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熵最大化方法被广泛应用于交通规划，为交通需求预测模型提供了理论依据.本文使用信息论中的熵概念描述居民出行分布，并根据最大信息熵理论提出了基于原点矩典型特征量约束条件下的出行分布模型，详细阐述了模型中各个参数的实际含义，该模型是一个普适性模型，其具体形式决定于最高阶原点矩阶数的取值，此值对模型精度及参数标定难易程度有重要影响.为确定模型参数，提出了实用的参数标定方法.由于模型中原点矩的最高阶数对模型精度有较大影响，为找到两者之间的关系，利用长春市出行调查数据研究了四种出行方式分别时应于五种原点矩最高阶数的模型拟合情况.因文中所建立的模型是一系列模型，为比较其描述问题的优劣差异，按照最大信息熵原理给出了确定系统分布的熵方法，并运用该方法对前述模型进行了比较.调查数据的验证结果表明，出行分布的信息熵模型可以正确地描述出行分布规律，熵方法可以简单有效地评价不同模型对同一问题描述的优劣差异.本文提出的熵模型和熵方法对城市交通规划具有指导意义.     

Evasive manoeuvres with a steering robot

In the pursuit of an objective rating on vehicle stability performance, it is always desirable to reduce disturbances and inconsistencies during experimental evaluations, especially the ones introduced by human drivers. This paper presents the development of a steering robot designed for closed-loop steering tasks during evasive manoeuvres. It describes the controller structure and discusses experimental results, in addition to simulation/vehicle model verifications and theoretical control analysis.     

Design and implementation of a UPnP-can gateway for automotive environments

In this paper, we propose a universal plug and play (UPnP) — controller area network (CAN) gateway system using UPnP middleware for interoperability between external smart devices and an in-vehicle network. The proposed gateway consists of a UPnP communication device, a CAN communication device, and a device translator layer. In-vehicle devices are not usually IP-based, so we implemented an in-vehicle device manager in the UPnP communication device which is in the gateway. We developed a vehicle simulator to produce real vehicular data for performance analysis. The CAN communication device transmits and receives real-time vehicle data between the real vehicular simulator and external devices through the UPnP. The device translator layer configures a message frame for enabling seamless data input and output between the CAN and UPnP protocols. After implementation, we generated an internal-external service request and tested the result. Finally, we confirmed the service request and operation between external devices and the internal vehicular device. Additionally, for a variety of external device numbers and communication environments, we demonstrated the gateway performance by measuring the round trip time (RTT) for overall service implementation.     

Vehicle interior noise model based on a power law

Identifying the components of a vehicle’s interior noise is important in many phases of the noise, vibration, and harshness (NVH) development process. Many test methods that have been widely used in the automobile industry to separate noise sources are based on system identification methods in the frequency domain. However, none of the frequency response function-based methods can directly estimate the wind noise component. In this article, an analytical model for the interior noise level based on a simple power law was developed. It was assumed that the mean squared acoustic pressure for the interior noise could be obtained by summing up those of the wind noise, road noise, and background noise. The wind noise and road noise were further assumed to depend only on wind speed and the vehicle’s driving speed, respectively, and to follow a simple power law. The resulting analytical model includes five parameters that can be optimized for the vehicle and the road. The validity of the model was verified by using data obtained from cruise tests performed on a proving ground for cruise speeds ranging from 40 km/h to 130 km/h. The model is applied to the overall and 1/3-octave bands of interior noise and is shown to describe the data trends fairly well. For the test vehicle used in the present work, the overall mean squared pressures for the wind and road noise components are shown to be proportional to the wind speed to the 5.8 power and to the driving speed to the 3.4 power, respectively.     

Parameter identification for a LuGre model based on steady-state tire conditions

The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures. In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect of the present study is the improved friction model. A previous friction model, which divided the process into four parts, expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally. We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the rationality of the data.     

ALSTOM的双层电动车和配套的质量程序

瑞典国家铁路公司(SJ AB)为斯德哥尔摩大区间运输向ALSTOM订购了113辆CORADIA双层电动车.文章介绍了开发该动车的总体技术规定以及方便客户操作的制造规范和详细规定.瑞典冬季的最低温度达-40℃,这对制造和质量提出了高要求.特别提到了针对设计阶段配套的质量程序.     

GLUTAMATE－IMMUNOREACTIVE NEURONS IN MEDULLARY RAPHE－CEREBELLUM PATHWAY IN THE KITTEN

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Computer Vision and Highway Automation

A survey is given on the development of machine vision for road vehicle guidance. Through early work in real-time simulation with real hardware in the loop at UBM, and through the EUREKA-project 'Prometheus' from 1987 to 1994 following the 100 th anniversary of road vehicle developments since 1886, Europe has pioneered the field. Since first fully autonomous testdrives in 1986, and first participation in public traffic in 1992, considerable progress has been achieved. With continuous growth in computing power of microprocessors at a rate of about one order of magnitude every four to five years, sufficient performance levels for dynamic machine vision will be available within one or two decades. The principles of dynamic vision as developed at UBM and performance levels achieved are discussed.