Automatic guidance control of an articulated all-wheel-steered vehicle

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.     

高校就业指导师的角色、定位及素质要求

高校就业指导师是各高校已经有的师资队伍,但对其工作定位及发展前途都未有较为清晰的要求,导致这支队伍的不稳定,与目前高校发展极不匹配。通过研究,初步规范高校就业指导师的角色、定位和素质要求,使高校就业指导师按照科学规范的要求发展,促进高校整体事业的前进。     

中职汽修专业“双元双导 校店融合”协同育人模式实践研究

在汽车产业快速发展,以及汽车消费市场不断扩大带动下,社会对汽修专业人才的需求也随之大幅度提升。这也对中职汽修专业的教育培养工作提出了更高要求,对此,各中职院校应紧跟时代发展步伐,加强对"双元双导校店融合"协同育人模式的应用研究,以此来为中职院校拓展出更理想的发展前景,培养出更多优秀人才。     

改进深度确定性策略梯度的决策算法研究

为解决无人驾驶路径规划过程中的决策控制问题,文章针对深度确定性策略梯度算法在未知环境中随着搜索空间的增大,出现训练效率低、收敛不稳定等缺点,提出了基于奖励指导的改进算法。首先在每回合内采用基于奖励的优先级经验回放,减少深度确定性策略梯度算法随机探索的盲目性,提高智能车学习效率。然后在回合间基于奖励筛选优秀轨迹,便于指导智能车对复杂空间的探索,得到稳定的控制策略。最后,在开源智能驾驶仿真环境进行仿真。实验结果表明改进后的深度确定性策略梯度算法性能优于原来的算法,训练效率和收敛稳定性均得到有效提升。     

基于分级多目标决策的干线公交速度引导模型

为解决干线公交速度引导存在多要素关联约束强，全局效果差的问题，本文提出基于分级多目标决策的干线公交速度引导模型。基于公交线路运行特性的全局优化指标优势分析，设计以公交线路综合准点率为主，交叉口停车次数和分段引导速度均衡为辅的线路全局优化目标体系，并考虑多目标间的关联约束和优先控制差异，构建基于拉格朗日乘子法和遗传算法分层组合的干线公交速度引导分级多目标递阶决策模型；最后，通过实际场景测试，验证模型的有效性。测试结果表明：模型能够克服非全局指标优化的局部最优问题，将全线路各班次综合准点率和交叉口停车次数由非全局指标的69.67%和2.37次 ⋅ 班-1 提升到90.53%和1.23次 ⋅ 班-1；并且综合准点率比全局多目标加权方法提升8.65%，能够较好保障综合准点率目标的优先性，有效提升干线公交的通行效率和服务可靠性。     

驻车拉索固定支架断裂的故障改进研究

某车型在盐城试验场进行耐久试验时出现了驻车拉索固定支架断裂的质量问题,故障里程为1200 km,同时在高寒试验时也出现了同样的故障,文章以该故障为基础,通过对驻车拉索的工作原理以及在整车环境的运行状态进行分析,提出了多种改进方案。经改进件的试制、装车和道路耐久路试等程序,验证改进方案可行,该故障得到了有效解决,未将该隐患输出到市场中,避免了市场车辆可能出现的抱怨,同时对类似故障模式的预防也有很好的设计借鉴意义。     

Urban freight,parking and pricing policies: An evaluation from a transport providers’ perspective

This paper investigates transport providers’ preferences for alternative loading bays and pricing policies. It estimates the importance of loading bays, the probability of finding them free and offers strategically relevant information to policy makers. The results underline the relevance of both preference heterogeneity and non-linear attribute effects. Three classes of agents are detected with substantially different preferences also characterized by non-linear sensitivity to attribute level variations. The specific freight sector, frequency of accesses and number of employees are all relevant covariates explaining different preferences for alternative transport providers’ categories. The implications of the results obtained are illustrated by simulating alternative policy scenarios. In conclusion, the paper underlines the need for rigorous policy analysis if the correct policy outcomes are to be estimated with an adequate level of accuracy.     

How driver behaviour and parking alignment affects inductive charging systems for electric vehicles

Inductive charging, a form of wireless charging, uses an electromagnetic field to transfer energy between two objects. This emerging technology offers an alternative solution to users having to physically plug in their electric vehicle (EV) to charge. Whilst manufacturers claim inductive charging technology is market ready, the efficiency of transfer of electrical energy is highly reliant on the accurate alignment of the coils involved. Therefore understanding the issue of parking misalignment and driver behaviour is an important human factors question, and the focus of this paper. Two studies were conducted, one a retrospective analysis of 100 pre-parked vehicles, the second a dynamic study where 10 participants parked an EV aiming to align with a charging pad with no bay markings as guidance. Results from both studies suggest that drivers are more accurate at parking laterally than in the longitudinal direction, with a mean lateral distance from the centre of the bay being 12.12 and 9.57 cm (retrospective and dynamic studies respectively) compared to longitudinally 23.73 and 73.48 cm. With current inductive charging systems having typical tolerances of approximately ±10 cm from their centre point, this study has shown that only 5% of vehicles in both studies would be aligned sufficiently accurately to allow efficient transfer of electrical energy through induction.     

An equilibrium analysis of commuter parking in the era of autonomous vehicles

This study is the first in the literature to model the joint equilibrium of departure time and parking location choices when commuters travel with autonomous vehicles (AVs). With AVs, walking from parking spaces to the work location is not needed. Instead, AVs will drop off the commuters at the workplace and then drive themselves to the parking spaces. In this context, the equilibrium departure/arrival profile is different from the literature with non-autonomous vehicles (non-AVs). Besides modeling the commuting equilibrium, this study further develops the first-best time-dependent congestion tolling scheme to achieve the system optimum. Also, a location-dependent parking pricing scheme is developed to replace the tolling scheme. Furthermore, this study discusses the optimal parking supply to minimize the total system cost (including both the travel cost and the social cost of parking supply) under either user equilibrium or system optimum traffic flow pattern. It is found that the optimal planning of parking can be different from the non-AV situation, since the vehicles can drive themselves to parking spaces that are further away from the city center and walking of commuters is avoided. This paper sheds light on future parking supply planning and traffic management.     

A novel permit scheme for managing parking competition and bottleneck congestion

Morning commuters may have to depart from home earlier to secure a parking space when parking supply in the city center is insufficient. Recent studies show that parking reservations can reduce highway congestion and deadweight loss of parking competition simultaneously. This study develops a novel tradable parking permit scheme to realize or implement parking reservations when commuters are either homogeneous or heterogeneous in their values of time. It is found that an expirable parking permit scheme with an infinite number of steps, i.e., the ideal-scheme, is superior to a time-varying pricing scheme in the sense that designing a permit scheme does not require commuters’ value of time information and the performance of the scheme is robust to the variation of commuters’ value of time. Although it is impractical to implement the ideal-scheme with an infinite number of steps, the efficiency loss of a permit scheme with finite steps can be bounded in both cases of homogeneous and heterogeneous commuters. Moreover, considering the permit scheme may lead to an undesirable benefit distribution among commuters, we propose an equal cost-reduction distribution of parking permits where auto commuters with higher value of time will receive fewer permits.