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1.
S. H. Jeong C. G. Choi J. N. Oh P. J. Yoon B. S. Kim M. Kim K. H. Lee 《International Journal of Automotive Technology》2010,11(3):409-416
This paper presents a low cost design and implementation of a parallel parking assist system (PPAS) based on ultrasonic sensors.
Generally, a PPAS requires several types of sensors, such as an ultrasonic sensor, camera sensor, radar sensor and laser sensor
for parking space detection. However, our proposed PPAS only requires two ultrasonic sensors on the front and lateral sides
for parking space detection. Moreover, a steering angle sensor and wheel speed sensor installed in the vehicle are used to
obtain vehicle position information for localization in ultrasonic range data. The hardware architecture of the PPAS based
on an electronic control unit (ECU) module, sensor modules and a human machine interface (HMI) module was proposed. Moreover,
the software architecture of the PPAS is based on system initialization, scheduling, recognition and a control algorithm.
In particular, a novel sensor algorithm was proposed to minimize the vehicle corner error of the ultrasonic sensor. A prototype
of the PPAS based on the proposed architecture was constructed. The experimental results demonstrate that the implemented
prototype is robust and successfully performs parking space detection and automatic steering control. Finally, the low cost
design and implementation of the PPAS was possible due to the cheap ultrasonic sensors, simple hardware design and low computational
complexity of the proposed algorithm. 相似文献
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毫米波雷达作为车辆主动安全技术的核心传感器之一,在预警系统中,雷达的安装误差会导致其坐标系与上层应用不一致,影响系统性能甚至安全性。雷达自动校准功能借助整车运行环境中的静止目标,通过解算静止目标物相对雷达运行速度与整车实际运行速度的矢量关系,并采取批量自学习的方法以确定雷达初始安装偏差角度值,进而使用软件补偿的方式对偏差值进行修正,使雷达传感器与整车坐标系保持一致。 相似文献
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B. J. Moon H. G. Jung S. G. Lee D. H. Kim 《International Journal of Automotive Technology》2014,15(3):483-494
This paper describes a parallel model-based fault detection algorithm for an electronic parking brake (EPB) system, which consists of an electronic control unit with built-in current sensor and braking force sensor. For the EPB system to supply sufficient parking force to a vehicle, the parking force sensor is of utmost importance. If a fault occurs in this sensor, sufficient parking force may not be supplied, thereby seriously threatening the safety of the vehicle. Thus, a fault detection method is required for the parking force sensor of the EPB system to improve the safety of vehicles. For this purpose, a highly reliable fault detection method is needed to detect abnormal fault signals, which cannot be detected by the existing on-line sensor monitoring fault detection methods. This paper proposes a novel parallel model-based fault detection algorithm for the EPB system, which compares the physical sensor data with the mathematical model, the fuzzy model, and the neural network model at the same time. In order to reduce false alarms, the magnitude of thresholds and the operation counts are changed adaptively. When the proposed parallel model-based fault detection algorithm detects severe failures of the force sensor, it warns the driver in advance to prevent accidents due to the failures. The proposed algorithm is verified by hardware-in-theloop simulations in various situations. 相似文献
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为探究城市道路行车轨迹与路侧之间的横向距离对车辆运行的影响,提高驾驶员行车安全,在某市滨海路进行汽车运行轨迹样本采集试验,使用AxleLight RLU11系列路侧交通数据采集系统分车道采集试验路段汽车运行轨迹样本,利用SPSS Statistics对试验路段不同车道车辆运行轨迹样本进行数据处理,绘制不同行车道运行车辆横向距离的累积频率曲线,计算得到汽车运行轨迹与路侧的横向距离D85,通过绘制行驶车辆距路侧的横向距离直方图,得到不同车道的车辆分布规律。结果显示,驾驶员大多数偏向选择在内侧车道运行。根据试验路段内外2条车道车辆横向距离和运行轨迹特性,可为城市道路交通安全设施的设置提供理论依据,以期提高城市道路交通运行安全。 相似文献
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《JSAE Review》1994,15(1):45-51
