Lane-following method for high speed autonomous vehicles

This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.     

大直径中空孔直眼掏槽微振动爆破参数研究

为最大限度减小掏槽区的爆破振动对地表建筑物的扰动,以青岛地铁3号线太延区间下穿伊美尔整形医院段为背景,通过理论分析和现场试验,对大直径中空孔直眼掏槽的中空孔孔径、掏槽装药炮孔数目、首响孔与中空孔距离、逐孔起爆时差和中空孔布设位置各爆破参数进行探讨。结果表明:在断面中下部位布置直径为120~150 mm的中空孔,环形布置4个掏槽眼,首响孔距中空孔200~350 mm,逐孔起爆时差宜在40 ms以上,可使掏槽爆破振速得到有效控制。     

基于MATLAB的交流传动机车异步电动机并联系统的仿真研究

针对电压型逆变器供电的交流传动机车异步电动机并联运行系统存在的轮径偏差以及特性参数差异 ,建立了基于 MATL AB- SIMUL INK的仿真模型 ,利用它所观测的轮径偏差及电机参数差异对异步电动机电流偏差的影响规律与理论分析一致     

椭圆形沉箱浮游稳定的计算法

在矩形箱格的矩形沉箱和扇形箱格之圆形沉箱的浮游稳定计算原理的基础上,对二种类型椭圆沉箱两端半圆段内不同几何形状的箱格之自身对称轴的惯性矩,经图形转轴公式和平行移动公式转换,并经数学推导得到对椭圆形沉箱纵向形心轴平行的箱格自身形心轴的惯性矩i及其之和Σi的计算式,从而解决了椭圆形沉箱浮游稳定计算的问题。     

铁路车站咽喉区进路排列优化方法

合理排列接发列车和调车作业进路是保证铁路车站行车安全和提高行车效率的重要内容,在车站接发列车和调车作业自动化、车站行车作业过程模拟等方面也有着十分重要的意义。本文从有利于后续作业进路排列的目的出发,按序列化逐项作业排列进路的规则,分别提出了铁路车站咽喉区最大平行进路和最大概率进路的紧侧优化方法,该方法简明快捷,对现场计算和理论研究均有指导意义。     

SSE在电气化铁路列车运行模拟中的应用

探讨了电气化铁路列车运行模拟中的关键问题,开发了一套可供模拟计算与方案评价的电气化铁路列车运行模拟系统,重点介绍了该系统的主体结构、计算流程与牵引供电计算的SSE算法设计。本文采用Intel处理器(PentiumⅢ,PentiumⅣ)提供的SSE(单指令多数据流扩展指令集)技术,在PC机上实现了牵引供电的并行计算,加快了计算速度,使列车运行模拟系统的整体计算速度提高了两倍左右。     

基于PVM的数据融合并行任务调度

根据多信息源、多平台数据融合算法特点，将数据融合与并行处理技术相结合，设计了基于PVM集群的多任务并行调度，提出了两层调度和主动报告的并行任务调度策略，并给出了数据融合并行任务调度映射和软件实现流程，在集群计算机系统上实现了数据融合的实时大容量并行处理。在系统仿真测试中获得了较高的加速比和系统效率，有较好的实用价值和应用前景。     

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.     

并联高架路的中间匝道及岛式车站站棚

并联高架路是一种车辆在高架道路上逆向行驶,主要为城市公共交通服务的道路。地面道路与并联高架路联系的匝道设在并联高架路的中间;岛式车站站棚的立柱设在岛式站台的两侧,这样岛式车站内空间宽敞,站棚受力合理,结构稳固,适合在站棚下安装为电动汽车充电的接触板。     

基于MATLAB/PDEtool的轴对称场分析

MATLAB/PDEtool是非常优秀的二维偏微分有限元求解软件,具有像静电场、静磁场和工频交流电磁场等专业模式,但这些专业模式不能直接用于柱坐标系表示的轴对称场的求解分析。文章推导出了正交坐标系中的泊松方程,并通过柱坐标系中轴对称场的方程形式和直角坐标系中标准二维椭圆型偏微分方程形式的比较,得到了他们坐标之间、系数之间的对应关系,据此用MATLAB/PDEtool对轴对称场进行了求解分析,结果说明本文的方法是有效的。