MODIFIED AUTOMATIC TUNING OF PI/D CONTROLLERS BASED ON PHASE AND AMPLITUDE MARGIN SPECIFICATIONS

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Updating of Travel Behavior Model Parameters and Estimation of Vehicle Trip Chain Based on Plate Scanning

This article proposes a maximum-likelihood method to update travel behavior model parameters and estimate vehicle trip chain based on plate scanning. The information from plate scanning consists of the vehicle passing time and sequence of scanned vehicles along a series of plate scanning locations (sensor locations installed on road network). The article adopts the hierarchical travel behavior decision model, in which the upper tier is an activity pattern generation model, and the lower tier is a destination and route choice model. The activity pattern is an individual profile of daily performed activities. To obtain reliable estimation results, the sensor location schemes for predicting trip chaining are proposed. The maximum-likelihood estimation problem based on plate scanning is formulated to update model parameters. This problem is solved by the expectation-maximization (EM) algorithm. The model and algorithm are then tested with simulated plate scanning data in a modified Sioux Falls network. The results illustrate the efficiency of the model and its potential for an application to large and complex network cases.     

基于SVR模型的灌注桩价格估算研究

采用基于结构风险最小化思想的支持向量回归(SVR)模型预测了灌注桩的中标价格.在分析灌注桩的成本动因的基础上,通过历史项目清单预算确定了17个回归自变量,根据历史项目中标价格(因变量)和成本动因(自变量)来估算当前项目价格.利用该模型对福建省某高速公路灌注桩进了行价格估算,并与基于定额的清单预算价格以及多元线性回归估算价格进行了对比.结果表明:估算结果相对于其他两种方法明显接近实际中标价格,采用SVR模型可以大大提高估算的准确性,有效控制造价,提升公路工程造价管理水平.     

Characteristics of operating mode distributions of light duty vehicles by road type,average speed,and driver type for estimating on-road emissions: Case study of Beijing

Abstract

Researchers have collected extensive vehicle activity data in Beijing using GPS and attempted to develop a comprehensive database of facility- and speed-specific operating mode (OpMode) distributions of various vehicle types for estimating on-road vehicle emissions. This study developed the specific OpMode distributions of light duty vehicles (LDVs) for both restricted access and unrestricted access road types at various average speeds for characteristic analysis. (1) Strong patterns are found in the variations in OpMode distributions with the increase in the average speed: the time fraction of Decelerating/Braking remains less than 7%. The fraction of Idling decreases dramatically from 95% to 0%, while the fraction of Cruising/Accelerating increases from 2% to 94%. The fraction of Coasting increases to 28% and then decreases. (2) The time fractions for restricted access and unrestricted access are significantly different at the same average speeds, especially in Operating Modes #0, #1, #11, #12, #13, #14, #21, and #22, possibly causing an error of 20% in the emissions estimations. (3) Taxis show different OpMode distributions than those for private cars in the operating modes of Decelerating/Braking, Idling, and high-VSP modes, especially at low average speeds. The differences are derived from the more skillful driving behaviors of taxi drivers and may cause an estimation error of over 10%. Thus, the activities of taxis and private cars should be modeled separately for on-road emissions estimations.     

Trends in vehicle motion control for automated driving on public roads

ABSTRACT

In this paper, we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk manoeuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally, the important topic of verification of driving automation systems is addressed.     

无人驾驶汽车行车环境下鲁棒性声学特征提取算法（双语出版）

无人驾驶汽车在行车过程中，需要通过视觉感知和听觉感知来构建当前周围环境模型，声学事件检测是听觉感知系统构建模型的核心所在。行车环境下声学事件检测系统面临着复杂而强烈的噪声挑战，尤其是行车过程中的风噪。声学事件检测中，常用的声学特征梅尔频率倒谱系数（MFCC）对噪声干扰十分敏感，为了解决这一问题，提出一种谐波梅尔频率倒谱系数（HMFCC）的鲁棒性声学特征提取算法，用于声学事件的目标分类。该算法通过声学信号的谐波模型与MFCC算法相结合，提取目标声学信号中的共振峰频率，改进传统Mel滤波器组，从而增强HMFCC中目标声学信号的中高频分量。研究结果表明：在不同的风噪环境下，基于HMFCC声学特征的检测结果具有较高的精准率和召回率，且在低噪和强噪环境下HMFCC和MFCC之间分类效果差异明显；低噪环境下，几种声学事件的HMFCC特征分类的平均精准率和召回率分别达到82.66%、84.15%，而基于MFCC特征分类检测的平均精准率和召回率只有73.93%、74.61%；随着风噪增强，MFCC特征分类精度严重下降，平均精准率和召回率仅为54.15%、44.95%，HMFCC特征在强噪环境下的平均精准率和召回率为72.16%、69.87%。行车环境下，HMFCC特征不仅可以提高分类的准确率，而且表现出对噪声不敏感的特性。     

A dynamic wheel–rail impact analysis of railway track under wheel flat by finite element analysis

Wheel–rail interaction is one of the most important research topics in railway engineering. It involves track impact response, track vibration and track safety. Track structure failures caused by wheel–rail impact forces can lead to significant economic loss for track owners through damage to rails and to the sleepers beneath. Wheel–rail impact forces occur because of imperfections in the wheels or rails such as wheel flats, irregular wheel profiles, rail corrugations and differences in the heights of rails connected at a welded joint. A wheel flat can cause a large dynamic impact force as well as a forced vibration with a high frequency, which can cause damage to the track structure. In the present work, a three-dimensional finite element (FE) model for the impact analysis induced by the wheel flat is developed by the use of the FE analysis (FEA) software package ANSYS and validated by another validated simulation. The effect of wheel flats on impact forces is thoroughly investigated. It is found that the presence of a wheel flat will significantly increase the dynamic impact force on both rail and sleeper. The impact force will monotonically increase with the size of wheel flats. The relationships between the impact force and the wheel flat size are explored from this FEA and they are important for track engineers to improve their understanding of the design and maintenance of the track system.     

高速磁浮列车导向系统的鲁棒控制器设计

导向系统是高速磁浮列车中的关键子系统之一,针对导向系统工作电流变化范围大的特点,设计了降低静态电流灵敏度的鲁棒导向控制器。在介绍导向系统结构和控制方案的基础上给出导向系统线性化的数学模型,并采用线性最优二次型设计方法设计最优控制器,结合仿真讨论最优控制器无法在整个工作范围内保证导向系统具有相近性能的原因,而后建立了导向系统对于静态电流的参数灵敏度模型,并采用降低参数灵敏度的鲁棒控制理论对最优控制器设计方法进行改进,设计了鲁棒控制器。仿真和试验表明,该鲁棒控制器能够增强导向系统对静态电流变化的鲁棒性。     

远距离短波通信最低可用频率的计算

短波通信最低可用频率是确定短波通信可用频率范围的重要参量,计算该频率对提高短波跳、扩频通信效能有现实意义。简述了短波通信的概念和特点,介绍了短波天波传播过程中的各种损耗的计算方法,进而利用天波传播损耗公式从理论上对远距离短波通信最低可用频率进行计算。短波最低可用频率的计算有助于短波通信频段的选择。