Expanding transmission capacity of can systems using dual communication channels with kalman prediction

The controller area network (CAN) protocol is widely used for in-vehicle network (IVN) systems, and many automotive companies also use the CAN in chassis network systems. However, the increasing number of electronic control units (ECUs) dictated by the need for more intelligent and fuel-efficient functions requires an IVN system with a greater transmission capacity and less network delay. Automotive companies have tried several approaches such as segmenting CAN systems and developing time-triggered protocols. This paper presents a practical method for increasing the transmission capacity and reducing the network delay in CAN systems using dual communication channels with a traffic-balancing algorithm based on Kalman prediction to forecast the traffic on each channel and allocate frames to the one that is most appropriate. An experimental testbed using commercial microcontrollers with two or more CAN protocol controllers was used to demonstrate the feasibility of the Kalman traffic-balancing algorithm. Experimental results show that the traffic-balancing CAN system with Kalman prediction reduced the transmission delay of all priority messages compared to that of a simple method, such as a channel-switching CAN, without sacrificing the performance for high-priority messages.     

Development of control logic for hydraulic active roll control system

Developed in this research is a control logic for the ARC (Active Roll Control) system that uses rotary-type hydraulic stabilizer actuators at the front and rear axles. The hydraulic components of the system were modeled in detail using AMESim, and a driving logic for the hydraulic circuit was constructed based upon the model. The performance of the driving logic was evaluated on a test bench, and it demonstrated good pressure tracking capability. The control logic was then designed with the target of reducing the roll motion of the vehicle during cornering. The control logic consists of two parts: a feedforward controller that generates anti-roll moments in response to the centrifugal force, and a feedback controller that generates anti-roll moments in order to make the roll angle to follow its target value. The developed ARC logic was evaluated on a test vehicle under various driving conditions including a slowly accelerated circular motion and a sinusoidal steering. Through the test, the ARC system demonstrated successful reduction of the roll motion under all conditions, and any discomfort due to the control delay was not observed even at a fast steering maneuver.     

Vision-based fusion of robust lane tracking and forward vehicle detection in a real driving environment

With the goal of developing an accurate and fast lane tracking system for the purpose of driver assistance, this paper proposes a vision-based fusion technique for lane tracking and forward vehicle detection to handle challenging conditions, i.e., lane occlusion by a forward vehicle, lane change, varying illumination, road traffic signs, and pitch motion, all of which often occur in real driving environments. First, our algorithm uses random sample consensus (RANSAC) and Kalman filtering to calculate the lane equation from the lane candidates found by template matching. Simple template matching and a combination of RANSAC and Kalman filtering makes calculating the lane equation as a hyperbola pair very quick and robust against varying illumination and discontinuities in the lane. Second, our algorithm uses a state transfer technique to maintain lane tracking continuously in spite of the lane changing situation. This reduces the computational time when dealing with the lane change because lane detection, which takes much more time than lane tracking, is not necessary with this algorithm. Third, false lane candidates from occlusions by frontal vehicles are eliminated using accurate regions of the forward vehicles from our improved forward vehicle detector. Fourth, our proposed method achieved robustness against road traffic signs and pitch motion using the adaptive region of interest and a constraint on the position of the vanishing point. Our algorithm was tested with image sequences from a real driving situation and demonstrated its robustness.     

Simulation of a powertrain system for the diesel hybrid electric bus

The plug-in hybrid electric bus (HEB) is designed to overcome the vulnerable driving range and performance limitations of a purely electric vehicle (EV) and have an improved fuel economy and lower exhaust emissions than those of a conventional bus and convention HEBs. The control strategy of the plug-in parallel HEB??s complicated connected propulsion system is one of the most significant factors for achieving a higher fuel economy and lower exhaust emissions than those of the HEV. The proposed powertrain control strategy has flexibility in adapting to the battery??s state of charge (SOC), exhaust emissions, classified driving patterns, driving conditions, and engine temperature. Simulation is required to model hybrid powertrain systems and test and develop powertrain control strategies for the plug-in parallel HEB. This paper describes the simulation analysis tools, powertrain components?? models and modifications, simulation procedure, and simulation results.     

Technology analysis and low-cost design of automotive radar for adaptive cruise control system

Recently, the advanced driver assistance system (ADAS), which helps mitigate car accidents, has been developed using environmental detection sensors, such as long and short range radar, lidar, wide dynamic range cameras, ultrasonic sensors and laser scanners. Among these detection sensors, radars can quickly provide drivers with reliable information about the velocity, distance and direction of a target obstacle, as well as information about the vehicle in changing weather conditions. In the adaptive cruise control system (ACCS), three radar sensors are usually needed because two short range radars are used to detect objects in the adjacent lane and one long range radar is used to detect objects in-path. In this paper, low-cost radar based on a single sensor, which can detect objects in both the adjacent lane and in-path, is proposed for use in the ACCS. Before designing the proposed radar, we analyzed the world-wide radar technology and market trends for ACCS. Based on this analysis, we designed a novel radar sensor for the ACCS using radar components, such as an antenna, transceiver module, transceiver control module and signal processing algorithm. Finally, target detection experiments were conducted. In the experimental results, the proposed single radar can successfully complete the detection required for the ACCS. In the conclusion, the perspective and issues in the future development of the ACCS radar are described.     

