高速公路ETC交易耗时估计与车道分区设计

大多数高速公路ETC车道的长度都是以停车视距计算方法为设计依据的,但这忽视了各省市ETC交易耗时的差异,且此依据与ETC系统可实现不停车自动收费的目标相矛盾。不合理的车道长度会导致部分车辆因时间不足而无法完成交易,或出现跟车干扰等现象,降低收费站服务水平。以陕西省170多万条交易数据为样本,采用随机过程与数理统计方法,对交易耗时进行数字特征分析和参数估计,并提出ETC车道划分为交易区和安全控制区,将置信度为99.9%的交易耗时估计结果和停车制动距离应用于区域长度设计中。陕西全省ETC系统建设实践证明,该方法提高了ETC车辆通过率,保障了行车安全,取得了良好效果。     

高速路网不停车收费车道优化布设方法

合理设置高速公路收费站ETC (Electronic Toll Collection)车道数量，对高速公路通行效率至关重要。针对目前路网中ETC与MTC (Manual Toll Collection)车辆混行的情况，考虑ETC的普及率，结合多用户路网均衡模型和排队论方法，建立基于双层规划模型的高速路网ETC车道优化布设方法。上层模型以车辆总通行时间最小为目标，优化设置进出收费站的ETC车道数量；下层模型为多用户路网均衡模型，反映ETC和MTC车辆的路径和收费车道选择行为。下层模型通过设计收费站的等价拓扑结构，表征收费站的车道使用规则及车辆的收费车道选择行为，并采用排队论方法估计ETC和MTC车道的收费排队时间。根据模型的特点设计了基于主动集的启发式算法，利用参数二进制与拉格朗日函数法确定迭代下降方向，解决了下降方向与步长难以计算的问题；通过内嵌优化函数的方式，保证在主动集转化过程中上层约束均不会失效，且避免了迭代过程中的模型解退化问题。基于上海市绕城高速进行实证分析，结果表明：随着ETC普及率的提升，收费排队时长按照负指数趋势下降；与按比例布设ETC车道的方法相比，所提方法最高可降低57.4%的收费排队时间，且该方法可以避免ETC车道布设过多对于MTC车道通行能力挤压造成的负面效果。研究成果可以有效指导高速路网ETC车道的布设，提高路网通行效率。     

一种军警与ETC混合的车道系统

目前,高速公路为军警车开辟的专用车道车流量明显不足,资源浪费严重。为提升高速公路收费站的整体通行能力,基于电子不停车收费的理念以及军警车道的特殊性,提出军警与ETC混合的车道系统设计方案,结合车牌识别与ETC技术,实现军警与ETC混合的车道应用。     

LNG-电混合动力公交车发动机实际运行工况分析

重型汽车实际运行排放与发动机排放型式核准台架测试结果间的差异主要在于二者的测试工况不同。以广州市在用的一款LNG-电混合动力公交车为研究对象,在公交线路上开展整车实际道路测试,通过PEMS,CAN总线实时采集测试车辆车速、发动机转速和扭矩等数据,统计分析该车辆发动机实际工况的分布特征,并与ETC工况和WHTC工况进行比较分析。结果表明,因受动力控制策略、限速、公交车运行规律等影响,该混合动力公交车发动机实际运行工况主要分布在中小转速区,在中小扭矩区时间占比较大,不同于排放型式核准发动机台架测试瞬态工况ETC主要分布在中高转速与中高扭矩区,也不同于WHTC工况主要分布在中等转速区、在中等与偏小的扭矩区分布较均匀。相比于ETC工况,WHTC工况在发动机平均转速、平均功率和怠速比例等工况特征参数与该公交车发动机实际运行工况较为接近。     

Practical vehicle rollover avoidance control using energy method

In this paper, a novel rollover prevention control algorithm is developed for application on vehicles with a high centre of gravity. The developed algorithm can be implemented on any vehicle equipped with an electronic stability program with or without an extra roll rate sensor. The vehicle rollover index is defined from the vehicle lateral kinetic energy and the new concept of virtual gravity. The algorithm is implemented on a production hydraulic control unit and tested using a typical medium size sport utility vehicle up to a speed of 110 km h^-1. The test results show that the control algorithm prevents the vehicle rollover very successfully without any noticeable false activation or over correction resulting in severe under steer. Also, the controlled wheel speed shows a very stable and smooth trace.     

