Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations

This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable. In the VEHIL laboratory, a full-scale ADAS-equipped vehicle is set up in a hardware-in-the-loop simulation environment, where a chassis dynamometer is used to emulate the road interaction and robot vehicles to represent other traffic. In this controlled environment, the performance and dependability of an ADAS is tested to great accuracy and reliability. The working principle and the added value of VEHIL are demonstrated with test results of an adaptive cruise control and a forward collision warning system. On the basis of the ‘V’ diagram, the position of VEHIL in the development process of ADASs is illustrated.     

纯电动客车在线诊断系统设计及应用

目前大部分纯电动客车生产时的整车性能调试依赖技术开发人员,非常不利于纯电动客车的批量生产。本文详述一种能够对纯电动客车进行快速调试和在线诊断的系统,有利于纯电动客车的批量生产。     

泵站厂房中吊车竖向荷载下吊车梁最大内力值及作用面的计算方法

在厂房中设有吊车来起吊大构件,运行时吊车在吊车梁上移动,对梁产生的最大内力值及作用面在变化;而吊车梁等自重产生的内力值则随截面位置的不同而变化。该文推导用公式一次即能准确计算出吊车梁的最大内力值及作用位置,以便设计吊车梁。     

浅谈市政给排水工程管道基础开槽及铺设施工技术

城市排水管道系统通常占有工程较大的投资比,结合某市政给排水工程管道开槽埋管施工的实际情况,对开槽埋管施工技术进行探讨分析,目的在于为今后类似工程提供参考资料。     

Optimisation of lateral car dynamics taking into account parameter uncertainties

Simulation studies on an active all-wheel-steering car show that disturbance of vehicle parameters have high influence on lateral car dynamics. This motivates the need of robust design against such parameter uncertainties. A specific parametrisation is established combining deterministic, velocity-dependent steering control parameters with partly uncertain, velocity-independent vehicle parameters for simultaneous use in a numerical optimisation process. Model-based objectives are formulated and summarised in a multi-objective optimisation problem where especially the lateral steady-state behaviour is improved by an adaption strategy based on measurable uncertainties. The normally distributed uncertainties are generated by optimal Latin hypercube sampling and a response surface based strategy helps to cut down time consuming model evaluations which offers the possibility to use a genetic optimisation algorithm. Optimisation results are discussed in different criterion spaces and the achieved improvements confirm the validity of the proposed procedure.     

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.     

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.     

九江长江公路大桥北塔下横梁施工方案研究

九江长江公路大桥主桥采用(70+75+84)m+818 m+(233.5+124.5)m双塔不对称混合梁斜拉桥,H形桥塔塔肢间设上、中、下3道横梁.为确定该桥北塔下横梁施工方案,对同步施工方案、异步施工方案、异步施工+主动横撑方案进行分析.结果表明:异步施工+主动横撑方案结构受力合理、施工工期短、施工风险小,确定为下横梁最终施工方案.经优化,主动横撑采用2根Φ1200 mm×12 mm的螺旋焊管制作,每根施加2000 kN 水平推力,在下横梁第一层混凝土强度达到90％之后,施加第一批横向预应力前撤掉水平推力;采取增加塔柱混凝土凿毛厚度、加强局部振捣的方法,保证新老混凝土结合面混凝土的施工质量.     

农村牧区推行客运公交化运营模式的探索与思考

农村牧区客运需求逐年增加,客运量增大,客运市场结构发生变化,因此,农村牧区客运运营模式要适应客运市场的发展变化。文章以内蒙古赤峰市阿鲁科尔沁旗农村牧区客运运营模式的转变为例,探索、阐述了农村牧区客运公交化运营的可行性及必要性。     

单洞4车道隧道内轮廓关键指标统计分析与启迪

现行公路隧道设计规范对单洞4车道隧道的构造和设计尚无明确规定。基于其内轮廓设计角度,并参考相关研究成果,提出应将扁平率作为其关键指标。同时,结合对已建成类似隧道工程内轮廓扁平率的统计分析结果,指出对于分离式双洞8车道或单洞4车道隧道,其内轮廓设计时,扁平率（不含仰拱）取0.485,扁平率（含仰拱）取0.605,矢跨比取0.406,具有较好的技术经济性,可为4车道公路隧道设计提供借鉴。