基于集成式电液制动系统的主动制动压力精确控制方法

智能电动汽车的发展对制动系统的主动制动和再生制动能力提出了更高的要求。配备真空助力器的传统制动系统难以满足智能电动汽车的需求，因此逐渐被线控制动系统所取代。为提高线控制动系统的集成度与解耦能力，提出了一种新型集成式电液制动系统（Integrated Braking Control System，IBC），能够实现主动制动、再生制动、失效备份等功能。作为机-电-液耦合的高集成度系统，IBC具有复杂的非线性特性和动态摩擦特性，对制动系统压力的精确控制提出了挑战。为了提高IBC制动压力动态控制精度，提出了一种基于集成式电液制动系统的主动制动压力精确控制方法。首先，介绍了IBC的结构原理和控制架构。随后针对液压系统的迟滞特性和传动机构的摩擦特性进行建模与测试。然后基于系统的强非线性特性，提出了主动制动三层闭环级联控制器，其中压力控制层采用液压特性前馈与变增益反馈结合的控制策略，伺服层控制器设计考虑了机构惯性补偿与摩擦补偿，电机控制层采用矢量控制并进行了电压前馈解耦。最后，基于dSPACE设备搭建了硬件在环（Hardware-in-the-loop，HiL）试验台对主动压力控制方法进行验证。结果表明：所提出的压力控制方法能控制制动系统压力快速精确跟随期望压力，使动态压力跟随误差控制在0.4 MPa之内，稳态压力误差控制在0.1 MPa之内。     

A dynamic automated lane change maneuver based on vehicle-to-vehicle communication

Automated driving is gaining increasing amounts of attention from both industry and academic communities because it is regarded as the most promising technology for improving road safety in the future. The ability to make an automated lane change is one of the most important parts of automated driving. However, there has been little research into automated lane change maneuvers, and current research has not identified a way to avoid potential collisions during lane changes, which result from the state variations of the other vehicles. One important reason is that the lane change vehicle cannot acquire accurate information regarding the other vehicles, especially the vehicles in the adjacent lane. However, vehicle-to-vehicle communication has the advantage of providing more information, and this information is more accurate than that obtained from other sensors, such as radars and lasers. Therefore, we propose a dynamic automated lane change maneuver based on vehicle-to-vehicle communication to accomplish an automated lane change and eliminate potential collisions during the lane change process. The key technologies for this maneuver are trajectory planning and trajectory tracking. Trajectory planning calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency and updates it to avoid potential collisions until the lane change is complete. The trajectory planning method converts the planning problem into a constrained optimization problem using the lane change time and distance. This method is capable of planning a reference trajectory for a normal lane change, an emergency lane change and a change back to the original lane. A trajectory-tracking controller based on sliding mode control calculates the control inputs to make the host vehicle travel along the reference trajectory. Finally, simulations and experiments using a driving simulator are conducted. They demonstrate that the proposed dynamic automated lane change maneuver can avoid potential collisions during the lane change process effectively.     

Incorporating Knightian uncertainty into real options analysis: Using multiple-priors in the case of rail transit investment

This paper revisits the real option investment problem from a ‘Knightian’ perspective of uncertainty. We examine the decision to invest in rail transit infrastructure (i.e., transport improvement) by treating population scale and the attitudes of decision-makers or social planners as sources of risk and ambiguity. An α-maxmin multiple-priors expected utility framework is developed to solve for the option value of rail transit investment under Knightian uncertainty. We find that the threshold for investment varies with the ambiguity attitudes (i.e., pessimism or optimism) of decision-makers regarding future population dynamics, and show that option value can in fact either increase or decrease with uncertainty subject to κ-ignorance and ambiguity. We also underline the effect of transport improvement on traffic congestion under various states of nature, and determine the specific population scale ranges for which investment is warranted under (1) risk and (2) Knightian uncertainty. These dynamics are illustrated in a numerical application adapted from a Chinese rail transit initiative specific to the Xiamen region.     

