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轮式装载机在工作区域行驶时,避障过程频繁,以往的避障轨迹规划未考虑整车转向半径约束和车速变化,也较少考虑整车在动力学模型条件下的轨迹跟踪性能。针对上述情况,以自动驾驶轮式装载机为对象,基于最优快速随机扩展树算法(RRT*),考虑车身膨胀圆个数,生成全局最优避障路径,以整车最小稳定转向半径为约束,利用CC-Steer算法对避障路径进行平滑处理,采用路径-速度分解算法规划满足整车在加速、匀速和减速状态下的避障行驶轨迹。基于整车动力学模型,考虑行驶过程中的横向位置偏差和航向角偏差,并将整车动力传动系统视为1阶惯性环节,构建装载机动力学状态空间方程。以加速度和铰接角为控制输入,以车速、横向位置偏差和航向角偏差为控制输出,建立整车动力学预测模型,以加速度、铰接角和车速为约束条件,将目标函数转换为二次规划问题,建立满足装载机在工作区域避障的模型预测轨迹跟踪控制系统。以规划的非匀速行驶避障轨迹为目标,利用构建的模型预测轨迹跟踪系统,进行自动驾驶轮式装载机的轨迹跟踪仿真。研究结果表明:所提方法能够很好地控制自动驾驶轮式装载机从初始位姿驶向目标位姿,实现整车在工作区域的避障过程,且在避障过程中满足整车的约束要求,保证整车在轨迹跟踪过程中的安全稳定性能。 相似文献
283.
Automated driving is gaining increasing amounts of attention from both industry and academic communities because it is regarded as the most promising technology for improving road safety in the future. The ability to make an automated lane change is one of the most important parts of automated driving. However, there has been little research into automated lane change maneuvers, and current research has not identified a way to avoid potential collisions during lane changes, which result from the state variations of the other vehicles. One important reason is that the lane change vehicle cannot acquire accurate information regarding the other vehicles, especially the vehicles in the adjacent lane. However, vehicle-to-vehicle communication has the advantage of providing more information, and this information is more accurate than that obtained from other sensors, such as radars and lasers. Therefore, we propose a dynamic automated lane change maneuver based on vehicle-to-vehicle communication to accomplish an automated lane change and eliminate potential collisions during the lane change process. The key technologies for this maneuver are trajectory planning and trajectory tracking. Trajectory planning calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency and updates it to avoid potential collisions until the lane change is complete. The trajectory planning method converts the planning problem into a constrained optimization problem using the lane change time and distance. This method is capable of planning a reference trajectory for a normal lane change, an emergency lane change and a change back to the original lane. A trajectory-tracking controller based on sliding mode control calculates the control inputs to make the host vehicle travel along the reference trajectory. Finally, simulations and experiments using a driving simulator are conducted. They demonstrate that the proposed dynamic automated lane change maneuver can avoid potential collisions during the lane change process effectively. 相似文献
284.
A bicriterion shortest path problem with a general nonadditive cost seeks to optimize a combination of two path costs, one of which is evaluated by a nonlinear function. This paper first identifies a number of emerging transportation applications for which such a shortest path problem might be considered a core subproblem. We propose to first approximate the general nonlinear cost function with a piecewise linear counterpart, and then solve each linear subproblem sequentially. A specialized algorithm is developed to solve the subproblems, which makes use of the efficient path set (or the convex hull) to update upper and lower bounds of the original problem. Conditions under which the solution to a subproblem must belong to the efficient path set are specified. Accordingly, we show that the optimal path must be efficient if the nonlinear cost function is concave. If the optimal path to a subproblem is not efficient, partial path enumeration, implemented using a simple K-shortest path ranking procedure, is conducted to close the gap. The proposed algorithm includes strategies aiming to expedite path enumeration by using upper bounds derived from the efficient path set. Numerical experiments are conducted to demonstrate correctness and effectiveness of the proposed algorithm. 相似文献
285.
The eco-routing problem concerned in this paper addresses the optimal route choice of eco-drivers who aim to meet an emission standard imposed by regulators, while trying to find the path with the minimum total operating cost, which consists of both travel time and fuel costs. The paper first develops fuel consumption and greenhouse gas emissions estimation models that link emission rates to a vehicle’s physical and operational properties. Unlike most studies in the literature, the emission model developed in this paper retains as many microscopic characteristics as feasible in the context of route planning. Specifically, it is able to approximate the impacts of major acceleration events associated with link changes and intersection idling, and yet does not require detailed acceleration data as inputs. The proposed eco-routing model also explicitly captures delays at intersections and the emissions associated with them. Using a simple probabilistic model, the impacts of different turning movements on eco-routing are incorporated. The proposed model is formulated as a constrained shortest path problem and solved by off-the-shelf solvers. Numerical experiments confirm that vehicle characteristics, especially weight and engine displacement, may influence eco-routing. The results also suggest that ignoring the effects of turning movements and acceleration may lead to sub-optimal routes for eco-drivers. 相似文献
286.
IntroductionAsynchronousTransferModehasbeengivenconsiderableattentionasapowerwayofaccom-plishinganintegratedservicenetwork[1].InATMNetworks,informationisdividedintoshortfixed-lengthentities,calledcells,whichareprovidedwithflowidentificationlabels,and… 相似文献
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为了掌握交通基础设施技术状况、服务于养护技术经济指标分析,基于不同层级管理目标的信息化需求,通过详细分析不同层级需求的数据及其来源,设计了可服务于不同管理层级并用于管理主体交互的基本数据组成、获取和更新路径。此外,以数据设计为基础,展示了数据平台应用于申嘉湖高速公路的管理案例。 相似文献
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