智能分布式驱动汽车路径跟踪/制动能量回收协同控制策略研究

为了解决智能分布式驱动汽车路径跟踪与制动能量回收系统间的协同控制难题,充分考虑分布式驱动汽车四轮扭矩独立可控在智能驾驶系统中的优势,设计适应不同路面附着条件的智能分布式驱动汽车转向、制动分层协同控制策略。上层控制器依据不同的路面类型设计差异化的多目标代价函数,以综合优化各工况下的控制目标。高附路面下,制定满足最大能量回收值的全局参考车速,在线优化路径跟踪指令,实现最优能量回收的同时减小系统运算负荷;低附路面下,优先考虑车辆的路径跟踪性能和行驶稳定性,在多目标代价函数中取消对全局参考车速的跟随要求,增设终端速度约束与能量回收项性能指标并减小能量回收项性能指标的权重系数。上层控制器基于模型预测控制方法对多目标代价函数进行滚动优化与预测求解,得到期望的前轮转角及4个车轮的总制动扭矩需求。下层控制器根据制动扭矩需求对四轮的液压制动扭矩和电机制动扭矩进行分配,最终完成整个复合制动过程。基于MATLAB/Simulink和CarSim软件,搭建控制器在环仿真平台,并在高附和低附路面条件下对所提出的策略进行试验验证。研究结果表明：高附路面下,所提出的控制策略在准确跟踪期望路径的同时相较固定比例制动力分配方法可提升2.7%的能量回收值并减少约0.02 s的单次计算时间;低附路面下,与使用高附控制策略相比,能够保证车辆的路径跟踪准确性与行驶稳定性,同时可提升7.8%的能量回收值;控制器在环试验结果证明了该协同控制策略对车辆性能提升的有效性。     

公路工程试验检测数据处理问题探析

在公路工程的施工技术管理中,工程试验检测是一个重要环节,同时也是公路施工质量控制和工程竣工验收工作中不可或缺的一个关键步骤。针对这样一个关键环节,从数据表达和误差表示两个方面分析公路工程试验检测数据处理问题,可供参考借鉴。     

二次蒸发制备的CuxS薄膜特性研究

在玻璃基底上通过两次蒸发的新技术制备SuxS薄膜，硫在衬底温度为160℃-200℃时与淀积在衬底上的铜直接发生反应，生成CuxS薄膜，实验发现，生成的CuxS薄与衬底温度有很大关系。160℃时生成的CuxS呈黄绿色，而在190℃左右生成的多晶状的CuxS薄膜，颜色为深绿色，通过XRD、SEM、TS等方法样品的组织结构进行了研究和讨论。     

提高标准件模具寿命的有效途径

在汽车标准件的生产过程中,模具起着主导作用,只有提高模具寿命,才能起到事半功倍的效果。有效提高标准件模具的寿命,除了需要合理选用模具的材料,合理设计模具的结构,做好模具的热处理以及加工与抛光外,还要选用恰当的润滑剂和精度高的设备,同时要加强管理,提高操作者的素质。     

From Twitter to detector: Real-time traffic incident detection using social media data

The effectiveness of traditional incident detection is often limited by sparse sensor coverage, and reporting incidents to emergency response systems is labor-intensive. We propose to mine tweet texts to extract incident information on both highways and arterials as an efficient and cost-effective alternative to existing data sources. This paper presents a methodology to crawl, process and filter tweets that are accessible by the public for free. Tweets are acquired from Twitter using the REST API in real time. The process of adaptive data acquisition establishes a dictionary of important keywords and their combinations that can imply traffic incidents (TI). A tweet is then mapped into a high dimensional binary vector in a feature space formed by the dictionary, and classified into either TI related or not. All the TI tweets are then geocoded to determine their locations, and further classified into one of the five incident categories.We apply the methodology in two regions, the Pittsburgh and Philadelphia Metropolitan Areas. Overall, mining tweets holds great potentials to complement existing traffic incident data in a very cheap way. A small sample of tweets acquired from the Twitter API cover most of the incidents reported in the existing data set, and additional incidents can be identified through analyzing tweets text. Twitter also provides ample additional information with a reasonable coverage on arterials. A tweet that is related to TI and geocodable accounts for approximately 5% of all the acquired tweets. Of those geocodable TI tweets, 60–70% are posted by influential users (IU), namely public Twitter accounts mostly owned by public agencies and media, while the rest is contributed by individual users. There is more incident information provided by Twitter on weekends than on weekdays. Within the same day, both individuals and IUs tend to report incidents more frequently during the day time than at night, especially during traffic peak hours. Individual tweets are more likely to report incidents near the center of a city, and the volume of information significantly decays outwards from the center.     

