Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles

Development and deployment of steering based collision avoidance systems are made difficult due to the complexity of dealing with oncoming vehicles during the evasive manoeuvre. A method to mitigate the collision risk with oncoming vehicles during such manoeuvres is presented in this work. A point mass analysis of such a scenario is first done to determine the importance of speed for mitigating the collision risk with the oncoming vehicle. A characteristic parameter was identified, which correlates well with the need to increase or decrease speed, in order to reduce the collision risk. This finding was then verified in experiments using a Volvo XC90 test vehicle. A closed-loop longitudinal acceleration controller for collision mitigation with oncoming vehicles is then presented. The longitudinal control is combined with yaw stability control using control allocation to form an integrated controller. Simulations in CarMaker using a validated XC90 vehicle model and the proposed controller showed consistent reductions in the collision risk with the oncoming vehicle.     

自动化:中小港口面临的挑战

这是作者 2 0 0 1年在香港举行的TOC亚洲会议上所作的关于集装箱港口发展自动化的报告 ,重点回答了中小集装箱码头要不要发展自动化以及如何实现自动化的问题 ,提出了发展中小集装箱码头自动化的思路和新的方案 ,并对采用自动化技术后所带来的投资效益进行了较深入的分析和评价     

A systemic review of shipboard SCR installations in practice

Growing customer demands and more stringent regulations to reduce harmful air emissions from ships have resulted in an increased interest for the installation of shipboard abatement technologies. Specifically, the selective catalytic reduction (SCR) technology to reduce emissions of nitrogen oxides (NO_x) was early adopted by several Swedish shipping companies. The potential NO_x reduction efficiency of the SCR is well established, but the practical experiences of shipboard installations have been less documented. This paper reviews from a systems perspective the practical experiences of marine SCR installations in Swedish shipping. The aim is to identify important not only technical but also human and organizational conditions necessary for safe, efficient, and sustainable SCR operations at sea. Further, to investigate to what extent the capabilities and limitations of human operators and maintainers are taken into account in the design and installation phase of the systems. Two focus group interviews (n?=?10) and five individual interviews were held with relevant stakeholders in the industry, following a semi-structured schedule on the themes installation, operation, maintenance, and training. The results show that deficiencies in the overall system design—with a combination of technical issues, maintenance access problems, and untrained operators with inadequate understanding of the SCR process—have led to inefficient, costly, and unsafe operations. It is concluded that installations and operations of marine SCR systems, and possibly other forthcoming abatement technologies, would benefit from the use of traditional ergonomic principles and methods. This would in turn contribute towards increased sustainability and a reduced environmental impact from shipping.     

Optimal control of brakes and steering for autonomous collision avoidance using modified Hamiltonian algorithm

ABSTRACT

This paper considers the problem of collision avoidance for road vehicles, operating at the limits of friction. A two-level modelling and control methodology is proposed, with the upper level using a friction-limited particle model for motion planning, and the lower level using a nonlinear 3DOF model for optimal control allocation. Motion planning adopts a two-phase approach: the first phase is to avoid the obstacle, the second is to recover lane keeping with minimal additional lateral deviation. This methodology differs from the more standard approach of path-planning/path-following, as there is no explicit path reference used; the control reference is a target acceleration vector which simultaneously induces changes in direction and speed. The lower level control distributes vehicle targets to the brake and steer actuators via a new and efficient method, the Modified Hamiltonian Algorithm (MHA). MHA balances CG acceleration targets with yaw moment tracking to preserve lateral stability. A nonlinear 7DOF two-track vehicle model confirms the overall validity of this novel methodology for collision avoidance.