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261.
[目的]智能船舶的航迹跟踪控制问题往往面临着控制环境复杂、控制器稳定性不高以及大量的算法计算等问题。为实现对航迹跟踪的精准控制,提出一种引入深度强化学习技术的航向控制器。[方法]首先,结合视线(LOS)算法制导,以船舶的操纵特性和控制要求为基础,将航迹跟踪问题建模成马尔可夫决策过程,设计其状态空间、动作空间、奖励函数;然后,使用深度确定性策略梯度(DDPG)算法作为控制器的实现,采用离线学习方法对控制器进行训练;最后,将训练完成的控制器与BP-PID控制器进行对比研究,分析控制效果。[结果]仿真结果表明,设计的深度强化学习控制器可以从训练学习过程中快速收敛达到控制要求,训练后的网络与BP-PID控制器相比跟踪迅速,具有偏航误差小、舵角变化频率小等优点。[结论]研究成果可为智能船舶航迹跟踪控制提供参考。 相似文献
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Reducing traffic volumes and CO2-emissions from freight transport has proven difficult in many countries. Although the increasing suburbanization of warehouses is seen as a relevant land use trend, comprehensive analyses of their impact remain scarce. This study uses real data in modeling transport, costs, environmental and modal effects from warehouse relocations around Oslo and Trondheim (Norway). Results indicate that for Oslo, traffic performance (ton-km), CO2-emissions, and transport costs increase following warehouse suburbanization. For Trondheim, transport performance and CO2-emissions increase less, while transport costs decrease marginally. We conclude that specific case characteristics (geography and trade patterns) are important in determining the strength and direction of effects, and expect that common concomitant developments (warehouse centralization and consolidation) would lead to more pronounced results. Our findings confirm some, but challenge other, findings from the relatively scarcely literature available. Finally, the study's more general insights and observations can help advance similar analyses beyond Norway. 相似文献
264.
Driving volatility captures the extent of speed variations when a vehicle is being driven. Extreme longitudinal variations signify hard acceleration or braking. Warnings and alerts given to drivers can reduce such volatility potentially improving safety, energy use, and emissions. This study develops a fundamental understanding of instantaneous driving decisions, needed for hazard anticipation and notification systems, and distinguishes normal from anomalous driving. In this study, driving task is divided into distinct yet unobserved regimes. The research issue is to characterize and quantify these regimes in typical driving cycles and the associated volatility of each regime, explore when the regimes change and the key correlates associated with each regime. Using Basic Safety Message (BSM) data from the Safety Pilot Model Deployment in Ann Arbor, Michigan, two- and three-regime Dynamic Markov switching models are estimated for several trips undertaken on various roadway types. While thousands of instrumented vehicles with vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication systems are being tested, nearly 1.4 million records of BSMs, from 184 trips undertaken by 71 instrumented vehicles are analyzed in this study. Then even more detailed analysis of 43 randomly chosen trips (N = 714,340 BSM records) that were undertaken on various roadway types is conducted. The results indicate that acceleration and deceleration are two distinct regimes, and as compared to acceleration, drivers decelerate at higher rates, and braking is significantly more volatile than acceleration. Different correlations of the two regimes with instantaneous driving contexts are explored. With a more generic three-regime model specification, the results reveal high-rate acceleration, high-rate deceleration, and cruise/constant as the three distinct regimes that characterize a typical driving cycle. Moreover, given in a high-rate regime, drivers’ on-average tend to decelerate at a higher rate than their rate of acceleration. Importantly, compared to cruise/constant regime, drivers’ instantaneous driving decisions are more volatile both in “high-rate” acceleration as well as “high-rate” deceleration regime. The study contributes to analyzing volatility in short-term driving decisions, and how changes in driving regimes can be mapped to a combination of local traffic states surrounding the vehicle. 相似文献
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266.
The fluid-structure interaction of oblique irregular waves with a pontoon-type very large floating structure (VLFS) edged with dual horizontal/inclined perforated plates has been investigated in the context of the direct time domain modal expansion theory. For the hydroelastic analysis, the boundary element method (BEM) based on time domain Kelvin sources is implemented to establish water wave model including the viscous effect of the perforated plates through the Darcy’s law, and the finite element method (FEM) is adopted for solving the deflections of the VLFS modeled as an equivalent Mindlin thick plate. In order to enhance the computing efficiency, the interpolation-tabulation scheme is applied to assess rapidly and accurately the free-surface Green function and its partial derivatives in finite water depth, and the boundary integral equation of a half or quarter VLFS model is further established taking advantage of symmetry of flow field and structure. Also, the numerical solutions are validated against a series of experimental tests. In the comparison, the empirical relationship between the actual porosity and porous parameter is successfully applied. Numerical solutions and model tests are executed to determine the hydroelastic response characteristics of VLFS with an attached anti-motion device. This study examines the effects of porosity, submerged depth, inclined angle and gap distance of such dual perforated anti-motion plates on the hydroelastic response to provide information regarding the optimal design. The effects of oblique wave angle on the performance of anti-motion and hydroelastic behavior of VLFS are also emphatically examined. 相似文献
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268.
This study determines the optimal electric driving range of plug-in hybrid electric vehicles (PHEVs) that minimizes the daily cost borne by the society when using this technology. An optimization framework is developed and applied to datasets representing the US market. Results indicate that the optimal range is 16 miles with an average social cost of $3.19 per day when exclusively charging at home, compared to $3.27 per day of driving a conventional vehicle. The optimal range is found to be sensitive to the cost of battery packs and the price of gasoline. When workplace charging is available, the optimal electric driving range surprisingly increases from 16 to 22 miles, as larger batteries would allow drivers to better take advantage of the charging opportunities to achieve longer electrified travel distances, yielding social cost savings. If workplace charging is available, the optimal density is to deploy a workplace charger for every 3.66 vehicles. Moreover, the diversification of the battery size, i.e., introducing a pair and triple of electric driving ranges to the market, could further decrease the average societal cost per PHEV by 7.45% and 11.5% respectively. 相似文献
269.
共享单车系统自发的不均衡性导致单车数量分布与用户需求分布之间产生偏移,降低了系统服务能力,需要调度实现再平衡. 现有动态调度算法缺乏考虑起点车辆供给不足,用户在出行过程中“再次”取车的移步需求,难以准确识别用户真实的出行需求分布,降低了调度效果. 本文提出以用户出行选择行为为下层,以调度车辆路径规划为上层的双层规划模型框架,设计结合仿真系统的启发式求解算法. 算例场景基于上海市虹口、杨浦区共享单车历史出行数据搭建,并进行网格化处理. 算例结果表明,模型能有效识别移步需求,提高共享单车的供需匹配能力. 针对各类调度资源配置情况,共享单车的供需匹配率提升18.07%~ 19.89%,提高了共享单车系统的管理效率. 相似文献
270.
针对现有交通流预测方法未充分考虑多断面车流演变规律,提出基于时延特性建模的时空相关性计算方法. 该方法采用对不同断面、不同时刻交通流的分布相似性度量,对输入的车辆到达数据序列进行切割构建时空相似度矩阵,得到相邻断面之间的时延参数. 基于时延特性建模,将多断面之间的流量信息进行融合,使用长短时记忆(LSTM)网络进行流量预测. 通过对实际路段数据的预测和结果分析,验证所提方法的有效性和实用性. 相似文献