汽车操纵稳定性的广义汽车转向稳态响应模型

针对传统汽车操纵稳定性理论的线性二自由度模型的不足,构建了一个新的广义汽车转向稳态响应模型,并说明了该模型的广泛适用性。以某不足转向轿车模型的有关参数为例,仿真计算并比较了应用两种模型时该轿车等速圆周行驶时的稳态响应状况,验证了广义模型的正确性,同时得到了一条有别于传统汽车操纵稳定性理论的重要结论。     

计算机仿真研究平整度指标与路面状态的定量关系

参照平整度测量仪的结构及原理,用MATLAB科学计算语言对平整度的测量过程进行了模拟仿真,分析平整度指标与路面状态参数之间的定量关系,并阐述了此项研究对提出新的摊铺机自动找平系统的控制方式,提高路面平整度具有的实际意义与可行性.     

考虑横向漂移的船舶路径跟踪自抗扰控制

针对船舶运动系统中内部动态不确定和外部干扰等问题,进行了欠驱动船舶路径跟踪的自抗扰方法研究。利用Backstepping设计参考航向角,并通过线性扩张状态观测器对流干扰和横向运动引起的横向漂移进行估计。其次,根据自抗扰算法对航向进行控制,采用线性扩张状态观测器对外界干扰及内部不确定项进行估计。最后仿真结果表明,在风流干扰下所设计的控制器仍能使船准确地跟踪上参考路径,验证了所提控制方案的有效性。     

Free-floating bike sharing: Solving real-life large-scale static rebalancing problems

Free-floating bike sharing (FFBS) is an innovative bike sharing model. FFBS saves on start-up cost, in comparison to station-based bike sharing (SBBS), by avoiding construction of expensive docking stations and kiosk machines. FFBS prevents bike theft and offers significant opportunities for smart management by tracking bikes in real-time with built-in GPS. However, like SBBS, the success of FFBS depends on the efficiency of its rebalancing operations to serve the maximal demand as possible.Bicycle rebalancing refers to the reestablishment of the number of bikes at sites to desired quantities by using a fleet of vehicles transporting the bicycles. Static rebalancing for SBBS is a challenging combinatorial optimization problem. FFBS takes it a step further, with an increase in the scale of the problem. This article is the first effort in a series of studies of FFBS planning and management, tackling static rebalancing with single and multiple vehicles. We present a Novel Mixed Integer Linear Program for solving the Static Complete Rebalancing Problem. The proposed formulation, can not only handle single as well as multiple vehicles, but also allows for multiple visits to a node by the same vehicle. We present a hybrid nested large neighborhood search with variable neighborhood descent algorithm, which is both effective and efficient in solving static complete rebalancing problems for large-scale bike sharing programs.Computational experiments were carried out on the 1 Commodity Pickup and Delivery Traveling Salesman Problem (1-PDTSP) instances used previously in the literature and on three new sets of instances, two (one real-life and one general) based on Share-A-Bull Bikes (SABB) FFBS program recently launched at the Tampa campus of University of South Florida and the other based on Divvy SBBS in Chicago. Computational experiments on the 1-PDTSP instances demonstrate that the proposed algorithm outperforms a tabu search algorithm and is highly competitive with exact algorithms previously reported in the literature for solving static rebalancing problems in SBSS. Computational experiments on the SABB and Divvy instances, demonstrate that the proposed algorithm is able to deal with the increase in scale of the static rebalancing problem pertaining to both FFBS and SBBS, while deriving high-quality solutions in a reasonable amount of CPU time.     

基于语义挖掘的快递运输货品风险评价研究

为提高快递运输的风险监测管控能力，降低因快递货品风险导致城市安全事件发生的可 能性，本文基于语义挖掘方法将快递运输货品描述转化为风险的量化表征，为快递运输风险评价 提供可量化的客观指标依据。基于网络大数据资源提供的法院判决书数据，将物品词条与判决 结果相关联，通过隐狄利克雷分布模型挖掘物品风险主题，结合模糊均值聚类方法，实现对快递 货品语义风险的量化表征与柔性划分。与传统方法中依赖检视人员查验既定违禁品清单后的主 观判断方法不同，本文充分挖掘网络文本数据中的可迁移知识，并应用于种类繁多的快递运输货 品，有效避免人工评价造成的漏检、错检情况。研究结果表明，本文方法具有较高的准确率与较 低的误报率，获得的风险评价值不再是0或1的是非判断，有利于开展多样化、针对性的风险预警 及应对措施。     