Vehicle dynamic control of a passenger car applying flexible body model

Modern software tools have enhanced modelling, analysis and simulation capabilities pertaining to control of dynamic systems. In this regard, in this paper a full vehicle model with flexible body is exposed by using MSC. ADAMS and MSC. NASTRAN. Indeed, one of the most significant vehicle dynamic controls is directional stability control. In this case, the vehicle dynamic control system (VDC) is used to improving the vehicle lateral and yaw motions in critical manoeuvres. In this paper, for design the VDC system, an optimal control strategy has been used for tracking the intended path with optimal energy. For better performance of VDC system, an anti-lock brake system (ABS) is designed as a lower layer of the control system for maintaining the tyre longitudinal slip in proper value. The performances of the controller on rigid and flexible models are illustrated, and the results show the differences between the control efforts for these models, which are related to the differences of dynamic behaviours of rigid and flexible vehicle dynamic models.     

瑞士基于里程卡车收费系统研究

电子不停车收费是收费技术的发展方向。通过以瑞士基于里程卡车收费系统为例,对瑞士电子收费系统的实施原因、项目进程、工作原理进行了系统的描述,并对系统的实施效果进行分析,最后对其在我国的电子收费中的应用提出建议。     

SCR control strategy based on ANNs and Fuzzy PID in a heavy-duty diesel engine

The paper presents an innovative method combining artificial neural networks (ANNs) with Fuzzy PID to demonstrate the advantages of this control approach for meeting both NOx emission requirements and NH3 slip targets. An ANN model was utilized to simulate the formation of NOx emissions under various engine operating conditions. Next, an effective closed-loop control strategy with a type of feedback known as fuzzy PID is adopted for on-line, real-time control of 32.5% aqueous urea dosing in the exhaust stream. The new strategy explores the benefits by simulation and testing in the environments of Matlab/Simulink and ESC/ETC, respectively. The notable achievement of considerable NOx reduction and an acceptably small NH3 slip is obtained based on this new, feasible and effective strategy.     

Connected variable speed limits control and car-following control with vehicle-infrastructure communication to resolve stop-and-go waves

The vision of intelligent vehicles traveling in road networks has prompted numerous concepts to control future traffic flow, one of which is the in-vehicle actuation of traffic control commands. The key of this concept is using intelligent vehicles as actuators for traffic control systems. Under this concept, we design and test a control system that connects a traffic controller with in-vehicle controllers via vehicle-to-infrastructure communication. The link-level traffic controller regulates traffic speeds through variable speed limits (VSL) gantries to resolve stop-and-go waves, while intelligent vehicles control accelerations through vehicle propulsion and brake systems to optimize their local situations. It is assumed that each intelligent vehicle receives VSL commands from the traffic controller and uses them as variable parameters for the local vehicle controller. Feasibility and effectiveness of the connected control paradigm are tested with simulation on a two-lane freeway stretch with intelligent vehicles randomly distributed among human-driven vehicles. Simulation shows that the connected VSL and vehicle control system improves traffic efficiency and sustainability; that is, total time spent in the network and average fuel consumption rate are reduced compared to (uncontrolled and controlled) scenarios with 100% human drivers and to uncontrolled scenarios with the same intelligent vehicle penetration rates.     

Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systems

In this article, vehicle dynamics integrated control algorithm using an on-line non-linear optimization method is proposed for 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems. The proposed distribution algorithm minimizes work load of each tire, which is controlled to become the same value. The global optimality of the convergent solution of the recursive algorithm can be proved by extension to convex problems. This implies that theoretical limited performance of vehicle dynamics integrated control is clarified. Furthermore, the effect of this vehicle dynamics control for the 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems is demonstrated by simulation to compare with the combination of the various actuators.     

Design of a rollover index-based vehicle stability control scheme

This paper presents a rollover index (RI)-based vehicle stability control (VSC) scheme. A rollover index, which indicates an impending rollover, is developed by a roll dynamics phase plane analysis. A model-based roll estimator is designed to estimate the roll angle and roll rate of the vehicle body with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. The rollover index is computed using an estimated roll angle, estimated roll rate, measured lateral acceleration and time-to-wheel lift. A differential braking control law is designed using a direct yaw control method. The VSC threshold is determined from the rollover index. The effectiveness of the RI, the performance of the estimator and the control scheme are investigated via simulations using a validated vehicle simulator. It is shown that the proposed RI can be a good measure of the danger of rollover and the proposed RI-based VSC scheme can reduce the risk of a rollover.     

