Lane-following method for high speed autonomous vehicles

This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.     

Effect of handling characteristics on minimum time cornering with torque vectoring

In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal TV strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using TV against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the OCP is introduced where a closed-loop TV controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle's handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed.     

基于交通污染控制的多车型发展问题研究

针对汽车车型种类日益繁多,交通污染日益严重的问题,目前划分车型的依据多而杂。文中从汽车能源的角度划分车型,提出根据控制车型的拥有量来控制二氧化碳的排放,并建立模型计算碳排放量。从能源与环保角度,提出发展新型能源汽车,尤其是纯电动汽车,是必然的趋势,并给出了控制多车型发展的建议。     

基于 M/G/1模型的停车场出口排队延误

通过对大型停车场高峰时段出口车辆行驶特性的调查研究,选取了车辆排队的出口车头时距以及出口服务时间两个指标。基于两个指标实测特性和 M/G/1排队模型的分析,计算了停车场出口理论平均排队时间。通过实测车辆平均排队时间,对理论模型计算的平均排队时间进行了修正。实例分析表明：排队时间修正模型能够准确地估计排队时间。提出了基于驾驶员容忍度的排队延误分级标准。     

连接片阻值对电动汽车用动力电池性能的影响

鉴于单体电池间连接片的阻值和极柱的位置影响单节电池的性能,基于Matlab/Simscape开发了单体电池模型,并利用此模型和以电阻模拟的连接片构建了单节电池模型,仿真分析了连接片阻值对单节电池性能的影响。结果表明,连接片的存在使与极柱相连的单体电池最先达到电池管理系统设定的放电截止电压,以致影响电池的性能;与极柱相连的单体电池的率先老化导致与其相邻的单体电池出现过放电的现象,影响单节电池的安全性。最后,设定各单体电池SOC间最大偏差为0.05,对不同并联电池数目的单节电池进行仿真,得出连接片与电池欧姆内阻阻值的合理比例。     

长江汽渡渡运装载危险品车辆的安全风险与管理对策

试从长江汽车渡船渡运装载危险品车辆的安全与防污染风险分析,探寻有效减少风险的管理对策。     

铁道车辆结构强度可靠性和安全性技术展望

铁路运输正向高速、重载发展,结构强度可靠性与安全性技术是其中关键课题之一。在探讨现状基础上,预测了发展趋势。阐明了名义应力法较难合理应用于有限元分析结果和现场应变计检测结果;作者等人的试验工作揭示了材料循环应力 应变(CSS)响应存在分散性现象,这是现有理论与方法尚未涉及的领域。建议考虑随机CSS关系,建立局部应变强度可靠性理论体系、开展寿命周期理论研究,提升综合效能、创建车辆强度可靠性与安全性标准等3个值得研究的课题。     

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.     

轻轨车辆车体承载结构材料的选用

本文通过对车体承载结构用的耐候钢、不锈钢及铝合金等材料的有关性能和经济性进行分析比较,指出在经济条件和生产许可的情况下,以采用铝合金作为轻轨车辆车体承载结构材料为宜.     

某高端商用车车架裂纹分析与解决方案

汽车车架是汽车的核心部分之一,它承载各种载荷,也是汽车能安全行驶的重要保证。本文就某新开发的高端商用车车架由于结构更改和载荷变化在试验中出现裂纹进行了分析。经过静力学分析、基于实际工况下的有限元仿真分析,得到了出现裂纹的主要原因。同时根据实际情况采取了增加横梁、减少通孔等措施。经过实验检验和用户反映,车架上的裂纹不再出现,整车安全性和可靠性得到保障。