Coordinated vehicle traction control based on engine torque and brake pressure under complicated road conditions

Vehicle traction control system has been developed to enhance the traction capability and the direction stability of the driving wheels through the tyre slip ratio regulation. Under normal situations, if the tyre slip ratio exceeds a certain threshold, the slip ratio of the driving wheel is regulated by the coupled interaction of the engine torque and the active brake pressure. In order to obtain the best driving performance on a road under complicated friction conditions, the driving torque and the active brake pressure, need to be decoupled and adjusted to avoid penalisation of each other. In this paper, a coordinated cascade control method with two sliding-mode variable structure controllers is presented. In this control method, the driving wheel slip ratio is regulated by adjusting the engine torque and the wheel brake pressure. Through the sliding-mode controller, the engine torque is tuned to achieve the maximum driving acceleration and then the active brake pressure is applied to the slipped wheel for further modification of the wheel slip ratio. The advantage of this control method is that through proper regulation, the conflict between the two control inputs could be avoided. Finally, the simulation results validate the effectiveness of the proposed method.     

Using the lead vehicle as preview sensor in convoy vehicle active suspension control

Both ride quality and roadholding of actively suspended vehicles can be improved by sensing the road ahead of the vehicle and using this information in a preview controller. Previous applications have used look-ahead sensors mounted on the front bumper to measure terrain beneath. Such sensors are vulnerable, potentially confused by water, snow, or other soft obstacles and offer a fixed preview time. For convoy vehicle applications, this paper proposes using the overall response of the preceding vehicle(s) to generate preview controller information for follower vehicles. A robust observer is used to estimate the states of a quarter-car vehicle model, from which road profile is estimated and passed on to the follower vehicle(s) to generate a preview function. The preview-active suspension, implemented in discrete time using a shift register approach to improve simulation time, reduces sprung mass acceleration and dynamic tyre deflection peaks by more than 50% and 40%, respectively. Terrain can change from one vehicle to the next if a loose obstacle is dislodged, or if the vehicle paths are sufficiently different so that one vehicle misses a discrete road event. The resulting spurious preview information can give suspension performance worse than that of a passive or conventional active system. In this paper, each vehicle can effectively estimate the road profile based on its own state trajectory. By comparing its own road estimate with the preview information, preview errors can be detected and suspension control quickly switched from preview to conventional active control to preserve performance improvements compared to passive suspensions.     

复合集料沥青混合料路用性能研究

对石灰岩沥青混合料、花岗岩沥青混合料、石灰岩与花岗岩组成的酸碱复合集料沥青混合料、掺活性矿粉的花岗岩沥青混合料进行高温稳定性、低温抗裂性、疲劳性能和抗水损害性能进行对比研究。结果表明,花岗岩沥青混合料的高温性能、低温性能、疲劳性能和强度要明显优于石灰岩沥青混合料,但水稳定性较差;酸碱复合集料混合料和掺活性矿粉混合料的水稳定性得到明显提高。     

Robust road friction estimation during vehicle steering

Automated vehicles require information on the current road condition, i.e. the tyre–road friction coefficient for trajectory planning, braking or steering interventions. In this work, we propose a framework to estimate the road friction coefficient with stability and robustness guarantee using total aligning torque in vehicle front axle during steering. We first adopt a novel strategy to estimate the front axle lateral force which performs better than the classical unknown input observer. Then, combined with an indirect measurement based on estimated total aligning torque and front axle lateral force, a non-linear adaptive observer is designed to estimate road friction coefficient with stability guarantee. To increase the robustness of the estimation result, criteria are proposed to decide when to update the estimated road conditions. Simulations and experiments under various road conditions validate the proposed framework and demonstrate its advantage in stability by comparing it with the method utilising the wide-spread Extended Kalman Filter.     

主动形状模型中的一种基于概率主成分分析的对应点搜索方法

主动形状模型是一种以迭代的方式形变以匹配新图像中的目标实例的统计形状模型,它的关键是如何搜索形状模型标记点的对应点.本文提出一种新颖的采用概率主成分分析的主动形状模型的对应点搜索方法.该方法是一种基于灰度图像的对应点搜索算法,不需要对原图像进行边缘提取.在江面船舶目标的主动形状跟踪实验中,采用该方法能较准确地搜索到对应点.     

