associated with multiple frequencies. As a conclusion, it is recommended that in a model for predicting short pitch corrugation the effects of multiple wheel/rail interactions need to be included.     

基于车辆加速度数据的互通立交匝道驾驶风险分析

为明确互通立交匝道的运行特性和驾驶风险,在重庆市南山立交和江南立交开展了超过30位被试者的小客车实车驾驶试验,通过Speedbox和Mobileye等车载高精度仪器采集了小客车在4条迂回式匝道上的连续运行数据,包括行驶速度、横向加速度、纵向加速度等,明确了迂回式匝道的车辆运行状态,然后运用表征横、纵向加速度关系的G-G图分析了匝道行驶过程中的驾驶风险,确定了立交匝道不同位置的危险等级及危险驾驶行为的高发路段。研究结果表明:①立交匝道上小客车的横向加速度与速度呈三角形分布,纵向加速度与速度呈椭圆形分布;②小半径曲线匝道上出现危险驾驶行为的比例要高于大半径曲线匝道;③通过统计不同断面的危险驾驶行为点占比,将匝道的危险断面分为低风险、中风险、高风险3个等级;④男性驾驶员在立交匝道上的危险驾驶行为占比要高于女性驾驶员,冒险型驾驶员的危险驾驶行为占比要高于其他驾驶风格的驾驶员;⑤立交匝道的危险高发路段通常位于速度变化剧烈的路段,即入弯减速段和出弯加速段。      

路堤压实的影响因素和压实度要求

探讨了影响土体压实的因素 ,包括压实能量、含水量、土的颗粒组成以及现场施工条件与方法。这些因素均不同程度地影响着土体的压实质量 ,并影响到土体压实后的性能。结合前人击实试验的成果和高速公路填方路堤强夯质检的数据 ,分析在提高压实度要求时所导致的压实能量大幅度增加问题 ,比较各国标准对压实度的要求 ,从而得出结论 :在压实作业中应根据压实土体的应用要求 ,确定合适的压实含水量 ,提出合理的压实度设计指标 ,以达到合理和经济的目的     

高速公路可变限速系统的社会经济影响评价

运用计算机对高速公路典型路段可变限速系统进行模拟,模拟结果表明在交通量等于或大于2800veh h出现明显的效益。根据行程时间和实际服务流量确定不同交通量情况下可变限速的最佳值,并基于行程时间的节省测度出各交通量条件下实施可变限速货币化的增量效益,进行了成本效益分析。采用DEA方法进行多目标综合评价,评价结果显示,在DEA的各方案中3200、3400、3600、3800veh h所对应的DMU是DEA有效的。本文还证明了DEA对ITS项目评价是很有适用价值的,它能够描述用货币单位难以测度,但可用某种定量指标表述的重要影响。     

组织形态对球铁曲轴疲劳特性的影响

用两根以不同工艺铸造的4JB1发动机球铁曲轴,来研究组织形态对其疲劳特性的影响。一种工艺为铸态 正火处理(以下简称正火态);另一种是铁型覆砂铸造(以下简称铸态)。两者都经机加工、氮化处理后进行弯曲疲劳试验,并从毛坯取样做力学性能和冲击试验。结果表明:尽管两者的力学性能相近,但铸态曲轴的弯曲疲劳极限远高于正火态曲轴。这是由于铸态曲轴具有细小的牛眼状石墨形态 珠光体组织,所以裂纹起裂功和扩展功都较高,在疲劳中当石墨处萌生裂纹后,包围石墨的铁素体可以使裂纹尖端钝化,有效阻止裂纹扩展;而正火态曲轴显示为球状石墨 珠光体组织,包围在石墨周围的珠光体强度较高,在与石墨交界处萌生裂纹和之后裂纹的扩展都较快,导致疲劳寿命较低。     

Vehicle-Generated Road Damage: A Review

The literature concerned with road damage caused by heavy commercial vehicles is reviewed. The main types of vehicle-generated road damage are described and the methods that can be used to analyse them are presented. Attention is given to the principal features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response. Also discussed are those vehicle features which, to a first approximation, can be studied without consideration of the dynamics of the vehicle, including axle and tyre configurations, tyre contact conditions and static load sharing in axle group suspensions. The main emphasis of the paper is on the dynamic tyre forces generated by heavy vehicles: their principal characteristics, their simulation and measurement, the effects of suspension design on the forces and the methods that can be used to estimate their influence on road damage. Some critical research needs are identified.     

Prediction of wheel wear in urban railway transport: comparison of existing models

One of the most important maintenance costs in tramway transport comes from wear of wheel profiles. In the highly competitive railway market, the prediction of wear is then a major concern of the constructors. In this article, we present and compare four models well adapted to tramway conditions, involving contacts on the rolling tread and on the flange with very different sliding and pressure conditions. Moreover, all models can be implemented from the natural outputs of the railway simulation packages classically used in industry for the dynamics design of the vehicles. The first one, proposed by Jendel, is based on the well-known Archard's wear model. Enblom continues Jendel's approach by taking into account the contribution of wheel deformation on the sliding velocity. The last two models, developed by Zobory, and Pearce and Sherratt, determine the wear from the energy dissipation in the contact area. The models are first compared on a theoretical basis and, for that purpose, are rewritten in a common form. Two cases are distinguished: mild wear as arising on the rolling tread and severe wear as arising on the flange. The models are also compared in the practical case of an urban transport vehicle running on circular tracks with different curve radii. Although the models show equivalent trends according to the theoretical study, important discrepancies appear between estimated wear depths. All models are actually dependent on experimental coefficients and it is likely that they were estimated in different conditions. On the other hand, a reasonable agreement can be found in some particular conditions. As an example, Zobory's, Enblom's and Jendel's models are very close to each other in severe wear conditions. This work shows that a general and reliable model could probably be developed from all positive aspects of the existing ones.     