Roof strength performance improvement enablers

Before 2009, rollover in vehicle accidents had not been significantly studied not only because its rate is lower than other types of accidents but also because it had been easy to meet the rollover regulation, the FMVSS 216 Roof Crush Resistance target. The regulation only requires that the strength-to-weight ratio (SWR) be 1.5, i.e., it was acceptable when the roof could withstand a force of only 1.5 times the vehicle??s weight. In other words, rollover is not considered an important safety factor. However, presently, the situation has completely changed. Rollover is now considered a key safety factor. Recently, the number of rollover incidences has been increasing, reaching as much as the number of front, side and rear accidents. Furthermore, the IIHS has begun to require that the roof must withstand a force of 4.0 times the vehicle??s weight, a more severe restriction than FMVSS. To satisfy this requirement, many manufacturers, universities and institutes are studying the topic. This paper focuses on changing the body structure to minimize injury to the occupant when rollover occurs and help rollover safety performance become excellent. This paper draws on a simple analysis that is based on general factors: changes in the material, the addition of welds and additional reinforcements. The best result will be determined, as described by this paper.     

Bicycle commuting in an automobile-dominated city: how individuals become and remain bike commuters in Charlotte,North Carolina

Transportation - In Charlotte, North Carolina less than one half of 1% of commuters ride a bicycle to work despite several decades of public investment in bicycle infrastructure and planning. Like...     

基于SVM的隧道衬砌空洞填充物雷达图像识别研究北大核心CSCD

衬砌背后空洞及其填充物对隧道结构安全具有重要影响,开展空洞探测识别对于结构安全评估和病害处置具有重要意义。首先采用室内试验和FDTD正演模拟相结合的方法,获得了空洞内填充空气、水、干砂、湿砂条件下的雷达图谱数据,并对不同填充物波形规律进行对比分析;然后,基于支持向量机算法对波形特征进行提取和分类识别,建立了一种空洞填充物的人工智能辨识方法。研究结果表明,采用傅里叶变换前的平均值、方差、平均绝对离差和傅里叶变换后的最大幅度值max(fft(X))四个统计量作为支持向量机的识别特征,可以有效区分出衬砌背后填充物的六种类型;当采取单一倾向数据时,识别准确率较好,六种物质二分类问题准确率均可以达到90%以上。     

新建地铁隧道近距离下穿运营地铁线路施工及安全管控北大核心CSCD

新建青岛地铁8号线青岛北站—沧口站区间近距离下穿既有运营地铁3号线,初期支护距3号线底板结构仅0.4 m,在不影响既有地铁3号线正常运营的前提下,施工难度极大。通过构建三维有限元模型,模拟新建线路下穿施工全过程,制定针对性措施:采用非爆破机械开挖减小震动;加强超前支护和及时支护封闭成环,控制沉降;自动化监测快速反馈3号线结构变形信息以指导现场施工。通过现场技术手段和安全管控手段,下穿施工期间3号线隧道结构最大沉降仅2.11 mm,道床最大沉降仅1.55 mm,满足沉降控制要求,施工期间未对地铁3号线的安全运营产生影响。相关工程经验可为今后小净距、小角度、长距离下穿既有运营地铁工程的设计、施工提供借鉴。     

Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle北大核心CSCD

［Objectives ］ Aiming at the accurate posture stabilization problem of an under-actuated unmanned surface vehicle (USV) in GPS-denied environments, a monocular visual servo stabilization control scheme is proposed based on homography.［Methods］By virtue of the homography decomposition technique, posture errors with an unknown scale factor are directly reconstructed from current and desired images, which thoroughly removes the calibration of extrinsic camera parameters and priori information on visual targets; with respect to the under-actuation constraint, a periodic function to persistently excite the yaw angle is incorporated into the continuous time-variant output feedback controller, allowing the USV to be stabilized in the absence of image depth, movement velocities and model parameters.［Results］Under the framework of the Lyapunov theory, the closed-loop visual servo system of the USV is rigorously proven to be asymptotically stable by Barbalat lemma.［Conclusions］By installing an onboard monocular camera, USV posture errors can be precisely stabilized with the aid of the proposed visual servo strategy, providing significant technique support for practical applications including docking, berthing, dynamic positioning, etc. © 2022 Journal of Clinical Hepatology. All rights reserved.