Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

使用新型辅助变流器节能

新型辅助变流器(BNU)及其新结构设计可减轻有轨车辆辅助电源装置的质量.与传统的典型地铁车辆的辅助变流器相比,这种新辅助变流器的质量可减轻约50%,并且可大大降低能耗.通过采用中频隔离变压器和非焊接箱体可减轻质量,随之而来也扩展了BNU的功能.