At the center of gravity of a vehicle, the control function for rear steering can cancel the side slip angle which varies as the running speed is changed. An instantaneous center of vehicle motion is controlled, employing rear steering. Even though the running speed of the vehicle is changed, the side slip angle remains as it was, if a relation of the position of the instantaneous center of vehicle motion to the vehicle does not change. Furthermore, taking account of an instantaeous center of yaw motion will enable us to select how much the side slip angle should be. 相似文献
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针对常见的平行泊车场景,提出一种基于自适应神经模糊推理系统的平行泊车路径规划方法。以基于优化算法的泊车路径规划方法得出的泊车路径作为训练样本,利用Python脚本语言建立以自适应遗传算法和拟牛顿法为内核的自动化训练框架,使自动训练后的自适应神经模糊推理系统既可继承基于优化算法的泊车路径规划方法适用范围更广的优势,又有效解决该方法求解过程计算量大的问题。通过仿真分析验证所提出方法的可行性和有效性,结果表明:自动训练后的自适应神经模糊推理系统可依据汽车初始泊车位姿和泊车位信息快速规划出可行的平行泊车路径。 相似文献
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很多车主都觉得内后视镜起不了什么大的作用,要么当成化妆镜,要么看后排乘客,其实,乘用车安装内后视镜是为驾驶员无需太多变换向前的视线即可确认后方视野内情景的镜子,是一个保证行车安全的重要零件,因为有时外后视镜不能很清晰的显示后方车辆的距离,但通过内后视镜,就可以较清楚的进行判断,保证安全.因此,内后视镜属于整车中的关重件... 相似文献
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为更好地提高汽车产品的市场竞争力,汽车安全性能成为竞争焦点。文章介绍了盘式制动器与传统鼓式制动器相比较后的优点、后轮用盘式制动器的类型特点及传统的盘式制动器与具有驻车功能的盘式制动器的区别。说明具有驻车制动功能的盘式制动器能为现代轿车和商务车提供安全可靠的制动性能。盘式制动器已经在国内外许多品牌轿车上得到了广泛的应用。 相似文献
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反力式制动试验台加载能力与检验结果真实性的分析 总被引:1,自引:0,他引:1
利用反力式制动试验台对前、后轮的加载能力进行了分析,并得出如下结论:(1)因存在系统的微观自激振动,致使滚筒对车轮的加载能力在一定范围内不停地波动;(2)加载能力一般不低于轴荷的60%,对于后轮行车制动力的检验,试验台加载能力的下限值可能低于60%;(3)为使后轮驻车制动力检验的加载能力不低于整车重力的20%,试验台应设置限制车辆后移的辅助设施,以提高驻车制动力的加载能力。 相似文献
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目前预定义几何集方法主要用于平行车位和垂直车位2种类型的泊车路径规划,对于未涵盖的停车位种类而言则存在无法规划泊车路径的问题,使得自主泊车系统对于能够泊入的车位种类存在局限性。为了设计斜列式泊车方式用以提高自主泊车系统中车位种类的覆盖率,提出一种基于预定义几何集的斜列式泊车路径规划方法。首先,提出了斜列式C字形泊车路径规划方法,利用几何学设计一种圆弧相切斜线的路径,并通过多项式建模表征任意角度停车位下的斜列式C字形泊车路径;其次,通过分析泊车路径与停车位中可能发生碰撞的关键点之间的距离,构建了泊车路径碰撞约束模型,以此分析不同规格停车位下约束条件的参数,从而获得规划路径安全区域;然后,结合拓扑地图信息与斜列式C字形泊车路径规划的碰撞约束模型,获得合适的泊车路径起始点范围,继而生成与全局路径无缝衔接的安全泊车路径;最后,通过MATLAB/Simulink仿真验证此方法的有效性,并通过实车试验证明实用性。结果表明:所提方法针对任意规格的斜列式停车位,均能有效地规划出无碰撞条件下的斜列式泊车路径;同时,车辆能够良好地跟踪所规划的路径,实现精准泊入停车位,证明所提方法能够提高自主泊车系统中停车位种类的覆盖率,并大幅度提高自主泊车系统的实用性。 相似文献
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针对某车辆前副车架摆臂后安装点在路试及台架试验中出现的开裂问题的原因进行了分析,并提出改进方案,经过验证、路试及台架试验,车辆安全性能得以保证。 相似文献
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为了提高平行式泊车效率、节能减排、规范停车秩序,本研究在现有路侧平行式停车泊位施划方法的基础上,建立了机动车"一把轮"平行式泊车轨迹的数学模型,并利用该数学模型及MATLAB软件对多种车型进行了平行式泊车过程的仿真,从而得到了停车区域、共用区域、引导线的位置和尺寸等参数,提出了新型平行式停车泊位施划的方法;设置了共用区域,缩短单个停车区域长度;并将理论计算的结果与实际相结合,进行了实车试验;本研究提出的路侧平行式停车泊位施划方法的优化方案,不仅可以节省停车场占地面积,还能降低驾驶员泊车难度,降低了能源消耗、减少了污染排放,并在一定程度上节省了泊车所需时间,使路侧平行式泊车更加方便高效. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):529-546
A comparison between two different approaches to vehicle stability control is carried out, employing a robust non-parametric technique in the controller design. In particular, an enhanced internal model control strategy, together with a feedforward action and a suitably generated reference map, is employed for the control of a vehicle equipped either with a rear wheel steering (RWS) system or with a rear active differential (RAD) device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Extensive steady state and transient tests simulated with an accurate 14 degrees of freedom nonlinear model of the considered vehicle show that both systems are able to improve handling and safety in normal driving conditions. RAD devices can make the vehicle reach higher lateral acceleration values but they achieve only slight stability improvements against oversteer. On the other hand, 4WS systems can greatly improve both vehicle safety and manoeuvrability in all driving situations, making this device an interesting and powerful stability system. 相似文献
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汽车倒车控制系统是一种智能电子监控系统。在驾驶员停车或倒车时,检测车辆侧面和后面的障碍物距离并输出方向盘转向提示,当障碍物与车之间的距离超过设定的域值及安全驾驶距离时倒车系统会发出声音报警,提醒驾驶员控制汽车与障碍物保持一定的安全距离。这样一来即使驾驶员视野处于盲区也能使车辆有效躲避障碍物,避免发生碰撞,从而实现安全倒车。 相似文献