Governance Responses to Rapid Growth in Environmentally Sensitive Areas of Coastal Australia

The twin forces of rising affluence and population are altering coastal communities around the world. High amenity, environmentally sensitive areas—particularly attractive, non-metropolitan coastal environments—are witnessing a tidal wave of in migration from former urbanites. As a result, these communities are struggling to accommodate growing numbers of people with urban tastes and rural dreams in areas with governance structures and physical infrastructure designed for occasional tourists. This article looks at how governance frameworks in coastal Australia respond to the profound environmental, social, and cultural implications of this process. We offer a typology of non-metropolitan coastal growth settings—from exurban contexts to isolated coastal hamlets—and identify the main environmental, social, economic, and governance issues they face. We then outline the policy and legislative framework governing coastal areas in Australia and show how this framework is interpreted at the local level through an analysis of five local plans covering different coastal settings.     

济南轨道交通规划中的独特性分析

济南轨道交通规划围绕泉水保护和带形城市两大特点,形成自身鲜明的独特性,主要体现在工程地质研究、快线网、建设时序以及交通一体化等几个方面。济南轨道交通规划以泉水保护研究为先行研究,开创线网规划阶段工程地质研究前置的独特性,划定"保泉敏感区",保证规划方案的可实施性和稳定性;适应带形城市空间形态特点,采用快线穿城的形式,形成双网双模式的线网方案,选择既有胶济铁路走廊作为穿城快线走廊,保证快线在城市中心区能快得起来;济南轨道交通规划的独特性还体现在先易后难、先快后慢、先外后内的建设时序和核心区交通一体化方面。     

复杂地形条件下高铁枢纽片区路网及场地竖向规划设计研究

结合荆门高铁西站片区路网及场地竖向规划实例,分析复杂地形条件下高铁枢纽片区场地竖向规划设计的特点,提出竖向规划设计互反馈流程,从路网及场地竖向规划设计两个方面梳理了竖向控制因素要点、竖向分区、土方填挖要求及土方计算与调配方法.最后总结认为:复杂地形条件下,道路及场地竖向规划应综合考虑铁路、市政道路、地面排水防洪、用地性质、土石方平衡、城市景观和工程建设等方面的要求;道路及场地竖向规划设计应互为交叉反馈,满足土方总体平衡,工程建设经济合理,实现总体竖向规划设计方案的合理可行.     

Trends in vehicle motion control for automated driving on public roads

ABSTRACT

In this paper, we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk manoeuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally, the important topic of verification of driving automation systems is addressed.     

关于景区规划的总体内容研究与分析

简要介绍景区规划中,关于总体规划内容的研究和分析,主要包括总体布局、功能布局、人口规模控制、道路交通规划、用地布局、公共服务设施规划、商业金融服务设施规划、市政基础设施规划、管线综合工程规划、环卫工程等内容。以响水县云梯关景区为例,对其中比较重要的总体布局、功能布局、用地布局、道路交通规划等内容进行深入研究,可为其他景区的规划编制工作提供参考。     

Automated driving recognition technologies for adverse weather conditions

During automated driving in urban areas, decisions must be made while recognizing the surrounding environment using sensors such as camera, Light Detection and Ranging (LiDAR), millimeter-wave radar (MWR), and the global navigation satellite system (GNSS). The ability to drive under various environmental conditions is an important issue for automated driving on any road. In order to introduce the automated vehicles into the markets, the ability to evaluate various traffic conditions and navigate safely presents serious challenges. Another important challenge is the development of a robust recognition system can account for adverse weather conditions. Sun glare, rain, fog, and snow are adverse weather conditions that can occur in the driving environment. This paper summarizes research focused on automated driving technologies and discuss challenges to identifying adverse weather and other situations that make driving difficult, thus complicating the introduction of automated vehicles to the market.