Vehicle stability control system for enhancing steerabilty,lateral stability,and roll stability

The Vehicle stability control system is an active safety system designed to prevent accidents from occurring and to stabilize dynamic maneuvers of a vehicle by generating an artificial yaw moment using differential brakes. In this paper, in order to enhance vehicle steerability, lateral stability, and roll stability, each reference yaw rate is designed and combined into a target yaw rate depending on the driving situation. A yaw rate controller is designed to track the target yaw rate based on sliding mode control theory. To generate the total yaw moment required from the proposed yaw rate controller, each brake pressure is properly distributed with effective control wheel decision. Estimators are developed to identify the roll angle and body sideslip angle of a vehicle based on the simplified roll dynamics model and parameter adaptation approach. The performance of the proposed vehicle stability control system and estimation algorithms is verified with simulation results and experimental results.     

Vehicle dynamics control using an active third-axle system

This paper introduces the active third-axle system as an innovative vehicle dynamic control method. This method can be applicable for different kinds of three-axle vehicles such as buses, trucks, or even three-axle passenger cars. In this system, an actuator on the middle axle actively applies an independent force on the suspension to improve the handling characteristics, and hence, its technology is similar to slow-active suspension systems. This system can change the inherent vehicle dynamic characteristics, such as under/over steering behaviour, in the linear handling region, as well as vehicle stability in the nonlinear, limit handling region. In this paper, our main focus is to show the potential capabilities of this method in enhancing vehicle dynamic performance. For this purpose, as the first step, the proposed method in both linear and nonlinear vehicle handling regions is studied mathematically. Next, a comprehensive, nonlinear, 10 degrees of freedom vehicle model with a fuzzy control strategy is used to evaluate the effectiveness of this system. The dynamic behaviour of a vehicle, when either uncontrolled or equipped with the active third axle is then compared. Simulation results show that this active system can be considered as an innovative method for vehicle dynamic control.     

Optimal motion control for collision avoidance at Left Turn Across Path/Opposite Direction intersection scenarios using electric propulsion

Collision avoidance at intersections involving a host vehicle turning left across the path of an oncoming vehicle (Left Turn Across Path/Opposite Direction) have been studied in the past, but mostly using simplified interventions and rarely considering the possibility of crossing the intersection ahead of a bullet vehicle. Such a scenario where the driver preference is to avoid a collision by crossing the intersection ahead of a bullet vehicle is considered in this work. The optimal vehicle motion for collision avoidance in this scenario is determined analytically using a particle model within an optimal control framework. The optimal manoeuvres are then verified through numerical optimisations using a two-track vehicle model, where it was seen that the wheel forces followed the analytical global force angle result independently of the other wheels. A Modified Hamiltonian Algorithm controller for collision avoidance that uses the analytical optimal control solution is then implemented and tested in CarMaker simulations using a validated Volvo XC90 vehicle model. Simulation results showed that collision risk can be significantly reduced in this scenario using the proposed controller, and that more benefit can be expected in scenarios that require larger speed changes.     

Predictive control of a vehicle trajectory using a coupled vector with vehicle velocity and sideslip angle

In this paper, a predictive algorithm for vehicle trajectory control using the vehicle velocity and sideslip angle is proposed. Since the driving state of a vehicle generates nonholonomic constraint equations, it is difficult to control the trajectory with a conventional control algorithm. Furthermore, control vectors such as vehicle velocity and sideslip angle are coupled together; hence, a separate control for each variable is not suitable. In this study, a coupled control vector that combines the velocity and sideslip angle is proposed for the predictive control of vehicle trajectory. Since the coupled control vector is derived from the status of the vehicle’s motion, it is easy to generate a feedback control vector for the predictive controller. The coupled vector cannot be directly used as input to the vehicle systems; therefore, the vehicle input vector should be calculated from the control vector using a nonlinear function. Since nonlinear functions are not inserted in the control loop, they are calculated by the controller. Therefore, this method does not require a linearization process in the control logic, which enhances the stability and accuracy of the predictive controller.     

