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.     

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.     

临时路径发生器学引的UUV跟踪控制(英文)

A path following control algorithm for an unmanned underwater vehicle(UUV) using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.     

基于变发电电压功率变换器的海上钻井平台风力发电系统硬件结构的研究

本论文阐述了海上钻井平台的风力发电系统的具体硬件方案和主要设备选型,设计了基于变发电电压功率变换器的（Switched Reluctance Generator,简称SRG）风力发电系统,弥补了现有的风力发电系统的不足。     

基于数值和实验方法的非透浪梳式防波堤的水动力学特性研究

采用源函数造波法建立了三维数值波浪水槽模型,模拟了不同随机种子数(NW)下的随机波浪,与目标谱对比的结果证明当NW=200时,采用文中的数值方法可以得到较好的模拟精度;建立了随机波浪对一种非透浪梳式防波堤作用的数值模型,通过数值模拟结果和实验结果的比较,验证了该数值模型的有效性。对该非透浪的梳式防波堤的水力学特性进行了实验研究,并应用上述数值方法对结构的所受冲击波浪力机理进行了分析,数值结果证明在该结构的危险水位下,由结构的翼板和胸墙下底板所构成的异型空腔结构是导致翼板上产生较大冲击压力的主要因素。在此基础上,为了消减翼板的冲击压力,提出一种改进的结构型式,最后对该改进结构的翼板上波浪力特性和波浪反射系数进行了实验研究。     

新型竖直轴海洋能发电设备叶片的优化与仿真

为深入了解新型竖直轴海洋能发电设备的性能,对其叶片结构的流场特性和设备在流场中的动力收集特性进行仿真研究.建立不同结构叶片和不同数量叶片的二维模型,通过仿真计算,得到不同结构叶片的流场状态,以及叶片数分别为3、4和6时设备的合力和转矩大小.研究结果表明:在矩形叶片上开长方形孔能明显改善叶片后方的涡流,提高叶片的性能;当入口速度不变时,设备所受合力和转矩会随叶片数量的增加而增大;当叶片数量不变时,设备所受合力和转矩会随入口速度的增加而增大.研究结果可为新型竖直轴海洋能发电设备的结构设计与优化提供参考.     

生成模型在中心城市的应用实践

本文从城市的区域交通节点考虑,把城市分为中心城市、资源型城市和一般城市.以中心城市土地利用特性和现状人口为基础,采用曲线估计的方法建立了交通生成预测模型.利用辽宁省锦州市、盘锦市和辽阳市的交通数据,对模型进行了验证,结果表明模型能够较好反映规划年城市土地利用特征变化所带来的各种交通需求特性的差异.     

中小城市交通生成预测模型研究

城市交通生成预测是城市交通规划的基础，如何客观、科学地进行交通生成预测，是当前我国城市交通规划中共同面临的课题。一般来说，不同的土地利用布局、不同的土地利用性质和不同的土地利用强度，对应着不同的交通生成。因此，建立土地利用与交通生成的相互关系模型，实现土地利用-出行生成相关因素-交通生成的三步式预测方法向土地利用-交通生成两步式预测方法的过渡，将在大大简化交通需求预测过程的同时提高预测结果的可靠性。     

一种模糊隶属函数的自动生成算法

提出了一种模糊隶属函数的自动生成算法，该算法基于样本数据的变化趋势对数据进行预处理，同时结合模糊C均值方法，实现连续数据的离散化，直观、合理地确定了模糊隶属函数的中心参数，并应用MATLAB语言实现了模糊隶属函数的自动生成算法。     

光伏并网逆变器零电压穿越控制策略的研究

针对光伏电站电网故障时突然脱网的不利影响,设计了一种光伏逆变器零电压穿越控制策略。采用基于电网电压正序分量的快速锁相技术,并根据电网电压的跌落深度给予并网点电压一定的无功支撑,实现了电网瞬时脱网情况下的不间断运行。250kW半实物仿真实验结果验证了该技术方案的有效性和可靠性。