Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres

ABSTRACT

Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new insights and have the potential to be used for future safety systems that adapt the level of braking to the situation at hand, which is demonstrated through examples of how to exploit theresults.     

铁路建设工程变更的实施与操作探讨

面对竞争激烈的工程建设市场,施工企业在施工招投标时普遍采用低价中标的策略,利润空间越来越小。若想在施工过程中取得利润的最大化,就要以工程变更为核心进行二次经营争取效益。然而工程建设中如确实需要变更,那么如何进行实施与操作是需要进行深入探讨研究的问题。通过对产生变更的原因分析与分类,阐述工程变更程序及报批内容、操作方法和途径,并对存在的风险和管理进行说明。     

深圳市城市轨道交通网络化客流变化研究

以国内几大城市的轨道交通客流变化为出发点,得出网络化客流发展规律。据此分析深圳市轨道交通网络化进程及其客流变化规律,并归纳出影响客流变化的3个主要因素：新线路对客流的吸引、线路间换乘和票价,为其他城市轨道交通网络化过程中的线网规划、客流预测、运营管理等工作提供参考依据。     

IgA肾病的临床表现与病理特征研究

目的探讨IgA肾病患者的临床表现与病理特征之间的相关性。方法对陕西省中医院肾病科2008年1月至2012年12月间确诊为原发性IgA肾病的300例患者的临床病理资料进行研究分析。结果 1中青年组发病比例最高(90%);各年龄段均以血尿、蛋白尿为主要临床表现。高血压、肾功异常在≥60岁组发生率最高,分别为29.3%和28%。2免疫荧光IgA+IgM病理类型所占比例最高(36%),其次为单纯性IgA(29.7%)、IgA+IgM+IgG(17.7%)、IgA+IgG(16.7%)。Ⅰ~Ⅲ级分型中免疫荧光单纯IgA所占比例最高;在IV和Ⅴ级中以IgA+IgM沉积所占比例最高,分别为45.5%、81.8%。所有IgA肾病中表现为C3沉积的比例较高,为63.3%。3肾组织病理改变分级以Lee分级Ⅰ~Ⅳ为主,占96.3%。Ⅰ~Ⅴ级病理改变的临床表现均以血尿、蛋白尿为主,相比其他临床表现更多见(P<0.05),各病理分级中血尿、蛋白尿、血尿合并蛋白尿、高血压发生率无显著性差异,而肾功能异常的比例以Ⅴ级为著,其差异具有统计学意义(P<0.05)。4Ⅰ~Ⅴ级病理改变中尿RBC、尿蛋白异常所占比例无显著差异;病理类型Ⅳ级血清中C3下降最显著(P<0.05);病理类型Ⅴ级病例血清中IgA升高的比例最低,其差异具有统计学意义(P<0.05)。而血清中肌酐异常的比例随着病理类型分级的升高,呈逐渐上升趋势,以病理类型Ⅴ级血清肌酐异常的比例最高。结论 IgA肾病具有临床表现、病理改变多样化等特点,IgA肾病血尿、蛋白尿和高血压的发生率与病理分级无相关性,但随着病理分级的升高,肾功能异常的发生率增高。     

电站机组紧急关闭形成涌浪的二维数学模型

本文利适合涌浪计算的二维非恒定流数学模型.对电站机组紧急关闭产主的涌浪运动进行的数值模拟.从数值成果看出.电站紧急关闭产生的涌浪的水面升降激烈.波陡大.具有一定的破坏性.在文章的未尾.给出了这种涌浪的计算公式.供有关部门参考.     

