Optimal motion control for collision avoidance at Left Turn Across Path/Opposite Direction intersection scenarios using electric propulsion

Collision avoidance at intersections involving a host vehicle turning left across the path of an oncoming vehicle (Left Turn Across Path/Opposite Direction) have been studied in the past, but mostly using simplified interventions and rarely considering the possibility of crossing the intersection ahead of a bullet vehicle. Such a scenario where the driver preference is to avoid a collision by crossing the intersection ahead of a bullet vehicle is considered in this work. The optimal vehicle motion for collision avoidance in this scenario is determined analytically using a particle model within an optimal control framework. The optimal manoeuvres are then verified through numerical optimisations using a two-track vehicle model, where it was seen that the wheel forces followed the analytical global force angle result independently of the other wheels. A Modified Hamiltonian Algorithm controller for collision avoidance that uses the analytical optimal control solution is then implemented and tested in CarMaker simulations using a validated Volvo XC90 vehicle model. Simulation results showed that collision risk can be significantly reduced in this scenario using the proposed controller, and that more benefit can be expected in scenarios that require larger speed changes.     

分解协调法在船舶避碰决策中的研究

针对多船会遇的避碰决策情况,采用大系统理论的目标分解协调法将本船与多船之间的转向避碰幅度问题分解成多个独立的优化子问题,通过协调器求出本船转向避碰幅度的最优解。仿真结果表明,该方法不仅可以求解出多船会遇情况下本船的相对最优转向角,也为多船避碰智能决策系统提供参考。     

寻找车辆最优路径的混合算法

从可见度、信息浓度更新、参数对蚁群算法加以改进,可见度计算利用节约值及距离,使用较优的数个解完成信息浓度的更新,根据迭代次数的改变灵活设置的影响系数,然后引入交换法完成局部搜索,得到混合算法。用此法对物流配送车辆路径问题进行求解,寻找最优路径。该方法得到车辆数为5veh,配送路径总长为855．68km,优于遗传算法的求解结果,表明该方法可行。     

大气的混沌性及其对航线天气预报影响的研究

叙述大气的混沌性,解释了大气的可预报性问题,说明了两周以上的天气预报不准确的原因。介绍了为解决这一问题,气象学家所提出的集合预报方法,及一些可供保障船舶安全航行所使用的集合预报产品。以此为基础,论述了概率天气预报的科学性和意义,指出了推广使用概率天气预报所面临的问题和困难。最后讨论了大气的混沌性对航线天气预报的影响。指出了目前船舶管理部门和驾驶员最为关心的、对船舶安全威胁最大的热带气旋疑难路径和锋面气旋爆发性发展的预报精度不高这一事实。提出了开发研制能够方便有效地使用概率天气预报产品的计算机软件,与气导航线结合使用,这样方可达到保证航行安全、经济的目的。     

小型局域网的建设与优化

结合某公司办公局域网的建设，对小型局域网的建设做一说明，重点介绍如何对网络做进一步优化。针对网络流量监测、出口的策略路由、病毒防治提出了解决方案，并简单介绍了无线局域网的应用。     

桥梁墩身避碰承台轮廓设计研究

墩身抗撞能力远不及承台，没有必要使墩身像承台一样抗撞，只要结构尺寸合理就能达到墩身避碰目的。本文根据船首形状，吃水，碰撞变形，桥墩形状和水文条件等，建立墩身避碰数学模型，以例验证。     

论铁路车流径路的数学问题

归纳铁路车流径路制定过程中和自动化系统中应用车流径路的数学问题。分别讨论容量无限制交通分配方法数学模型和容量限制交通分配方法数学模型。结合铁路运输管理实际给出适合于铁路管理方式的车流径路制定参照模型及其算法。针对各种运输管理类自动化系统中普遍涉及的车流径路求解方法给出详细数学模型与算法。     

Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres

ABSTRACT

Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new insights and have the potential to be used for future safety systems that adapt the level of braking to the situation at hand, which is demonstrated through examples of how to exploit theresults.     

Optimal control of brakes and steering for autonomous collision avoidance using modified Hamiltonian algorithm

ABSTRACT

This paper considers the problem of collision avoidance for road vehicles, operating at the limits of friction. A two-level modelling and control methodology is proposed, with the upper level using a friction-limited particle model for motion planning, and the lower level using a nonlinear 3DOF model for optimal control allocation. Motion planning adopts a two-phase approach: the first phase is to avoid the obstacle, the second is to recover lane keeping with minimal additional lateral deviation. This methodology differs from the more standard approach of path-planning/path-following, as there is no explicit path reference used; the control reference is a target acceleration vector which simultaneously induces changes in direction and speed. The lower level control distributes vehicle targets to the brake and steer actuators via a new and efficient method, the Modified Hamiltonian Algorithm (MHA). MHA balances CG acceleration targets with yaw moment tracking to preserve lateral stability. A nonlinear 7DOF two-track vehicle model confirms the overall validity of this novel methodology for collision avoidance.     

基于列车测距的城市轨道交通非正常情况运输能力提升方法研究

电话闭塞法是城市轨道交通在列车控制系统故障情况下使用的降级运营模式。此种方法依靠人工组织,可靠性与运输能力均低于采用ATC(列车自动控制)系统行车模式。为了减少ATC设备失效情况下对列车行车组织带来的影响,在电话闭塞法行车时,采用列车测距设备对行车组织方法进行改进。以上海轨道交通7号线实际数据为例进行算例计算,计算结果表明采用该设备能够提高电话闭塞法列车运行效率13.33%。