In this work, the reference model modification strategy for vehicle stability control based on driver's intention recognition under emergent obstacle avoidance situation was proposed. First the conflicts between the driver's emergency alignment (EA) intention and vehicle response characteristics were analyzed in critical emergent obstacle avoidance situation. Second combining steering wheel angle and its speed, the driver's EA intention was recognized. The reference model modification strategy based on steering operation index (SOI) was presented. Then a LQR model following controller with tire cornering stiffness adaption was used to generate direct yaw moment for tracking modified reference yaw rate and reference sideslip angle. Finally based on the four-in-wheel-motor-drive (FIWMD) electric vehicles (EV), double lane change and slalom tests were conducted to compare the results using modified reference model with the results using normal reference model. The experimental tests have proved the effectiveness of the reference model modification strategy based on driver's intention recognition. 相似文献
Hydraulic retarders are auxiliary braking devices that reduce the velocity of a vehicle, particularly when a vehicle is driven downhill. Such velocity reduction could reduce the potential risk caused by brake failure caused by the service brake working for a long time and the temperature of the brake shoe becomes extremely high. This paper introduces the construction of the hydraulic retarder and proposes two mathematical models for the hydraulic retarder. The first mathematical model is deduced by using fluid mechanics, which is used to analyze the mechanism of how braking torque is produced and the key factors that can influence the value of the braking torque. The second mathematical model is deduced by using thermodynamics, which is used to quantify the heat produced by the hydraulic retarder. This research emphasizes that the flow rate and the average velocity of the working fluid in the working chamber mainly determine the braking torque of the hydraulic retarder. The flow rate into and out of the working chamber determines the temperature rise of the working fluid. Computational fluid dynamics (CFD) simulations are conducted with the Reynolds-averaged Navier-Stokes (RANS) and Shear Stress Transport (SST) turbulent models. Experiments are carried out to justify the two mathematical models and the CFD simulations. The results show that the mathematical models are capable of describing the force analysis and energy conversion of the hydraulic retarder and SST is more accurate for CFD simulation and the error is within 6 %. 相似文献
The standard discrete transportation models, which attempt to determine traffic flow on every link of a transportation network, are inapplicable to complex dense urban networks, in view of the amount of computation involved. In this paper we adopt a radically new point of view and construct a family of models based on the assumption of continuous traffic distribution over the network. We derive the flow conservation equations and the equilibrium conditions for user-optimized and system-optimized networks. 相似文献
The main objective of the presented study was to compare the effectiveness of two standard test procedures for evaluating bus roof integrity: the dynamic rollover test according to UN-ECE Regulation 66 (ECE-R66), and the quasi-static symmetric roof loading according the Federal Motor Vehicle Safety Standard 220 (FMVSS 220). Both tests were applied to a selected Paratransit Bus. The investigation was carried out primarily using a numerical study backed up by experimental validation tests on components and full scale rollover tests. A sensitivity analysis using LS-OPT? was performed to identify the most important structural components influencing the response of the bus in these two tests. The results obtained from this study show that the final outcome of the crashworthiness assessment of the selected paratransit bus depends on the selection of the evaluation standard. Although the two tests are used for the same purpose of roof integrity evaluation, their results are divergent and may lead to different conclusions. The paper presents a discussion on the effectiveness of both standards in evaluating the rollover crashworthiness. 相似文献
The modern diesel engines equip the exhaust gas recirculation (EGR) system to suppress the NOx emissions. In addition, the variable geometric turbocharger (VGT) system is installed to improve the drivability and fuel efficiency. These EGR and VGT systems have cross-coupled behavior because they interact with the intake and the exhaust manifolds. Furthermore, the turbocharger time delay, gas flow dynamics through EGR pipe cause the nonlinearity characteristics. These nonlinear multi-input-multi-output characteristics cause the degradation of control accuracy, especially during the transient condition. In order to improve the control accuracy, this study proposes an iterative learning control (ILC) algorithm for feedforward controller of EGR and VGT systems. The feedforward controller obtains the values about EGR and VGT actuators using the previous control results in predefined transient states. The ILC algorithm consists of a PD-type learning function and a low-pass filter. The control gains of learning function are determined to guarantee the convergence of learning results. In addition, the low-pass filter is designed for robustness against plant disturbance. The proposed control algorithm was validated by engine experiment which repeated predefined transient states. The error was reduced by 15 % according to the gain. As a result, the proposed algorithm is affordable for improving the transient control performance. 相似文献
