Fractional-order-based ACC/CACC algorithm for improving string stability

Traffic flow optimization and driver comfort enhancement are the main contributions of an Adaptive Cruise Control (ACC) system. If communication links are added, more safety and shorter gaps can be reached performing a Cooperative-ACC (CACC). Although shortening the inter-vehicular distances directly improves traffic flow, it can cause string unstable behavior. This paper presents fractional-order-based control algorithms to enhance the car-following and string stability performance for both ACC and CACC vehicle strings, including communication temporal delay effects. The proposed controller is compared with state-of-the-art implementations, exhibiting better performance. Simulation and real experiments have been conducted for validating the approach.     

Sharing costs in Swedish road ownership associations

Usually transport systems, and roads in particular, are viewed as public goods. However, this is not always the case. In Sweden a large part of the road system is privately owned. Most of these privately owned roads are rural roads used by farmers and summer cottage owners, or used for forest transport. These roads are mainly provided by ownership associations.An important difference between public roads and these privately owned roads is that all investments- and maintenance decisions are made by the users themselves, who also have to pay the costs, whereas the usual case is that the owners/providers of a road-system are different agents than the users. Here the question is not how to charge the roads but how to split the costs of the roads among the users in an efficient and “fair” way.The motivation of this paper is the practical problem of how such an ownership association can divide the costs for the road network among the members in an efficient and “fair” way. The problem is treated from a game theoretical point of view, making use of the Shapley value. This means that the problem is associated with a game - a mathematical representation of the conflict situation. The Shapley value is a very important solution concept for cooperative games, like the game in this case. For games corresponding to this specific type of problems, it is shown that the Shapley value has excellent properties, such as beeing an element of the core, and beeing very easy to compute.     

基于滚动优化的地铁列车节能运行协同控制方法

针对地铁列车节能运行问题,提出基于滚动优化的列车协同控制方法,将系统整体最优问题分解为基于时间推进的局部优化问题。考虑列车每次停站时同一供电分区内其它列车的操纵方案,实时计算下一站间运行净能耗最小的操纵方案。在计算操纵方案时,对传统的列车4阶段操纵策略进行改进,允许列车在运行途中进行2次牵引,减小列车牵引能耗并提高再生能的利用率。结果表明:相比列车基于传统4阶段的个体最优控制策略,采用本文提出的列车协同控制方法在不同发车间隔下均可提高再生能利用率并节约列车运行净能耗,平均节能率达8.37%。     

快速路可变限速与匝道控制协同优化策略

可变限速控制和匝道控制是快速路交通控制的主要手段,本文对两者的协同优化策略进行了研究.借助智能车路协同系统强大的信息感知能力,通过引入微观交通流信息,对经典METANET模型进行了改造,构建了可变限速控制影响下的微观METANET模型,实现了一种新的可变限速控制策略,同时,采用ALINEA算法,对入口匝道进行了优化控制,实现了两者的协同优化.最后,基于实际道路和交通流数据搭建了仿真平台,对微观METANET模型和协同优化策略的有效性进行了验证.仿真结果表明,微观METANET模型具有良好的交通流预测效果,协同优化策略能有效地改善快速路交通流状态.     

Rolling horizon control framework for driver assistance systems. Part II: Cooperative sensing and cooperative control

This contribution furthers the control framework for driver assistance systems in Part I to cooperative systems, where equipped vehicles can exchange relevant information via vehicle-to-vehicle communication to improve the awareness of the ambient situation (cooperative sensing) and to manoeuvre together under a common goal (cooperative control). To operationalize the cooperative sensing strategy, the framework is applied to the development of a multi-anticipative controller, where an equipped vehicle uses information from its direct predecessor to predict the behaviour of its pre-predecessor. To operationalize the cooperative control strategy, we design cooperative controllers for sequential equipped vehicles in a platoon, where they collaborate to optimise a joint objective. The cooperative control strategy is not restricted to cooperation between equipped vehicles. When followed by a human-driven vehicle, equipped vehicles can still exhibit cooperative behaviour by predicting the behaviour of the human-driven follower, even if the prediction is not perfect.The performance of the proposed controllers are assessed by simulating a platoon of 11 vehicles with reference to the non-cooperative controller proposed in Part I. Evaluations show that the multi-anticipative controller generates smoother behaviour in accelerating phase. By a careful choice of the running cost specification, cooperative controllers lead to smoother decelerating behaviour and more responsive and agile accelerating behaviour compared to the non-cooperative controller. The dynamic characteristics of the proposed controllers provide new insights into the potential impact of cooperative systems on traffic flow operations, particularly at the congestion head and tail.     

国际航运物流虚拟联盟伙伴选择研究

提出了国际航运物流虚拟联盟的概念,介绍了国际航运物流虚拟联盟合作伙伴的选择程序。根据合作伙伴选择评价的原则和我国航运物流企业的现状,初步构建了国际航运物流虚拟联盟合作伙伴的选择评价指标体系,然后采用调查问卷的形式,对选择评价指标体系进行了修正。以鼎盛航运物流公司为例,采用层次分析法(AHP)对国际航运物流虚拟联盟进行了实证分析,结果合理、实用。     

内部审计与内部控制的合作性博弈

金融危机下企业的内部审计与内部控制面临考验。文章阐述了内部审计与内部控制的关系,对内部审计在内部控制中的功能进行了定位,分析了一些企业内审部门的囚徒困境,探讨了如何建立内部审计与内部控制的合作性博弈关系,以期对我国企业内部审计和内部控制的建设提供一些思考。     

从合作原则看英语广告标语中的隐喻

作为文学中的一种修辞方法,隐喻在广告英语中的功能最终是为了吸引公众的注意.隐喻又是一种认知现象,与人的思维方式及思维发展过程密切相关.本文运用格莱斯的合作原则分析评价了隐喻在英语广告标语中的功能和用法,特别分析了隐喻对质量准则的违反所产生的广告效果.     

甘肃省新型农村合作医疗基金监管机制初探

新型农村合作医疗基金管理是新型农村合作医疗制度顺利推行的重要内容。该研究从甘肃省西部、东部、中部分另别选取了山丹、灵台、瓜州、庆城和皋兰5个有代表的试点县进行实际调查。主要从甘肃新型农村合作医疗基金管理的基本模式着手研究,重点分析了基金运行管理以及基金的筹资、储存、支付等环节管理的现状以及存在问题。结果表明：当前甘肃省新农合在监管机制中存在的问题主要体现在管理成本高、监管不力、人员及经费不足、缺乏相关法律保障等方面。针对这些问题,本研究提出相应对策。     

股份制、合作制、与股份合作制

本文通过对股份制、合作制的分析，总结出股份合作制的制度特机