Hierarchical control strategies for energy management of connected hybrid electric vehicles in urban roads

This paper presents a fuel efficient control strategy for a group of connected hybrid electric vehicles (HEVs) in urban road conditions. A hierarchical control architecture is proposed in this paper for every HEV, where the higher level and the lower level controller share information with each other and solve two different problems that aim at improving its fuel efficiency. The higher level controller of each HEV is considered to utilize traffic light information, through vehicle to infrastructure (V2I) communication, and state information of the vehicles in its near neighborhood, via vehicle to vehicle (V2V) communication. Apart from that, the higher level controller of each HEV uses the recuperation information from the lower level controller and provides it the optimal velocity profile by solving its problem in a model predictive control framework. Each lower level controller uses adaptive equivalent consumption minimization strategy (ECMS) for following their velocity profiles, obtained from the higher level controller, in a fuel efficient manner. In this paper, the vehicles are modeled in Autonomie software and the simulation results are provided in the paper that shows the effectiveness of the proposed control architecture.     

Hierarchical model predictive control for multi-lane motorways in presence of Vehicle Automation and Communication Systems

A widespread deployment of vehicle automation and communication systems (VACS) is expected in the next years. This may lead to improvements in traffic management efficiency because of the novel possibilities of using VACS both as sensors and as actuators, as well as of a variety of new communications channels (vehicle-to-vehicles, vehicle-to-infrastructure) and related opportunities. To achieve this traffic flow efficiency, appropriate studies, developing potential control strategies to exploit the VACS availability, are essential. This paper describes a hierarchical model predictive control framework that can be used for the coordinated and integrated control of a motorway system, considering that an amount of vehicles are equipped with specific VACS. The concept employs and exploits the synergistic (integrated) action of a number of old and new control measures, including ramp metering, vehicle speed control, and lane changing control at a macroscopic level. The effectiveness and the computational feasibility of the proposed approach are demonstrated via microscopic simulation for a variety of penetration rates of equipped vehicles.     

Optimal vehicle trajectory planning in the context of cooperative merging on highways

One of the main triggers of traffic congestion on highways is vehicle merging at on-ramps. The development of automated procedures for cooperative vehicle merging is aimed to ensure safety and alleviate congestion problems. In this work, a longitudinal trajectory planning methodology is presented, developed to assist the merging of vehicles on highways; it achieves safe and traffic-efficient merging, while minimizing the engine effort and passenger discomfort through the minimization of acceleration and its first and second derivatives during the merging maneuver. The problem is formulated as a finite-horizon optimal control problem and is solved analytically. This enables the solution to be stored on-board, saving computational time and rendering the methodology suitable for practical applications. The tunable weights, used for taking into account the different optimization criteria, may serve as parameters to match the individual driver’s preferences. The proposed methodology is first developed for a pair of cooperating vehicles, a merging one and its putative leader. Moreover, an alternative solution procedure via a time-variant Linear-Quadratic Regulator approach is also presented. A Model Predictive Control (MPC) scheme is utilized to compensate possible disturbances in the trajectories of the cooperating vehicles, whereby the analytical optimal solution is applied repeatedly in real time, using updated measurements, until the merging procedure is actually finalized. Subsequently, the methodology is generalized for a set of vehicles inside the merging area. Various numerical simulations illustrate the validity and applicability of the method.     

On some experimental features of car-following behavior and how to model them

We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car’s speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this fundamental relation of vehicular traffic. In this paper we extend our previous analysis of these experiments, and report new experimental findings. In particular, we reveal that the platoon length (hence the average spacing within a platoon) might be significantly different even if the average velocity of the platoon is essentially the same. The findings further demonstrate that the traffic states span a 2D region in the speed-spacing (or density) plane. The common practice of using a single speed-spacing curve to model vehicular traffic ignores the variability and imprecision of human driving and is therefore inadequate. We have proposed a car-following model based on a mechanism that in certain ranges of speed and spacing, drivers are insensitive to the changes in spacing when the velocity differences between cars are small. It was shown that the model can reproduce the experimental results well.     

iLOCK的安全模型和安全性分析

分析了iLOCK系统的体系架构,提出了系统的安全模型和安全性计算公式,并对iL-OCK各部分和总体的安全性进行了计算。此外还对影响iLOCK系统安全性的各项指标进行了分析,阐明了确保iLOCK系统达到SIL4级安全要求的关键技术。     

基于数码管的多方向发车表示器控制电路的研究

当下,随着铁道信号的数字化和计算机化的不断推进,铁路运力大幅提升,现场出现了很多超过3个出站口的车站,有的甚至多达7~8个出站方向。原有的带3个表示器的出站信号机已不能适应这些新变化。因此,以DS6-K5B型计算机联锁为例设计一种基于数码管的新型出站信号表示器以及相应的控制电路。该表示器不仅简化以往的信号表示器电路,实现数字化控制,而且还在表示含义上具有一定的容错能力。这种设计方案可以较好地解决出站信号机开放时的方向问题。     

基于模式预测法的城市轨道噪声影响研究

为研究城市轨道交通高架线两侧噪声传播特点与规律,探索声环境敏感点的降噪防治措施,以拟建成都地铁5号线工程为研究对象,选取适合的预测模式,确定出各个技术参数并模拟计算出噪声预测结果,通过类似既有上海轨道5号线工程的大量实测数据有效验证了预测结果的正确性和可靠性。在此基础上的研究结果表明:水平方向上桥梁两侧声影区内,噪声级随着距离增加而增强;而在声照区内,噪声级则随距离的增加而减弱。垂直方向上高架线噪声影响最严重区域为周边建筑物5层楼附近,因此要特别关注并加强该区域的降噪治理工作。     

应用"四全管理"原理,提升航海职业教育质量

介绍“四全管理”原理,针对当前航海职业教育管理存在的缺陷,提出一些解决策略,提升教育质量。     

Development and testing of a fully Adaptive Cruise Control system

Adaptive Cruise Control systems have been developed and introduced into the consumer market for over a decade. Among these systems, fully-adaptive ones are required to adapt their behaviour not only to traffic conditions but also to drivers’ preferences and attitudes, as well as to the way such preferences change for the same driver in different driving sessions. This would ideally lead towards a system where an on-board electronic control unit can be asked by the driver to calibrate its own parameters while he/she manually drives for a few minutes (learning mode). After calibration, the control unit switches to the running mode where the learned driving style is applied. The learning mode can be activated by any driver of the car, for any driving session and each time he/she wishes to change the current driving behaviour of the cruise control system.The modelling framework which we propose to implement comprises four layers (sampler, profiler, tutor, performer). The sampler is responsible for human likeness and can be calibrated while in learning mode. Then, while in running mode, it works together with the other modelling layers to implement the logic. This paper presents the overall framework, with particular emphasis on the sampler and the profiler that are explained in full mathematical detail. Specification and calibration of the proposed framework are supported by the observed data, collected by means of an instrumented vehicle. The data are also used to assess the proposed framework, confirming human-like and fully-adaptive characteristics.