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。     

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.     

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.     

基于混合Logit模型的电动汽车购买意愿影响因素研究

为加快电动汽车的推广使用,基于混合Logit模型,应用在北京市收取的问卷数据开展模型实证研究以分析电动汽车购买意愿.首先,从个人属性、车辆属性、充电基础设施、购车与用车激励政策4方面考虑国内消费者电动汽车购买偏好影响因素,并通过网络问卷调查和陈述性偏好实验(Sated Preference,SP)获取相关数据.然后,分...     

内置式下颌骨骨牵引延长器的研究开发与动物实验

目的　报告自行研制的MS 1型下颌骨骨牵引延长器的结构特点及在颌面骨延长动物实验中的应用效果。方法　采用自行研制的MS 1型内置式下颌骨骨牵引延长器 ,对 15只犬分别进行下颌骨单侧及双侧骨牵引延长实验 ,X线定期检查。结果　下颌骨牵引延长 (2 0± 0 .5 )mm ,达到预设值 98% ,牵引完成后经 5周固定 ,新骨完全骨化。结论　MS 1型内置式下颌骨骨牵引延长器在下颌骨牵引延长中具有明显的实用价值 ,临床应用前景广阔