Application of social force model to pedestrian behavior analysis at signalized crosswalk

Limited pedestrian behavior models shed light on the case at signalized crosswalk, where pedestrian behavior is characterized by group or individual evasion with surrounding pedestrians, collision avoidance with conflicting vehicles, and response to signal control and crosswalk boundary. This study fills this gap by developing a microscopic simulation model for pedestrian behavior analysis at signalized intersection. The social force theory has been employed and adjusted for this purpose. The parameters, including measurable and non-measurable ones, are either directly estimated based on observed dataset or indirectly derived by maximum likelihood estimation. Last, the model performance was confirmed in light of individual trajectory comparison between estimation and observation, passing position distribution at several cross-sections, collision avoidance behavior with conflicting vehicles, and lane-formation phenomenon. The simulation results also concluded that the model enables to visually represent pedestrian crossing behavior as in the real world.     

使用30°楔形防松螺纹安装扭矩的建议

为明确30°楔形防松螺纹在同样的施加扭矩下所获得的轴力。试验了30°楔形防松螺纹和普通螺纹经振动防松试验轴力的衰减情况和同扭矩下扭矩系数及轴力的比对试验。从而获得在施加相同扭矩下,30°楔形防松螺纹所获得的轴力比普通螺纹所获得的轴力低。     

路堑边坡预应力锚索框架梁底地基反力现场测试研究

结合梅河高速公路路堑边坡的预应力锚索框架梁试验工点，分别对预应力锚索框架梁土质边坡和岩质边坡的地基反力进行了现场测试研究。通过计算和测试分析对比，得出了梁底反力沿梁长的分布规律，其在一定锚固预应力作用下，对于土质边坡，梁底反力沿梁长呈现接近“马鞍形”分布，对于岩质边坡，梁底反力沿梁长更接近于“抛物线”分布。     

A planar quasi-static constraint mode tyre model

The fast-paced, iterative, vehicle design environment demands efficiency when simulating suspension loads. Towards that end, a computationally efficient, linear, planar, quasi-static tyre model is developed in this work that accurately predicts a tyre's lower frequency, reasonably large amplitude, nonlinear stiffness relationship. The axisymmetric, circumferentially isotropic, stiffness equation is discretised into segments, then parameterised by a single stiffness parameter and two shape parameters. The tyre's deformed shape is independent of the overall tyre stiffness and the forces acting on the tyre. Constraint modes capture enveloping and bridging properties and a recursive method yields the set of active constraints at the tyre–road interface. The nonlinear stiffness of a tyre is captured by enforcing unidirectional geometric boundary conditions. The model parameters are identified semi-empirically; simulated cleat test loads match experiments within 7% including nonlinear stiffness when simulating a flat plate test and a discontinuous stiffness when simulating a cleat test.     

单缸摩托车发动机曲柄过量配重的计算与校核

B，θ，C是确定不平衡惯性力椭圆的3个要素，（θ、B／C）决定椭圆的形态，C决定椭圆的大小，而B／C≤cosθ是使M＋N=C的充分必要条件。设计过程中，通过选取合适的θ、B／C值，可以获得理想的椭圆形态，而尽量减小往复力C，如采用轻量化活塞组件，可获得较小的惯性力幅值但要注意（B，θ，C）的变化关系中，避免出现B／C〉cosθ的情况，以防惯性力无端增大。     

A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model ‘UniTire’. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.     

明挖地铁车站主体结构最不利设计水位分析

我国华南、华东、华中地区及沿海城市地下水丰富,地下水压力是影响地铁车站主体结构受力的重要因素,随着水头高度的变化结构受力会随之发生改变。为了研究不同的水位对车站主体结构受力的影响,结合众多地下水丰富的地铁工程实例,选取多种水位进行数值模拟计算,结果表明:影响顶板、中板、底板及侧墙的最不利水位并不是统一的水位。为了方便设计,通过将众多正常使用中的地铁车站结构受力情况对比分析,认为:选取工程场地内最高水位进行车站结构受力计算,然后对部分构件配筋面积进行调整,能够满足车站结构安全的要求。     

A lateral driver model for vehicle–driver closed-loop simulation at the limits of handling

This paper presents a lateral driver model for vehicle–driver closed-loop simulation at the limits of handling. An appropriate driver model can be used to evaluate the performance of vehicle chassis control systems via computer simulations before vehicle tests which incurs expenses especially at the limits of handling. The driver model consists of two parts. The first part is an upper-level controller employing force-based approach to reduce the number of unknown vehicle parameters. The feedforward part of the upper controller has been designed by using the centre of percussion. The feedback part aims to minimise ‘tangential error’, defined as the sum of body slip angle and yaw error, to match vehicle direction and road heading angle. The part is designed to regenerate an appropriate skid motion similar to that of a professional driver at the limits. The second part is a lower-level controller which converts the desired front lateral force to steering wheel angle. The lower-level controller also consists of feedforward and feedback parts. A two-degree-of-freedom bicycle model-based feedforward part provides nominal steering wheel angle, and the feedback part aims to eliminate unmodelled error. The performance of the lateral driver model has been investigated via computer simulations. It has been shown that the steering behaviours of the proposed driver model are quite close to those of a professional driver at the limits. Compared with the previously developed lateral driver models, the proposed lateral driver model shows good tracking performance at the limits of handling.