Modeling Human Vehicle Driving by Model Predictive Online Optimization

A driver model is designed which relates the driver's action to his perception, driving experience, and preferences over a wide range of possible traffic situations. The basic idea behind the work is that the human uses his sensory perception and his expert knowledge to predict the vehicle's future behavior for the next few seconds (prediction model). At a certain sampling rate the vehicle's future motion is optimized using this prediction model, in order to meet certain objectives. The human tries to follow this optimal behavior using a compensatory controller. Based on this hypothesis, human vehicle driving is modeled by a hierarchical controller. A repetitive nonlinear optimization is employed to plan the vehicle's future motion (trajectory planning task), using an SQP algorithm. This is combined with a PID tracking control to minimize its deviations. The trajectory planning scheme is experimentally verified for undisturbed driving situations employing various objectives, namely ride comfort, lane keeping, and minimized speed variation. The driver model is then applied to study path planning during curve negotiation under various preferences. A highly dynamic avoidance maneuver (standardized ISO double lane change) is then simulated to investigate the overall stability of the closed loop vehicle/driver system.     

Analytical extension of the effective axle characteristics concept for the development of a structured chassis design process

The lateral vehicle dynamics is defined by the effects of side forces at the front and rear axle. These forces are caused by the slip and camber angle at the individual tyres, which are results of the kinematics and compliances of the chassis. This paper extends the approach of the effective axle characteristics by Paceyka to the analytical expression of the axle cornering stiffness and the axle relaxation behaviour with the aim of the development of a chassis design process as it applies in the early design stage. The obtained expression is integrated into a single track model and validated against a full nonlinear two-track model. By this means of these analytical expressions for the axle cornering stiffness and the axle relaxation behaviour it is possible to directly calculate and analyse the effective slip angles for linear quasi-static and dynamic driving manoeuvres.     

The biogeochemical cycling of methane in Ria de Vigo, NW Spain: Sediment processing and sea–air exchange

Methane (CH₄) concentrations were measured in the water column, in sediment porewaters, and in atmospheric air, in the Ría de Vigo, NW Spain, during both the onset (April 2003) and at the end of (September 2004) seasonal upwelling. In addition, CH₄ concentration and stable isotopic signatures (δ¹³CH₄) were measured in porewaters, and sediment methanogenesis and aerobic oxidation of CH₄ were determined in sediment incubations. Surface water column CH₄ (2 m depth) was in the range 3–180 nmol l^− 1 (110–8500% saturation) and followed a generally landward increase but with localised maxima in both the inner and middle Ría. These maxima were consistent with CH₄ inputs from underlying porewaters in which CH₄ concentrations were up to 3 orders of magnitude higher (maximum 350 μmol l^− 1). Surface water CH₄ concentrations were approximately three times higher in September than in April, consistent with a significant benthic CH₄ flux driven by enhanced sediment methanogenesis following the summer productivity maximum. CH₄ and δ¹³CH₄ in sediment porewaters and in incubated sediment slurries (20 °C) revealed significant sediment CH₄ oxidation, with an apparent isotopic fractionation factor (r_c) of  1.004. Using turbulent diffusion models of air–sea exchange we estimate an annual emission of atmospheric CH₄ from the Ría de Vigo of 18–44 × 10⁶ g (1.1–2.7 × 10⁶ mol). This estimate is approximately 1–2 orders of magnitude lower than a previous estimate based on a bubble transport model.     

产品平台思想——把其他行业成功的思想引入到铁道车辆制造行业

概述了在铁道车辆制造领域引入产品平台这一生产管理思想，分析了从汽车领域引入标准化加工的可能性，阐述了铁道车辆工业开始运用的情况，并介绍了一个功能强大的IT弹性开发工具，利用该工具，可允许按照用户的特殊要求，对完全参数化的车辆模型进行快速修改，并可使用标准化的程序，生产出适应用户有特殊要求的车辆。     

Pivot point-based control for active rear-wheel steering in passenger vehicles

This paper presents a new application of active rear-wheel steering control to improve the lateral vehicle behaviour. In the state of the art, yaw or lateral velocity is used as control variable that means one degree of freedom being not directly controlled. A worse subjective impressions due to movements in the rear end of the vehicle during strong counter-steering are a consequence. To avoid this effect in urban surroundings, an innovative structure to control the pivot point distance of the vehicle is proposed. In this case the coupled elementary states yaw and lateral velocity can be influenced based on a higher level criteria. Analysis show that pivot point fixing provides a comprehensible reference behaviour. Solving the issue of singularity during disappearing yaw movement is the basis to design a performant modified feedforward input–output linearisation. An analytic stability analysis of the internal dynamics shows system immanent limitations which do not influence the target of improving the lateral vehicle dynamics in urban manoeuvres. Finally, the advantages of pivot-based control are highlighted by a comparison with state of the art rear axle control.