Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

使用新型辅助变流器节能

新型辅助变流器(BNU)及其新结构设计可减轻有轨车辆辅助电源装置的质量.与传统的典型地铁车辆的辅助变流器相比,这种新辅助变流器的质量可减轻约50%,并且可大大降低能耗.通过采用中频隔离变压器和非焊接箱体可减轻质量,随之而来也扩展了BNU的功能.     

Analysis of Automatic Steering Control for Highway Vehicles with Look-down Lateral Reference Systems

In this paper, steering control for passenger cars on automated highways is analyzed, concentrating on look-down reference systems. Extension of earlier experimental results for low speed to highway speed is shown to be non-trivial. The limitations of pure output-feedback of lateral vehicle displacement from the road reference are examined under practical constraints and performance requirements like robustness, maximum lateral error and comfort. The in-depth system analysis directly leads to a new alternative design direction which allows to preserve look-ahead reference systems for highway speed automatic driving.     

Variability of the Bohai Sea circulation based on model calculations

The circulation and the hydrography of the Bohai Sea are simulated with the Hamburg Shelf Ocean Model (HAMSOM). The model is three-dimensional, prognostic baroclinic and has a resolution of 5 min in latitude and longitude and 10 layers in the vertical. It is initialised and forced with the five main tidal constituents, temperature and salinity distributions taken from the Levitus database, monthly mean river run-off values and European Centre for Medium Range Weather Forecast (ECMWF) re-analysed data of air pressure, wind stress and of those parameters relevant for the calculation of heat fluxes. The simulation period covers 14 years from 1980 to 1993 due to the availability of the time-dependent ECMWF forcing.The results are analysed by means of time series and EOFs focussing on the interpretation of fluctuations with periods above the tidal cycle. Furthermore, tracer simulations are carried out and turnover times are calculated in order to evaluate the importance of these fluctuations on the renewal and transport of water masses in the Bohai Sea.One of the major outcomes of the investigation is the overall dominance of the annual cycle in all hydrographic parameters and the importance of stochastic weather fluctuations on the transport of water masses in the Bohai Sea.     

Verification of a simplified analytical method for predictions of ship groundings over large contact surfaces by numerical simulations

In this paper, a verification is presented of a simplified analytical method for the predictions from numerical simulations of structural performance during ship groundings over seabed obstacles with large contact surfaces and trapezoidal cross-section. This simplified analytical method was developed by Lin Hong and Jørgen Amdahl and calculates grounding characteristics, such as resistance and distortion energy, for double-bottomed ships in shoal grounding accidents. Two finite-element models are presented. One was built for a hold, and the other was built for a hold and a ship hull girder and also considers sectional properties, ship mass, added mass and the hydrodynamic restoring force. The verification was completed by comparing horizontal and vertical resistances and the distortion energy between seven numerical-simulation cases and a set of corresponding cases computed by a simplified analytical method. The results show that the resistances obtained by the simplified analytical method are close to the mean values of the resistance curves obtained by numerical simulations. The comparisons prove that the energy dissipation-prediction capability of the simplified analytical method is valuable. Thus, the simplified analytical method is feasible for assessing ship groundings over seabed obstacles with large contact surfaces and trapezoidal cross-section. Furthermore, studies of the influence of ship motion during groundings ascertained that ship motion affects structural performance characteristics. Resistances are lessened at the end of the grounding due to the reduction of indentations caused by heave and pitch motions of the ship hull girder. Finally, a new method for predicting the structural performance of the time-consuming complete-ship model by applying a combination of normal numerical simulations and ship-motion calculations is proposed and proven.     

低地板轻轨车的"积木"式模块设计

以低地板轻轨车ＣＯＭＢＩＮＯ车体承载结构为实例，阐明了采用“积木”式模块设计的优点。     

Efficient estimation of extreme non-linear roll motions using the first-order reliability method (FORM)

In on-board decision support systems, efficient procedures are needed for real-time estimation of the maximum ship responses to be expected within the next few hours, given online information on the sea state and user-defined ranges of possible headings and speeds. For linear responses, standard frequency domain methods can be applied. For non-linear responses, as exhibited by the roll motion, standard methods such as direct time domain simulations are not feasible due to the required computational time. However, the statistical distribution of non-linear ship responses can be estimated very accurately using the first-order reliability method (FORM), which is well known from structural reliability problems. To illustrate the proposed procedure, the roll motion was modelled by a simplified non-linear procedure taking into account non-linear hydrodynamic damping, time-varying restoring and wave excitation moments, and the heave acceleration. Resonance excitation, parametric roll, and forced roll were all included in the model, albeit with some simplifications. The result is the mean out-crossing rate of the roll angle together with the most probable wave scenarios (critical wave episodes), leading to user-specified specific maximum roll angles. The procedure is computationally very effective and can thus be applied to real-time determination of ship-specific combinations of heading and speed to be avoided in the actual sea state.