水下多智能体系统快速编队控制

针对水下多智能体系统在无向网络下的快速编队问题,提出基于智能体当前和过去状态的快速编队控制算法。利用矩阵理论和频域分析法,得到该算法能使系统快速编队的过去状态区间。仿真示例验证了其有效性。     

大城市支路网合理密度及管理对策

支路是城市道路网系统重要的组成部分,正如人体的毛细血管一样。通过对支路交通的功能分析,从面积密度及平均间距2个方面计算并提出大城市支路网的合理密度指标;从加强支路与其它道路的衔接、提高利用率、完善交通工程设施及加强运行管理4个方面提出相关对策,分为规划阶段加强对支路网的研究、三维一体的引导、完善设施及加强日常的养护管理等方面。研究成果将为支路的规划、建设及运营管理提供技术支持。     

高速铁路大型客站给排水设计特点及效果分析

郑州东站给排水设计中涵盖了给水、排水、消防的全部内容,其特点为采用了储能罐式真空卸污方式,卸污系统能耗低,易于改扩建,适用性强;将物联网技术应用于给排水控制系统中,采用标准化的功能终端设备和网络传输通道,降低系统复杂性,提高系统可靠性,有利于终端设备运营维护。根据自来水的供水压力,针对用水点不同水压需求,采用分压供水方式,减少加压供水量,降低设备运行能耗;新型旅客列车上水设备的使用降低上水人员的劳动强度,提高了上水效率,节约了水资源;分区消防方式的选用,减少了消防设备的配置,节约了工程投资;直饮水设施配置为旅客健康提供了保障。     

Real-time characterisation of driver steering behaviour

In recent years the application of driver steering models has extended from the off-line simulation environment to autonomous vehicles research and the support of driver assistance systems. For these new environments there is a need for the model to be adaptive in real time, so the supporting vehicle systems can react to changes in the driver, their driving style, mood and skill. This paper provides a novel means to meet these needs by combining a simple driver model with a single-track vehicle handling model in a parameter estimating filter – in this case, an unscented Kalman filter. Although the steering model is simple, a motion simulator study shows it is capable of characterising a range of driving styles and may also indicate the level of skill of the driver. The resulting filter is also efficient – comfortably operating faster than real time – and it requires only steer and speed measurements from the vehicle in addition to the reference path. Adaptation of the steer model parameters is demonstrated along with robustness of the filter to errors in initial conditions, using data from five test drivers in vehicle tests carried out on the open road.

Abbreviations: ADAS: advanced driver assistance systems; CG: centre of gravity; CAN: controller area network; EKF: extended Kalman filter; GPS: global positioning system; UKF: unscented Kalman filter     

ROBUST FILTERS WITH SAMPLED-DATA ESTIMATION COVARANCE CONSTRAINT FOR UNCERTAIN CONTINUOUS-TIME SYSTEMS

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美军军事通信卫星发展趋势分析及启示

文章讨论了美军先进的军事卫星通信系统,分析归纳了美军卫星通信的特点与发展趋势,并针对我国军事通信卫星发展现状阐述了需要解决的关键技术问题及发展思路。     

Lane assignment problem using a genetic algorithm in the Automated Highway Systems

This paper deals with the lane assignment problem in the Automated Highway Systems (AHS). The purpose of lane assignment strategies is to increase throughput on multi-lane highways with many entry and exit points, based on the itineraries of vehicles using the highway (point of entry, time of entry and exit point) and the effects of maneuvers. Using partitioned lane assignment strategies, the lane assignment problem is formulated as an optimization problem to find the proper positions of partitions. Then the optimal problem is solved using a Genetic Algorithm (GA). The proposed algorithm has been validated by comparing its solution with that of an all-cases algorithm for a simple case. Moreover, a traffic simulator with a realistic car-following model as well as lane change logic has been developed. The simulation results show the efficiency of the proposed genetic algorithm, compared with random assignment algorithms.