Driving of off-road vehicles (ORVs) on sandy beaches is common and widespread, but is not universally embraced due to putative environmental impacts on beach biota. For ORVs to impact the beach fauna, traffic areas must overlap with faunal habitat: a fundamental pre-requisite for impact assessments but as yet un-quantified for sandy beaches. Thus, this study quantified the spatial and temporal patterns of ORV traffic on five Australian beaches, and measured the degree to which the distribution of intertidal macro-invertebrates overlaps with traffic zones. Traffic volumes on beaches can be considerable (up to 500 vehicles per day). The position of beach traffic across the beach-face is principally governed by tides and driver behavior. Despite driver education campaigns to the contrary, a considerable fraction of vehicles (16–67%) traverses the soft, upper shore near the foredunes. The majority (65%) of burrowing invertebrate species of the intertidal zone is directly exposed to traffic, save for species inhabiting the swash zone. Because beach traffic presents a formidable management challenge, a fundamental first step in identifying whether ecological impacts are indeed likely, is to assess the potential for spatial and temporal conflict between human pressures (e.g., ORVs) and biological resources (e.g., beach fauna). Although this potential is certainly substantial for sandy shores used by ORVs, the actual ecological impacts on the intertidal fauna can only be predicted in situations where the responses (e.g., direct mortality, behavioral changes) of individual species to beach traffic are known. 相似文献
Researchers are turning to alternative data sources (e.g., resource user knowledge) to provide information required for wildlife management. Little is known about the reliability of data elicited from resource users relative to data obtained from user-independent approaches (e.g., observations of fish catches). We test for consensus among three methods that quantify past (1996 to 2007) seahorse catch-per-unit-effort (CPUE) for a small-scale, data-poor fishery in the Philippines: interviews with fishers about good, bad, and typical catch; fisher logbooks; and observations of catch landings. Interviews and logbooks indicated no trends in CPUE through time, consistent with results from the fisher-independent metric, catch landings. Although interview estimates of “typical” CPUE greatly exceeded “typical” observed catches and logbook estimates, interview estimates of “bad” CPUE were comparable. Catch landings estimates for a fisher in a particular year were uncorrelated to what he reported during retrospective interviews. Interviews should be used cautiously to inform specific catch targets (e.g., total allowable catches), although including interview questions about a range of catch experiences (e.g., good, bad and typical), may improve interview-derived data. Logbooks are particularly useful for capturing information about fishing expeditions that produce no fish, which are largely missed by other methods. 相似文献
In this paper, we use estimates of the effectiveness of existing road safety technologies and interventions to estimate the reduction in road safety deaths in six Indian cities over the next decade, in order to achieve the SDG 3.6 goal of a 50% reduction by 2030. Only the existing interventions are considered and technologies that might be available in the future are not accounted for. The results show that similar policies for all cities will not produce the same results, and that achieving the SDG 3.6 goal does not automatically reduce fatality rates in cities with high fatality rates. The introduction of safer cars with currently available safety technologies, although necessary, will have much less effect than the combined effect of motorcycle safety technologies, speed control and traffic calming. This study suggests that while SDG 3.6 targets may be satisfied by 2030 with great effort in India, the presently available safety interventions may not be adequate to bring about death rates below 2.0 per hundred thousand persons. Since the situation differs significantly between cities, it will be important to evolve city-specific policies for safety intervention priorities and changes in travel behavior. The desired reduction in road traffic injuries in India will not be possible without much greater investment in road safety research and road design for safer travel. 相似文献
A variety of automatic data collection technologies have been used to gather road and highway system data. The majority of these automatic data collection technologies are designed to collect vehicle-based data and either do not have the capability to collect other travel mode data (e.g., bicycles and pedestrians), or may need to be deployed differently to support this capability.
One type of wireless-based data collection system that has been deployed recently is based on Bluetooth technology. A key feature of Bluetooth-based data collection systems that makes travel mode identification feasible is that the Bluetooth-enabled devices within vehicles are also present on bicyclists and pedestrians. This research explores the effectiveness of applying cluster analysis methods when processing data collected via Bluetooth technology from vehicles, bicyclists, and pedestrians to automatically identify the associated travel modes. The results of several experiments utilizing multiple Bluetooth-based data collection units arranged linearly and in relatively close proximity on a simulated intersection demonstrate the potential of cluster analysis to accurately differentiate transportation modes from the collected data. 相似文献
The Autonomous Emergency Braking (AEB) systems have been actively studied for the safety enhancement and commercialized for the past few years. Because the driver tends to overly rely upon active safety systems, AEB needs to be designed to reflect the real road situations such as various road slope and friction coefficient. In this study, an AEB control algorithm is proposed to compensate for the effects of the slope and the friction of road. Based on the maximum possible deceleration for the real road conditions, the minimum braking distance is described with margin parameters for AEB activation control. The deceleration controller with a feedforward term is designed to avoid the collision during AEB operation on real road conditions. The proposed algorithm is validated in simulations first and the experimental verification is performed in the various slope conditions. 相似文献