Desired yaw rate and steering control method during cornering for a six-wheeled vehicle

This paper proposes a steering control method based on optimal control theory to improve the maneuverability of a six-wheeled vehicle during cornering. The six-wheeled vehicle is believed to have better performance than a four-wheeled vehicle in terms of its capability for crossing obstacles, off-road maneuvering and fail-safe handling when one or two of the tires are punctured. Although many methods to improve the four-wheeled vehicle’s lateral stability have been studied and developed, there have only been a few studies on the six-wheeled vehicle’s lateral stability. Some studies of the six-wheeled vehicle have been reported recently, but they are related to the desired yaw rate of a four-wheeled vehicle to control the six-wheeled vehicle’s maneuvering during corning. In this paper, the sideslip angle and yaw rate are controlled to improve the maneuverability during cornering by independent control of the steering angles of the six wheels. The desired yaw rate that is suitable for a six-wheeled vehicle is proposed as a control target. In addition, a scaled-down vehicle with six drive motors and six steering motors that can be controlled independently is designed. The performance of the proposed control methods is verified using a full model vehicle simulation and scaled-down vehicle experiment.     

Lane-following method for high speed autonomous vehicles

This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.     

Adaptive neuron control using an integrated error approach with application to active suspensions

This paper proposes a new neuron control strategy for an active vehicle suspension system, with the emphasis on the study of multivariable and uncertain suspension characteristics. The novelty of this strategy is in the use of integrated error, which consists of multiple output errors in the regulated plant. By combining the integrated error approach with the traditional neuron control (TNC), integrated error neuron control (IENC) is presented. It provides a direct control to the multiple outputs of the control plant simultaneously. Taking a quarter-car model as an example, the proposed control strategy is applied and comparative simulations are carried out with various vehicle parameters and road input conditions. Simulation results prove the effectiveness and robustness of the proposed IENC method. In addition, the newly proposed neuron scheme provides a simple yet efficient new possibility for the control of a class of uncertain multivariable systems similar to an active vehicle suspension.     

信号交叉口右转机动车与行人和非机动车冲突研究

研究的主要内容为:未设置右转专用相位的信号灯控制道路交叉口右转机动车流与行人和非机动车的冲突行为,包括冲突数据的采集和提取、右转车流受到干扰前后速度与过街时间对比分析以及机非冲突速度-距离模型。以现实交通数据为基础,通过软件提取右转机动车与行人和非机动车冲突数据,建立标准统一的冲突数据库,以此为基础对比分析右转车流正常行驶状态和受到干扰情况下通过道路交叉口时的车速和过街时间,并建立右转车辆距离机非冲突点不同位置时所对应不同速度的统计模型。研究结果对右转专用相位设立标准的建立和相应信号配时方案的设计具有一定的工程指导意义。     

高频振捣对道路工程混凝土结构物抗冻性影响的研究

为研究高频振捣对混凝土抗冻性的影响,采用先进的硬化混凝土气泡结构测试设备,通过测定硬化混凝土的气泡特征参数随高频振捣时间增加的变化情况,研究了高频振捣对混凝土抗冻性的影响规律。试验结果表明,经适当高频振捣后,虽然混凝土的含气量有较大损失,但其气泡比表面积增大,气泡间隔系数变化不大。随高频振捣时间的增加,硬化混凝土中气泡总数和小气泡数(直径小于120μm)会出现峰值,而后急剧减少。高频振捣的时间控制在合理范围内,有利于改善引气混凝土的气泡结构,不会对其抗冻性产生不利影响。     

山区双车道公路路线设计车型分类标准

为研究建立公路路线设计标准车型,通过对西部山区双车道公路的实地交通调查,并结合我国在用车型统计,建立了各类营运车辆车型参数数据库;在详细统计分析现有车型的尺寸、载质量和功率质量比分布规律的基础上,以满足85%的车型外廓尺寸和载质量为标准,采用双因素聚类分析方法对各种车型的功率质量比进行聚类分层计算,根据外廓尺寸相近的原则进行归并后,提出了山区公路路线设计车型的小型车、大型车外廓尺寸分类标准。在此分类基础上,研究了用于公路纵断面设计的载重汽车动力性能标准,通过大量实地观测资料和统计分析,提出了载重汽车上坡动力性能曲线,建立了速度折减量与坡度、坡长之间的关系曲线,以速度折减量作为公路纵坡和坡长的设计关键指标。     

轻型两栖汽车可升降底盘机构设计与控制方案仿真

为实现某轻型两栖汽车在不切断驱动力的前提下底盘可升降和车轮可提升,采用了平衡肘肘内动力传动技术。利用无刷直流电机带动蜗轮蜗杆副,驱动平衡肘旋转,通过控制平衡肘的位置实现底盘高度可调和车轮的提升;而发动机驱动力通过平衡肘肘内的链条传动传至车轮。采用数字PID控制方法,实现了平衡肘的位置控制。借助Matlab／Simulink对执行机构进行了仿真,仿真结果表明,利用无刷直流电机驱动能够实现平衡肘的快速转动,进而实现底盘的升降和车轮的提升。     

高职院校应重视实践教学

实践教学是高职院校特色兴校的保证和提高教学质量的根本,是培养学生实践技能和创新品质的关键。因此,高职院校应高度重视和弘扬实践教学。     

连锁经营是汽车维修业的发展方向

在我国汽车维修行业发展连锁经营是整个行业生存的必由之路。在介绍了国外的汽车维修连锁企业的基础上,论述了发展连锁经营的必要性和紧迫性,并对我国汽车维修连锁企业的发展提出了一些合理化建议。     

沥青路面上面层AC-13C沥青混合料配合比设计

生产配合比设计是沥青混合料配合比设计的一个必备阶段,设计成果的好坏将直接影响沥青路面的路用性能。本文结合昌九高速公路技术改造的施工经验,从原材料选用、集料级配试配、沥青含量设计、马歇尔试验、最佳油石比的确定等方面,介绍沥青混合料生产配合比的设计方法。