Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

一种固定翼飞机的航迹仿真

研究了基于飞机运动方程的固定翼飞机航迹仿真方法,利用飞行器的运动方程进行固定翼飞机航迹模拟,建立飞机运动仿真模型算法,然后用MATLAB程序实现飞机航迹仿真,并对直线航迹和跑道型航迹进行了算法分析,最后将仿真航迹与真实航迹比对.     

Assessment of the volume of fluid method for free-surface wave flow

This study was concerned with the free-surface wave flow around a surface-piercing foil. The volume of fluid method implemented in a Navier–Stokes computational fluid dynamics code was employed. Three widely used discretization schemes for the volume of fluid method were assessed for a test case that involved general ship waves, spilling breaking waves in front of the leading edge, and bubbly free surfaces in separated regions. A single computational approach was selected for the comparison, and a grid-dependence study was carried out. The computational results were validated against existing experimental data, showing good agreement. The validation results suggest that all three discretization schemes perform well, but the best and most efficient results were obtained using the high-resolution interface capturing scheme.     

Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

路网环境下考虑大型车混入率的事故疏散诱导模型

大型车的混入对高速公路交通流产生了较大的影响，尤其是在交通事故情景下。为了引导事故条件下驾驶人和组织者做出高效准确的决断，将考虑了大型车混入率的动态空间占有率模型引入到交通波模型，构建干涉与非干涉情景下的交通事故影响模型。以郑尧高速为例，对模型的准确性和可行性进行了验证，分别对干涉情景下的疏散时间、疏散量以及事故发生的位置，车辆数等指标与事故影响程度的指标（包含事故最远排队长度，事故持续时间）关系进行分析。研究结果表明：疏散时间与事故影响程度成正相关关系，疏散量与事故影响程度成负相关关系，而事故发生点与上游匝道之间的距离与其关系不大；道路服务水平为0.456，车辆数为1 321 veh·h^-1时，为了使得分合流区不受影响，在不采取任何措施的情景下，应将大型车混入率控制在50.1%以下，使得最远排队长度在10 km内；当大型车混入率大于58%时，将很难通过干涉引导避免对上游分合流区产生影响；在35 min以内采取干涉措施的效果最为明显，而大于35 min时，事故持续时间会发生一个急剧的增加，不利于路网恢复，之后事故恢复时间将趋于平稳；对道路交通量进行模拟可知交通量每增加50 veh，疏散时间和距离增加的范围为[1.5 min，3.6 min]和[1.209 km，1.543 km]。研究结果可为高速公路事故诱导策略制定和疏散效果提升提供参考。     

Chaotic movement of vortices in superconductors of high-Tc superconducting maglev system at a high speed

Vortex motion in superconductors of higb-Tc superconducting maglev system is studied by a computational simulation.The vortex system is treated in a similar fashion,as a system where defects arc arrang...     

隧道下穿运营机场跑道的爆破振动安全判据研究

以我国第一座采用钻爆法下穿运营机场跑道的隧道恩施金凤大道许家坪隧道工程为依托,开展对机场跑道的爆破动力安全判据的研究。首先基于应力波传播理论及极限拉应力准则,对爆炸应力波传播至机场跑道上表面(即自由面)处发生的反射进行理论分析,建立基于混凝土跑道结构安全的爆破振动速度判据模型,并提出跑道的爆破振动速度安全阈值;同时,基于数值模拟,从统计角度建立拉应力峰值与质点振动速度峰值之间的函数关系,求解得到机场跑道的爆破振动速度安全阈值。最后,将理论分析结果、数值计算分析与《爆破安全规程》进行对比分析,最终确定机场跑道的爆破振动速度安全判据,为在隧道下穿机场跑道爆破施工提供了依据。     

Investigation of ship waves in a narrow channel

This paper presents a discussion of the characteristics of ship waves in a narrow channel restricted by vertical walls, based on observed data and the results computed by a 2-D model. In the numerical model, the propagation of waves generated by a moving ship is simulated by solving 2-D depth-integrated Boussinesq equations. To get the boundary conditions at the location of the ship, the slender-ship approximation is employed. A field observation was carried out at a straight length of navigation channel. The ships targeted in the observations are two kinds of waterbuses with lengths of 28 and 24 m. The relative depth Froude number for the river current, an appropriate parameter for assessing the influence of the current on ship wave characteristics in a navigation channel, ranged from 0.47 to 0.76. The observed maximum wave height varied between 0.13 and 1.26 m. The maximum wave height of the wave train is sharply increased when the relative depth Froude number exceeds 0.6. The results computed by the present model agree fairly well with the observed data.     

外海超长桩基础施工关键技术研究

港珠澳大桥江海直达船航道桥深水桩基础地质环境复杂,施工难度大,在施工过程中困难重重。通过提前预判分析施工过程的重难点,结合相关施工技术要求,编制了关键技术要点,同时处理了施工过程中遇到的技术难题,在桩基实施过程中取得了良好效果,确保了桩基础工程施工顺利完成。在深海水域的桩基础施工类型中,对相关技术进行了创新,在实施过程中得到了成功的应用。