基于模糊综合评价法的城市综合管廊结构健康评价方法研究

为解决城市综合管廊结构健康状况评估结果无法量化和指导运维的问题，通过分析模糊综合评价理论在交通隧道结构健康评价方法研究中的应用，依照类比思想，利用该理论建立城市综合管廊结构健康状况评价体系。首先，依据有关养护规定和调研结果，基于不同需求分别建立管廊结构的本体完好状况和本体结构状况评价指标体系； 其次，以交通隧道和综合管廊养护经验为基础，划分各指标的分级判定标准； 然后，采用层次分析法，计算评价指标的权重分配； 最后，采用柯西分布型隶属函数和矩阵型隶属函数确定各指标的隶属度，建立一级和二级模糊综合评价模型，赋予评价向量中各评语相应分值，将评价向量单值化，判定管廊结构健康状况。采用所提出的评价方法应用于实际工程，所得评价结果与经验评判得到的结果相同。     

State estimation in roll dynamics for commercial vehicles

Accurate lateral load transfer estimation plays an important role in improving the performance of the active rollover prevention system equipped in commercial vehicles. This estimation depends on the accurate prediction of roll angles for both the sprung and the unsprung subsystems. This paper proposes a novel computational method for roll-angle estimation in commercial vehicles employing sensors which are already used in a vehicle dynamic control system without additional expensive measurement units. The estimation strategy integrates two blocks. The first block contains a sliding-mode observer which is responsible for calculating the lateral tyre forces, while in the second block, the Kalman filter estimates the roll angles of the sprung mass and those of axles in the truck. The validation is conducted through MATLAB/TruckSim co-simulation. Based on the comparison between the estimated results and the simulation results from TruckSim, it can be concluded that the proposed estimation method has a promising tracking performance with low computational cost and high convergence speed. This approach enables a low-cost solution for the rollover prevention in commercial vehicles.     

Design of tyre force excitation for tyre–road friction estimation

Knowledge of the current tyre–road friction coefficient is essential for future autonomous vehicles. The environmental conditions, and the tyre–road friction in particular, determine both the braking distance and the maximum cornering velocity and thus set the boundaries for the vehicle. Tyre–road friction is difficult to estimate during normal driving due to low levels of tyre force excitation. This problem can be solved by using active tyre force excitation. A torque is added to one or several wheels in the purpose of estimating the tyre–road friction coefficient. Active tyre force excitation provides the opportunity to design the tyre force excitation freely. This study investigates how the tyre force should be applied to minimise the error of the tyre–road friction estimate. The performance of different excitation strategies was found to be dependent on both tyre model choice and noise level. Furthermore, the advantage with using tyre models with more parameters decreased when noise was added to the force and slip ratio.     

机动车交通流比功率与能耗模型研究

为研究机动车交通流能耗,将机动车交通流比功率(VSP)作为研究对象.从最常见的单车比功率研究出发,使用气体动力学交通流模型联系单车比功率与交通流整体比功率,以此建立交通流比功率模型.为使此模型具备更显著的物理意义,将交通流比功率分为两部分,一部分为平衡交通流状态下的比功率,另一部分为偏离平衡交通流状态导致的比功率变化量,模型中的交通流参数与变量能够通过现有的交通流探测设备获取.将比功率理论模型从单车扩展到了交通流,用数学公式反应了交通流状态与比功率的关系,并且证明了交通流比功率能够通过交通流参数进行估计.并由交通流比功率出发,推导出交通流比功公式.此外研究了平衡态交通流比功率及比功与密度的关系.为研究机动车交通流能耗探索了新的思路.     

城市交通状态的空间依赖性和异质性分析

有关城市交通状态空间特征的研究相对匮乏。从空间角度分析城市宏观交通特征,首先,针对城市路网几何形态和交通数据的关系提出适合于城市交通数据分析的空间模型。然后,以从长期的浮动车数据中提取的路段行程速度作为描述交通状态的实验数据,分别采用空间自相关和核密度估计法定量分析路网行程速度的空间依赖性和空间异质性,并分析其在典型时段的空间分布特征。结果显示:城市交通状态的关联性在空间上随着路段间距的增长而衰减;城市交通状态的空间分布特征随时间变化,受路网结构和区域功能的影响在空间中呈现集聚特征。