Armoring Against Coastal Climate Adaptation in the US: A Massachusetts Perspective

Massachusetts, like many coastal states in the US, stands to be impacted from climate-induced sea level rise. As a result, climate-sensitive coastal policy instruments are critical for providing adequate adaptation options, including an option to allow coastal features to migrate inland. But the migration of coastal features is under threat due to extensive private armoring. This essay highlights specific regulatory instruments at the federal and state level dealing with hard armoring using Massachusetts as an example. It argues specific federal and state regulations legitimize and incentivize hard armoring over other coastal land use planning methods. The current level of armoring in Massachusetts is highlighted and implications under current federal and state policy frameworks are explained. Suggestions for coastal states planning for sea level rise are discussed, including the need for state planning to take the lead. Recommendations for changes at the federal level are also highlighted.     

利用遥感影像自动提取变化信息的方法研究

目前土地利用遥感动态监测已进入实用化阶段,但其自动化程度不高,影响作业效率。本文在使用增强法对两时相的遥感影像自动发现变化基础上,结合两时相影像的分类结果,对变化图斑进行类别标记,然后对标记图像进行矢量化、变化信息提取和统计,从而提高变化监测工作中的自动化程度、减轻工作量。     

Evaluating the effects of automated vehicle technology on the capacity of freeway weaving sections

Weaving sections, where a merge and a diverge are in close proximity, are considered as crucial bottlenecks in the highway network. Lane changes happen frequently in such sections, leading to a reduced capacity and the traffic phenomenon known as capacity drop. This paper studies how the emerging automated vehicle technology can improve the operations and increase the capacity of weaving sections. We propose an efficient yet effective multiclass hybrid model that considers two aspects of this technology in scenarios with various penetration rates: (i) the potential to control the desired lane change decisions of automated vehicles, which is represented in a macroscopic manner as the distribution of lane change positions, and (ii) the lower reaction time associated with automated vehicles that can reduce headways and the required gaps for lane changing maneuvers. The proposed model is successfully calibrated and validated with empirical observations from conventional vehicles at a weaving section near the city of Basel, Switzerland. It is able to replicate traffic dynamics in weaving sections including the capacity drop. This model is then applied in a simulation-based optimization framework that searches for the optimal distribution of the desired lane change positions to maximize the capacity of weaving sections. Simulation results show that by optimizing the distribution of the desired lane change positions, the capacity of the studied weaving section can increase up to 15%. The results also indicate that if the reaction time is considered as well, there is an additional combined effect that can further increase the capacity. Overall, the results show the great potential of the automated vehicle technology for increasing the capacity of weaving sections.     

基于EKF学习方法的BP神经网络汽车换道意图识别模型研究

实时准确地识别驾驶人的换道意图有助于提高车辆行驶的安全性,达到安全辅助驾驶的目的。文中提出了一种基于EKF（extended kalman filter）学习方法的BP神经网络模型,用于识别驾驶人的换道意图,并进行短时行为预测。通过实验采集了20组高速公路实车行驶数据,利用前方车头时距、转向盘转角值、驾驶人头部水平位置数据,以及车道偏离量4类数据样本进行训练得到结果。实验结果表明：本模型较传统的神经网络识别模型具有更短的识别时间,且模型的可信度更高。在车辆换道和直线行驶2种工况下,本模型对换道意图的识别准确率达到了95％。     

基于VanetMobiSim/NS-2的车辆换道模型仿真

高速公路上驾驶人换道行为容易导致车辆碰撞事故。利用车载自组网（Vanet）车车通信提醒驾驶人在换道过程中可能遇到的危险,但在真实环境中测试车载自组网难度大,代价高。Vanet-MobiSim和NS-2分别是优秀的交通、网络仿真器,两者联合可以为车载自组网提供真实可靠的微观仿真平台。文中结合开源的VanetMobiSim中的智能驾驶人换道模型——IDM_LC设计Vanet环境下的车辆换道模型,仿真产生不同车密度、车道数下的移动车辆Trace文件。将Trace文件导入开源的NS-2中进行仿真分析。结果表明,采用VanetMobiSim/NS-2联合仿真平台可以很好的模拟设计的不同情景下的车辆换道模型,车辆换道时的车车通信将使得车辆换道效率和安全性都得到提高。