Autonomous vehicle self-localization based on abstract map and multi-channel LiDAR in urban area

Accurate vehicle self-localization is significant for autonomous driving. The localization techniques based on Global Navigation Satellite System (GNSS) cannot achieve the required accuracy in urban canyons. On the other hand, simultaneous localization and mapping (SLAM) methods suffer from the error accumulation problem. State-of-the-art localization approaches adopt 3D Light Detection and Ranging (Lidar) to observe the surrounding environment and match the observation with a priori known 3D point cloud map for estimating the position of the vehicle within the map. However, storing the massive point cloud needs immense storage on the vehicle, or it should be stored on servers, which makes the simultaneous downloading of the map by multiple vehicles another challenge. In this study, rather than employing the point cloud directly as the prior map, we focus on the abstract map of buildings, which is easy to extract, and at the same time apparently observable by Lidar. More especially, we proposed vehicle localization methods based on two different abstract map formats representing urban areas. The first format is the multilayer 2D vector map of building footprints, which represents the building boundaries using vectors (lines). The second format is the planar surface map of buildings and ground. These map formats share the same idea that the uncertainty (deviation) of each vector or planar surface is calculated and included in the map. Later in the localization phase, the observed data from Lidar is matched with the abstract map to obtain the precise location of the vehicle. Experiments conducted in a dense urban area of Tokyo show that even though we significantly shrank the map size, we could preserve the mean error of the localization.     

车身简化模型中A-立柱和后视镜风噪的试验研究

为研究车身A柱和后视镜的风噪,建立汽车简化模型。基于气动声学风洞试验,设计了外形配置不同的5种模型。以A计权声压级和语音清晰度为评价指标,对侧窗外表面、远场和车内风噪展开对比分析。结果表明:A柱涡区域内高频风噪衰减较快;方形A柱对后视镜风噪具有明显掩蔽作用;后视镜风噪中存在压力级峰值,对应特征频率随风速升高而增加;随风速升高,各模型车窗、远场和车内风噪均明显增加;偏航时,车窗风噪在全频段内表现出迎风侧降低、背风侧升高的趋势,远场风噪与车内风噪在不同频段展现相同趋势。     

一种汽车空调控制器数据处理系统的设计

针对汽车空调控制器稳定性分析的需求,开发了一种空调控制器数据处理系统,使用Python语言对空调出风口温度性能曲线进行趋势提取以及数据分析,并通过Laravel框架搭建Web应用网站,实现对Python脚本的调用。工程师只需要通过网站上传测试数据,即可准确快速地得到可视化的图表结果,提升了空调控制器数据处理的效率。     

Modeling and simulation of torpedo acoustic homing trajectory with multiple targets

1Introduction Homingtrajectoryisthemostimportantaspectwithin exteriortrajectoryofanacoustichomingtorpedo.Thus,homingtrajectoryshouldreceivemuchattention intorpedotrajectorysimulations.Inthisresearchpro ject,atorpedoacoustichomingtrajectorysimulation progr…     

Fast evaluation of ship-bridge collision force based on nonlinear numerical simulation

The max collision force of ship-bridge collision is one of the most important references for bridge design. By means of nonlinear digital simulation method, the collision forces of the collisions between rigid bridge pier and ship bow were calculated out for four different ships, whose tonnages are 5 000, l0 000,50 000 and 60 000 DWT respectively. Curves of collision force-penetration and absorbed energy-penetration are obtained, and the data of the max loads are then summarized. On the basis of these curves and data, a set of curves describing the relationships between max collision forces and tonnages of the ships are successfully presented, by which the max collision forces of the ships-bridge with different tonnages and in different velocities can be estimated easily and reliably.     

A frame synchronization solution for orthogonal frequency division multiplexing system

To improve frame synchronization precision, a scheme named training symbol correlation （TSC） is presented for orthogonal frequency division multiplexing （ OFDM ） system. Based on the solution from Schmidl and Cox, a timing metric related to TSC scheme is put forward and examined. The specific method to select a threshold value provides more precise detection results, which can be shown by performance comparison between the two schemes through Monte Carlo simulation. Taking IEEE 802.1 la WLAN standard as an example, the proposed approach is superior to the most popular Schmidl scheme in terms of BER.     

上海南站的综合交通换乘系统

详细介绍了铁路上海南站综合交通枢纽的总体布局和换乘系统,包括铁路与城市轨道交通、道路公交、出租车、自行车、私人小汽车、长途汽车、社会车辆之间,轨道交通与道路交通之间的各种换乘流线与换乘距离。通过分析比较得出:上海南站在换乘的布局设计上比既有的大型铁路客站有很多改进,但与国外优秀的交通枢纽布局设计相比仍有一些不足,主要是没有充分利用铁路股道下面的空间进行立体换乘。目前,我国城市交通枢纽尤其是城市综合交通枢纽的换乘问题日益突出,而枢纽换乘质量的关键取决于其布局设计方案的质量,该案例的分析结果对我国综合交通枢纽系统的布局规划设计有参考意义。     

336TEU集装箱船横向强度有限元直接计算

利用MSC/PATRAN、MSC/NASTRAN对336TEU集装箱船的横向强度进行了有限元强度计算。给出了外载荷的计算方法和边界条件的施加方法,并在10种工况下对336TEU集装箱船进行了横向强度有限元分析。通过有限元分析得到的结论可用于指导集装箱船的结构设计与优化。计算结果表明结构强度满足强度要求。     

SEDS在船舶电力推进系统设计中的应用

电站是船舶电力推进系统中最重要的环节之一,借助SEDS平台,分析了不同电站配置方案对船舶电力系统的影响,为数字仿真应用于船舶电力系统设计提供了思路.     

A porous cell method for the simulation of fluid-solid interactions

There are many ways of describing a solid,porous or fluid region of the computational domain when solving the Navier-Stokes equations(NSE)for flow motions.Amongst these the porous cell method is one of the most flexible approaches.In this method,a parameter is defined as a ratio of the volume open to water and air in a calculation cell to its cell volume.In the calculation,the same numerical procedure is applied to every cell and no explicit boundary conditions are needed at solid boundaries.The method is used to simulate flow through porous media,around solid bodies and over a moving seabed.The results compare well with experimental data and other numerical results.In our future work the porous cell method will be applied to more complex fluid-solid interaction situations.