Experimental evaluation of modally distributed damping in heavy vehicles

This work presents theory as well as implementation of a modally distributed damping system with electronically controlled variable dampers. The presented approach follows from estimation of vehicle modal motions, through calculation of desirable modal damping forces to distribution of forces on the utilised dampers. The response time of the damping system is first evaluated in a damper test rig. The damping system is then implemented on a 4×2 tractor that is connected to a semi-trailer. Several road tests are performed to investigate how the system work under real driving conditions on a real vehicle, that includes nonlinearities and chassis frame flexibility that are theoretically unaccounted for, together with the limitations that comes with the control algorithm implementation. It is shown that the approach works and that it results in a considerable improvement for both the bounce and pitch modes, i.e. the system enables selecting damping for the sprung mass modes separately.     

2车碰撞事故下5座乘用车乘员死亡风险分析

为探究5座乘用车乘员在2车碰撞事故下的死亡风险,研究了6种单一特征变量对乘员致死率的影响,进而基于二项Logistic回归模型分别对单一特征变量和组合特征变量进行显著性分析。通过9种常用的分类算法,结合网格搜索的调参方法,以F1为衡量指标选出相对较优的3种分类算法,即投票分类器、梯度提升及决策树,来构建多特征组合下的死亡风险预测模型。研究结果表明:①单一特征变量中行驶方向、路段类型、碰撞对象、乘坐位置对乘员死亡有显著影响。其中,异向行驶的车辆碰撞与同向行驶相比,乘员的死亡风险增加72%;非高速交叉路段与高速路段相比,乘员的死亡风险降低69%;碰撞对象为商用货车、商用客车的乘员死亡风险分别是乘用车的5倍和3倍,若在非高速非交叉路段发生碰撞则乘员死亡风险升至8倍左右,若在高速路段则高达15倍左右;相对于驾驶位乘员,副驾驶位乘员的死亡风险增加70%,且该位置乘员的死亡风险在高速路段会升高到驾驶位乘员的近4倍;②碰撞对象和路段类型是影响乘员死亡情况的主要特征变量;③由模型的预测结果可知:5座乘用车的正面或后面与商用货车在高速路段或非高速非交叉路段发生碰撞,乘员的死亡风险高于生存几率。      

基于对数线性模型的酒后驾驶人的人口特征研究

研究酒后驾驶人的人口社会学特征,有助于提高酒后驾驶交通安全宣传的针对性.搜集某地某年查获的1 072位酒后驾驶人的年龄、性别、户籍和文化程度4个人口学变量的数据,运用线性模型,分析酒后驾驶人在上述4个变量上的分布及其交互关系.结果表明:①酒后驾驶人在年龄、性别、户籍和文化程度4个变量上存在显著差异,男性较之女性、中年较之青年、外地较之本地、高学历较之低学历更多地涉及酒后驾驶;外地较之本地更多涉及酒后驾驶,与既有研究和直觉判断差异较大,反映了当地酒后驾驶安全意识较之外地更好.②4个变量之间均存在显著的二阶交互效应(p<0.01),其中,性别-年龄、性别-户籍等2个二阶效应为正,性别-文化程度、年龄-文化程度、户籍-文化程度与年龄-户籍4个二阶效应为负;表明文化程度调节了性别、年龄、户籍等3个因素对酒后驾驶的影响,年龄调节了户籍对酒后驾驶的影响.调节效应一定程度上解释了酒后驾驶的原因.基于上述结论,提出了改进对酒后驾驶交通安全宣传的策略.      

高速公路模糊神经网络限速控制与仿真研究

高速公路限速控制是一个非线性时变系统,难于用数学模型准确建模,提出一种模糊神经网络实现限速控制。本文阐述了网络的结构和学习算法,根据高速公路车辆群状态、路面性能、气象条件等,建立交通流速度限制模糊神经网络模型,并进行了仿真研究。仿真结果表明网络训练速度快、精度高,适合交通流限速控制的在线建模。该方法切实可行,可使交通流更加均匀、稳定,从而提高主线运行的安全和效率。     

Inverse identification of wheel–rail contact forces based on observation of wheel disc strains: an evaluation of three numerical algorithms

In this paper, three numerical algorithms for the identification of wheel–rail contact forces based on measured wheel disc strains on an instrumented railway wheelset are discussed and compared. The three algorithms include one approach resting on static calibration, one that is applying a Kalman filter and the third is exploiting an inverse identification scheme. To demonstrate and evaluate the alternative methods, two load cases including periodic excitation by sinusoidal wheel–rail irregularities and transient excitation by an insulated rail joint are considered. Based on a previously presented vehicle–track interaction model in the time domain, load scenarios are defined by taking the calculated vertical wheel–rail contact forces as the reference force to be re-identified by the proposed algorithms. The reference contact forces are applied on a finite element model of the wheel to generate synthetic observation data, that is, radial strains at the positions of the strain gauges, serving as input to the identification procedures. It is concluded that the inverse identification scheme leads to superior accuracy at higher computational cost. If on-line implementation and evaluation is required, the Kalman filter generates better accuracy than the static calibration approach.     

基于孔压静力触探的大连湾海相软土固结系数研究

基于孔压静力触探原理，结合相关文献资料的分析方法来计算软土固结系数的主要过程。以大连湾跨海工程为研究实例，结合工程实际对其进行孔压静力触探试验，其结果为:实测数据远高于室内试验所得数据。所以对现场进行了大量的分析计算，得到大量数据，通过对照分析两组数据，发现有所关联且具有一定的线性关系，通过回归分析，给出回归方程。