制动与转向协调动作的车辆避撞控制研究（双语出版）

为了弥补现有汽车避撞控制策略以及碰撞风险评价指标单一的不足，提出转向和制动协调的主动避撞控制系统。首先规划了五次多项式换道路径，在对其理论分析的基础上得到转向临界避撞距离和与目标车道车辆的安全距离约束。其次，考虑道路附着系数和系统延迟的影响，基于制动过程给出制动临界避撞距离，并以纵向行驶安全系数ξ和碰撞时间倒数T^-1_TC划分安全行驶区域，利用驾驶人实车跟车数据标定稳态跟随/定速巡航区域的阈值。随后，通过转向/制动临界避撞距离的对比给出2种避撞方式的安全收益范围。最后搭建Simulink/CarSim联合仿真模型，并对其进行不同初始条件下的避撞仿真试验。研究结果表明：转向操作在制动距离不足时仍是有效的；当主车高速近距离接近静止前车时，主车可以顺利采取转向换道动作，而常规ACC系统在2.5 s处的车间相对距离为-0.76 m，事实上已经发生了碰撞；当相邻车道前车与主车纵向间距不满足换道安全距离约束时，避撞控制系统进入紧急制动模式，最大制动减速度达到-0.8g（g为重力加速度），实际最小车间距为5.1 m；通过转向和制动的协调动作，充分发挥了车辆的避撞潜力；ξ和T^-1_TC指标的融合，可以更好地评估碰撞风险并实现不同控制模式的转换，在保证行车安全的同时可避免过分制动给乘客造成的紧张感。     

城市铁路沿线土地再开发方式研究

研究目的:城市既有铁路沿线土地开发强度一般都很低,但当其参与城市轨道交通运营后,必然带动沿线土地的再开发,本文对这种特定的地块进行研究,探讨铁路参与城市轨道交通后促进沿线土地增值的问题,研究该特殊地块的再开发方式.研究结论:城市铁路沿线土地由于其地块的特殊性,其开发强度目前都很低,随着城市结构和城市形态的不断调整,城市既有铁路参与城市交通成为必然趋势,从而引起沿线土地用地性质的调整,进而促使土地增值,最终导致沿线土地的再开发.既有铁路参与城市轨道交通带动周边土地的再开发--即以铁路为主动脉,规划建设以轨道站点为核心的TOD开发区模式.     

制动工况下主动卷收器参数对乘员离位位移影响的分析

主动控制卷收器(ACR)能改善乘员的离位位移并降低二次碰撞的风险。为探究制动工况下ACR对乘员的影响,首先进行志愿者实车道路试验和试验数据的乘员运动响应分析,并建立了包括主动人体模型的仿真模型。模型对标后搭建Kriging近似模型并采用NSGA-Ⅱ算法进行ACR参数优化。结果表明:优化后头部质心和第一胸椎(T1)的离位量分别减小了55%和73.44%,且回弹阶段各部位加速度明显减小,预紧力和乘员离位量呈负相关趋势,且与制动前触发相比,制动后触发ACR时,预紧时间的变化对乘员离位的影响较大。     

Comparison of the properties of active and semiactive suspension

In this article, the properties of active and semi-active suspension for heavy goods vehicles are compared. The criteria for the comparison are the RMS sprung mass vertical acceleration, RMS dynamic tyre force, and suspension power consumption. The active system is based on an air-spring with controlled in-flow and out-flow of the air. In the semi-active system, a controlled hydraulic damper is employed. The results concerning the semi-active suspension system were taken from the article by Besinger et al. [Besinger, F.H., Cebon, D. and Cole, D.J., 1995, Force control of a semi-active damper. Vehicle System Dynamics, 24(9), 695–723.].     

Improving vehicle dynamics by active rear wheel steering systems

This article presents two design strategies for an active rear wheel steering control system. The first method is a standard design procedure based on the well-known single track model. The aim of the feedback loop is to track a reference yaw rate in order to improve the handling behaviour. Unfortunately, a reasonable specification of the reference yaw rate proves to be a nontrivial task. A second approach avoids this drawback. The structure of the controller is regarded as a virtual mass-spring-damper system with adjustable parameters. Due to the high abstraction level of this method, the controller parameters can be tuned intuitively. Experiments with a prototype vehicle illustrate the effectiveness of the two proposed methodologies.