Vehicle yaw stability control using active limited-slip differential via model predictive control methods

In this paper, the problem of vehicle yaw control using an active limited-slip differential (ALSD) applied on the rear axle is addressed. The controller objective is to minimise yaw-rate and body slip-angle errors, with respect to target values. A novel model predictive controller is designed, using a linear parameter-varying (LPV) vehicle model, which takes into account the ALSD dynamics and its constraints. The controller is simulated using a 10DOF Matlab/Simulink simulation model and a CarSim model. These simulations exemplify the controller yaw-rate and slip-angle tracking performances, under challenging manoeuvres and road conditions. The model predictive controller performances surpass those of a reference sliding mode controller, and can narrow the loss of performances due to the ALSD's inability to transfer torque regardless of driving conditions.     

The perspectives of research for enhancing active safety based on advanced control technology

This paper considers the scope and the methodologies for enhancing active safety of road vehicles by sensing and control technologies. The first part of this paper introduces statistical data of traffic accidents in Japan, and describes the development of the drive recorder for accident/incident survey and analysis. Based on vehicle dynamics data, the algorithm of the drive recorder for capturing near-miss incident data is introduced. The second part of this paper reviews control problems of vehicle dynamics on micro-scale electric vehicles for enhancing vehicle dynamics and driving assistance function. In particular, the direct yaw moment control using in-wheel-motors and the active front steering control algorithm are described. The third part of the paper introduces the advanced driver assistance system adapted to driver characteristics and traffic situations. This part mainly describes an adaptive system, which adjusts the assisting manoeuvre depending on individual driver behaviour and situation, and some experimental investigations using the active interface vehicle and driving simulator. Finally, some perspectives and new challenges for future research on vehicle control technology are mentioned.     

Modeling and ratio control of an electromechanical continuously variable transmission

A new type of electromechanical continuously variable transmission (EMCVT) was investigated. The EMCVT uses a direct current (DC) motor to push the driving pulley, which in turn changes the transmission ratio without a hydraulic system. This paper introduces the principle of the EMCVT and establishes a dynamic ratio control model. Ratio control strategies using both position and speed closed-loop control are proposed. Simulation results show that the simulation ratio curves of the EMCVT follow pre-designed ratios well for ramp and sine curves. Control software is based on MATLAB/Simulink/Stateflow and MotoHawk platforms. A prototype vehicle equipped with an EMCVT has been developed. Vehicle test results show that the control performance of the EMCVT satisfies the requirements of vehicle operation. The effectiveness of the EMCVT ratio control strategy proposed in this paper is validated with test data for the prototype vehicle.     

Vehicle stability control using direct virtual sensors

The paper investigates the use of a direct virtual sensor (DVS) to replace a physical sensor in a vehicle stability control system. A yaw control system is considered and the proposed solution can be particularly useful when a fault of the yaw rate physical sensor occurs. A DVS is a stable linear filter derived directly from input–output data, collected in a preliminary experiment. In this work, it is shown that, by using data collected in a closed-loop fashion, better DVS accuracy can be obtained with a reduced number of measured variables. Moreover, the robust stability of the closed-loop system employing a DVS is studied. The effectiveness of the presented results is shown through numerical simulations of harsh manoeuvres, performed using a detailed model of a vehicle equipped with an active front steering device.     

基于扰动观测的智能驾驶主动抗扰纵向车速控制算法

为了减少智能驾驶车辆的纵向车速控制的时滞,提高主动抗扰性,提出一种基于扰动观测的纵向车速控制算法,并进行了实车验证。模型中,采用前馈控制模块,并提前输出控制量,来提高车速跟随的响应性;以主动抗扰控制(ADRC)模块作为反馈环节,采用扩张状态观测器(ESO)在线估计内外部扰动,并在控制端进行补偿,实现了对车速的精确闭环控制。在弯道、环岛等路况下进行了实车实验。结果表明:该算法可以在5 s内控制车速从怠速快速跟踪到目标车速,总体平均误差为0.17 km/h。因而,该算法较传统的比例积分微分(PID)有更好的响应性、控制精度和抗扰性。