基于成像模型的车道线检测与跟踪方法

针对结构化道路上存在非车道线标记干扰的情况,提出一种基于成像模型的线扫描车道线检测及跟踪方法。检测算法中首先对路面图像进行形态学高帽变换预处理,然后建立前方道路图像的成像模型,将图像坐标系中车道参数和世界坐标系中实际车道参数对应,对图像进行初扫描,利用边缘贡献函数及RANSAC算法选取最确定线后,以此线为标准进行二次扫描,得到边缘点后统计边缘贡献函数局部最大值并拟合成直线车道线。跟踪算法中运用Kalman滤波器预测车道线区域,并提取符合标准的控制点拟合成模型为B样条的车道线。试验结果表明:该方法能够快速准确地在复杂环境中提取多个车道线,尤其对存在非车道线道路标记干扰的情况有显著效果。     

柴油机微粒捕集器瞬态再生特性仿真

建立了基于柴油机微粒捕集器主动再生的GT-Power仿真模型,针对2 200 r/min、100%和1 400 r/min、50%两种典型工况,对捕集器瞬态再生特性进行了研究。计算结果表明：柴油机由高转速、大负荷变为低转速、小负荷的瞬态工况下,微粒捕集器再生时,载体各端温度曲线呈双峰状,载体壁面峰值温度与稳态相比大大升高;且工况变化时间越短,这种现象越明显。     

石英砂特性对内燃机空气滤清器原始过滤效率测试结果的影响

对用于内燃机空气滤清器性能评价的A、B、C 3种270目石英砂的粒径分布和形态特性进行了分析,并分别以其为试验尘对空气滤清器的原始过滤效率进行了测试。结果表明,使用石英砂A、B、C作为试验尘时,同一滤清器的原始过滤效率分别为99.30%、99.55%与99.70%。分析了空气滤清器过滤效率和发动机磨损的关系,并得出空气滤清器的灰尘透过率对汽车大修里程有着重大影响的结论。     

卡尔曼滤波在飞行器姿态获取系统中的实现

介绍了基于ARM的小型无人飞行器姿态获取系统的硬件实现,给出了系统整体方案的设计和具体的硬件选型,重点阐述了飞行器姿态角信号采集单元功能的实现原理和方法,并将低通滤波算法和卡尔曼滤波理论应用于抑制加速度传感器的测量误差。经实验证明,该系统可以精确判定飞行器三个自由度的姿态角度,有助于提升飞行器的飞行品质。     

Low cost two dimension navigation using an augmented Kalman filter/Fast Orthogonal Search module for the integration of reduced inertial sensor system and Global Positioning System

Due to their complementary characteristics, Global Positioning System (GPS) is integrated with standalone navigation devices like odometers and inertial measurement units (IMU). Recently, intensive research has focused on utilizing Micro-Electro-Mechanical-System (MEMS) grade inertial sensors in the integration because of their low-cost. In this study, a low cost reduced inertial sensor system (RISS) is considered. It consists of a MEMS-grade gyroscope and the vehicle built-in odometer. The system works together with GPS to provide 2D navigation for land vehicles. With adequate accuracy, Kalman filter (KF) is the commonly used estimation technique to achieve the data fusion of GPS and inertial sensors in case of high-end IMUs. However, due to the inherent error characteristics of MEMS grade devices, MEMS-based RISS suffers from the non-stationary stochastic sensor errors and nonlinear inertial errors, which cannot be handled by KF and its linear error models. To overcome the problem, Fast Orthogonal Search (FOS), a nonlinear system identification technique, is suggested for modeling the higher order RISS errors. As a general-purpose numerical method, FOS algorithm has the ability to figure out the system nonlinearity efficiently with a tolerance of arbitrary stochastic system noise. Even using online short-term training data, this method is still able to build an accurate nonlinear model that predicts the system dynamics. Motivated by the above merits, an augmented KF/FOS module is proposed by cascading FOS algorithm to a traditional KF structure. By estimating and reducing both linear and nonlinear RISS errors, the proposed method is supposed to offer substantial enhancement on the positioning accuracy of MEMS-based RISS during GPS outages. In order to examine the effectiveness of the proposed technique, the KF/FOS module is applied on the low cost RISS together with GPS in a land vehicle for several road test trajectories. The performance of the proposed method is compared to KF-only solution, both assessed with respect to a reference offered by a high-end solution. The experimental results confirm that KF/FOS module outperforms KF-only method. The results also show the applicability of the proposed method for real-time vehicle applications.     

舰载软件无线电中频模块多DSP平台并行算法

在舰船上设计并使用软件无线电是下一代舰船通信的主要方向.在软件无线电平台上,应用并行处理方式提高数字信号处理速度的算法研究得到了越来越多的重视.文章提出了一种适合在该平台上并行运算的算法,并以多阶FIR滤波器为例,验证了该算法,探讨了算法的性能;给出了该算法在多处理器条件下,与单处理器处理结果的比较.     

柴油汽车滤清器感应加热装置设计

针对柴油汽车滤清器在冬季气温较低的环境中容易出现被蜡堵塞的实际情况,设计了一套超音频感应加热装置,该装置可直接安装在滤清器内部,具有良好的加热效果。     

微米木纤维发动机空气滤芯过滤机理与试验

介绍了微米木纤维过滤体材料及其过滤机理,分析了微米木纤维空气滤芯的特性.对微米木纤维空气滤清器在稳态和非稳态工况下的过滤效率和过滤阻力进行了数值模拟,并结合空气滤清器模拟试验台进行了试验研究.结果表明,数值模拟与试验结果吻合较好;微米木纤维发动机空气滤清器过滤效率高,过滤阻力小,可满足汽车行业和机械行业标准要求.     

1种基于车辆时空图的车辆异常行为检测方法

对快速路车辆异常行为的检测有助于防止或及时处理交通事故,缓解交通拥堵,保障出行的安全和效率。采用多高斯背景模型提取前景运动车辆及其中心点并利用Kalman滤波算法跟踪运动车辆。在此基础上,得到各个车道上车辆的行驶时空图,通过车辆时空图对车辆行为进行轨迹分析,根据时间序列上车辆位置的变化检测车辆逆行,通过车间距和车辆位置状态信息检测车辆碰撞。实验表明,该方法能较好地识别出车辆异常行为。     

客车被动安全研究主要方法及内容

介绍客车被动安全标准和研究主要方法,结合客车车体结构耐撞性、乘员约束与保护系统及人体碰撞生物力学等三方面的研究,阐述客车被动安全研究的主要内容及发展趋势。