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.     

Vehicle dynamics control using an active third-axle system

This paper introduces the active third-axle system as an innovative vehicle dynamic control method. This method can be applicable for different kinds of three-axle vehicles such as buses, trucks, or even three-axle passenger cars. In this system, an actuator on the middle axle actively applies an independent force on the suspension to improve the handling characteristics, and hence, its technology is similar to slow-active suspension systems. This system can change the inherent vehicle dynamic characteristics, such as under/over steering behaviour, in the linear handling region, as well as vehicle stability in the nonlinear, limit handling region. In this paper, our main focus is to show the potential capabilities of this method in enhancing vehicle dynamic performance. For this purpose, as the first step, the proposed method in both linear and nonlinear vehicle handling regions is studied mathematically. Next, a comprehensive, nonlinear, 10 degrees of freedom vehicle model with a fuzzy control strategy is used to evaluate the effectiveness of this system. The dynamic behaviour of a vehicle, when either uncontrolled or equipped with the active third axle is then compared. Simulation results show that this active system can be considered as an innovative method for vehicle dynamic control.     

Decision support for simulating the car park activity in an urban area

Complexity of car park activity is reproduced from a concurrent execution of behaviour of various drivers. This paper presents a step in the development of a multimodal traffic simulator based on multi‐agent paradigm and designed as a decision aid tool as well as a video game. The user‐player has the opportunity to test different scenarios. We propose an approach for designing the decision‐making rules and the learning mechanism for a car driver agent. For that, a panel of methods such as stated preference modelling, Design Of Experiments and data fusion is used. Initial behavioural models, based on similar preferences, are developed for specified categories. Each agent will adapt its behaviour after executing its learning process. Our approach can be used in order to optimize needs of road network users and those of people in charge of traffic regulation. A demonstrator has been developed to test parking policies in an urban area as well as changes of car park characteristics.     

枢纽内大型车站调度指挥无人化的探究

本文分析了大型车站调度集中系统无法做到无人值守的原因，并提出了相应对策。     

Pole location control design of an active suspension system with uncertain parameters

This paper addresses the problem of robust control design for an active suspension quarter-car model by means of state feedback gains. Specifically, the design of controllers that assure robust pole location of the closed-loop system inside a circular region on the left-hand side of complex plane is investigated. Three sufficient conditions for the existence of a robust stabilizing state feedback gain are presented as linear matrix inequalities: (i) the quadratic stability based gain; (ii) a recently published condition that uses an augmented space and has been here modified to cope with the pole location specification; (iii) a condition that uses an extended number of equations and yields a parameter-dependent state feedback gain. Unlike other parameter-dependent strategies, neither extensive gridding nor approximations are needed. In the suspension model, the sprung mass, the damper coefficient and the spring constant are considered as uncertain parameters belonging to a known interval (polytope type uncertainty). It is shown that the parameter-dependent gain proposed allows one to impose the closed-loop system pole locations that in some situations cannot be obtained with constant feedback gains.     

Network effects of intelligent speed adaptation systems

Intelligent Speed Adaptation (ISA) systems use in-vehicle electronic devices to enable the speed of vehicles to be regulated automatically. They are increasingly appreciated as a flexible method for speed management and control particularly in urban areas. On-road trials using a small numbers of ISA equipped vehicles have been carried out in Sweden, the Netherlands, Spain and the UK. This paper describes the developments made to enhance a traffic microsimulation model in order to represent ISA implemented across a network and the impact of this on the networks. The simulation modelling of the control system is carried out on a real-world urban network, and the impacts on traffic congestion, speed distribution and the environment assessed. The results show that ISA systems are more effective in less congested traffic conditions. Momentary high speeds in traffic are effectively suppressed, resulting in a reduction in speed variation which is likely to have a beneficial impact on safety. Whilst ISA reduces excessive traffic speeds in the network, it does not affect average journey times. In particular, the total vehicle-hours travelling at speeds below 10 km/hr have not changed, indicating that the speed control had not induced more slow-moving queues to the network. A statistically significant, eight percent, reduction in fuel consumption was found with full ISA penetration. These results are in accordance with those from field trials and they provide the basis for cost-benefit analyses on introducing ISA into the vehicle fleet. However, contrary to earlier findings from the Swedish ISA road trials, this study suggested that ISA is likely to have no significant effect on emission of gaseous pollutants CO, NO_x and HC.     

TKCAD程序系统的总体设计,大部件图绘制及工程图库管理

TKCAD是在微机上开发的一个铁道客车CAD程序系统。本文探讨了其总体设计思想,研制了大部件图、明细表及技术档案的生成程序,并用Turbo Pascal语言编制了一个图库管理程序CADLIB。     

一种大型结构试验数据处理系统

以土木工程结构实验及结构现场检测系统为原型，抽象出数据库模型，用以存放实验或检测中所有获取的原始数据．根据处理数据的工序流程，定制了基于MATLAB软件的前端数据库管理程序，并结合MATLAB的强大科学计算功能，方便地实现了对实验数据的管理、查询、处理及可视化表现功能．     

Agent Technology Application in Automating the Coordination and Decision-Making in Supply Chain

Coordinating all the activities among all the parties involved in supply chain can be a daunting task. This paper put forth the viewpoint of applying agent technology to automate the coordination and decision-making tasks in a typical home PC industry supply chain. The main features of the proposed approach, which differentiate it from other approaches, are the following： ① In the prototype, the coordination agents have both cooperation and competition patterns, ② It uses JADE （Java Agent DEvelopment Framework） as the agent development environment to realize efficient and reusable agent software; ③ It produces some innovative models for the business processes and issues faced by parties in the supply chain. A prototype and the overall process flow were also described.     

Actuator Fault Detection for Sampled-Data Systems in H∞ Setting

Actuator fault detection for sampled-data systems was investigated from the viewpoint of jump systems.With the aid of a prior frequency information on fault, such a problem is converted to an augmented H∞ filtering problem. A simple state-space approach is then proposed todeal with sampled-data actuator fault detection problem. Compared with the existed approaches, the proposed approach allows parameters of the sampled-data system being time-varying with consideration of measurement noise.