Virtual 3D city model as a priori information source for vehicle localization system

This paper aims at demonstrating the usefulness of integrating virtual 3D models in vehicle localization systems. Usually, vehicle localization algorithms are based on multi-sensor data fusion. Global Navigation Satellite Systems GNSS, as Global Positioning System GPS, are used to provide measurements of the geographic location. Nevertheless, GNSS solutions suffer from signal attenuation and masking, multipath phenomena and lack of visibility, especially in urban areas. That leads to degradation or even a total loss of the positioning information and then unsatisfactory performances. Dead-reckoning and inertial sensors are then often added to back up GPS in case of inaccurate or unavailable measurements or if high frequency location estimation is required. However, the dead-reckoning localization may drift in the long term due to error accumulation. To back up GPS and compensate the drift of the dead reckoning sensors based localization, two approaches integrating a virtual 3D model are proposed in registered with respect to the scene perceived by an on-board sensor. From the real/virtual scenes matching, the transformation (rotation and translation) between the real sensor and the virtual sensor (whose position and orientation are known) can be computed. These two approaches lead to determine the pose of the real sensor embedded on the vehicle. In the first approach, the considered perception sensor is a camera and in the second approach, it is a laser scanner. The first approach is based on image matching between the virtual image extracted from the 3D city model and the real image acquired by the camera. The two major parts are: 1. Detection and matching of feature points in real and virtual images (three features points are compared: Harris corner detector, SIFT and SURF). 2. Pose computation using POSIT algorithm. The second approach is based on the on–board horizontal laser scanner that provides a set of distances between it and the environment. This set of distances is matched with depth information (virtual laser scan data), provided by the virtual 3D city model. The pose estimation provided by these two approaches can be integrated in data fusion formalism. In this paper the result of the first approach is integrated in IMM UKF data fusion formalism. Experimental results obtained using real data illustrate the feasibility and the performances of the proposed approaches.     

新型舰载ESM信号处理系统

随着雷达技术的发展，电磁环境越来越密集，雷达信号的类型超来超复杂，这就对ＥＳＭ信号处理提出了更高的要求。基于目前ＥＳＭ信号的处理方法，本文提出了一种先进的工程上可实现的新一代舰载ＥＳＭ信号处理系统。     

新的汽车牌照识别系统及其成像技术

介绍了一种高性能的汽车牌照识别系统及其成像技术。系统采用了新的成像控制和闪光灯补光技术，使其成像特别适合牌照区域分割和字符识别，成像质量完全不受实际应用环境中强烈的光线变化的影响，从而达到较高的全天候识别率和实际应用的要求。给出了系统在全天候条件下的成像效果和牌照识别效果．结果显示系统可在全天候条件下获得高质量的图像。     

车站通过能力计算中的数据处理方法

采集完备而合理的原始数据是计算车站通过能力的基础。为解决客观环境及人为因素造成采集数据失真和影响可靠性的问题,一方面运用灰色系统理论中的弱化缓冲原理进行数据预处理,即从原始数据序列中提取出显著偏离序列的数据元素,采用二阶缓冲数据处理方法进行数据弱化,并将预处理后的数据对应替代原始数据序列中被提取的数据;另一方面,运用数理统计方法推导占用时间标准计算公式中的权重系数,以权重系数替代传统公式中的简单算术平均数。给出数据预处理方法和确定权重系数的具体步骤,并以重庆站成都方向至到发场第2股道的接车作业占用咽喉时间实际数据处理为例,验证了所给出方法可有效减轻随机扰动对原始数据采集的不利影响,使设备占用时间标准的确定更加合理。