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Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in the

Keqiang LI, Feng GAO, Shengbo Eben LI, Yang ZHENG, Hongbo GAO

《机械工程前沿（英文）》 2018年第13卷第3期页码 354-367 doi: 10.1007/s11465-018-0486-x

摘要：

This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.

关键词： automated vehicles platoon distributed control robustness

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大规模车辆排队的调度与规划技术的进展与挑战 Review

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

《工程（英文）》 2023年第28卷第9期页码 26-48 doi: 10.1016/j.eng.2023.01.012

摘要：

Through vehicle-to-vehicle (V2V) communication, autonomizing a vehicle platoon can significantly reduce the distance between vehicles, thereby reducing air resistance and improving road traffic efficiency. The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions, thereby permitting large-scale vehicle platoon scheduling and planning, which is essential for industrialized platoon applications and generates significant economic benefits. Scheduling and planning are required in many aspects of vehicle platoon operation; here, we outline the advantages and challenges of a number of the most important applications, including platoon formation scheduling, lane-change planning, passing traffic light scheduling, and vehicle resource allocation. This paper's primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications. To this end, we first summarize the general techniques of vehicle platoon scheduling and planning, then list the primary scenarios for scheduling and planning technique application, and finally discuss current challenges and future development trends in platoon scheduling and planning. We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.

关键词： Autonomous vehicle platoon Autonomous driving Connected and automated vehicles Scheduling and planning techniques

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智能网联汽车信息安全管理的实施对策

赵世佳,徐可,薛晓卿,乔英俊

《中国工程科学》 2019年第21卷第3期页码 108-113 doi: 10.15302/J-SSCAE-2019.03.006

摘要：

新一轮科技和产业变革加速融合，智能网联汽车为消费者提供了便利的使用方式、丰富的应用内容和安全的驾驶环境，但同时，由智能化、网联化带来的信息安全问题也面临着多重风险。近年来黑客攻击频发，信息安全问题不仅会影响行车安全、造成用户数据泄露，更使国家安全受到威胁。安全问题已经引发各国政府的高度重视，美国、欧洲和日本等主要发达国家和地区都在积极行动。在此背景下，我国应尽快推动统筹智能网联汽车信息安全的发展和管理，积极布局、合理规划，全力保障智能网联汽车信息安全，推动智能网联汽车的稳步发展。

关键词：智能网联汽车信息安全汽车产业管理

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Coordinated shift control of nonsynchronizer transmission for electric vehicles based on dynamic tooth

《机械工程前沿（英文）》 2021年第16卷第4期页码 887-900 doi: 10.1007/s11465-021-0653-3

摘要： Multispeed transmissions can enhance the dynamics and economic performance of electric vehicles (EVs), but the coordinated control of the drive motor and gear shift mechanism during gear shifting is still a difficult challenge because gear shifting may cause discomfort to the occupants. To improve the swiftness of gear shifting, this paper proposes a coordinated shift control method based on the dynamic tooth alignment (DTA) algorithm for nonsynchronizer automated mechanical transmissions (NSAMTs) of EVs. After the speed difference between the sleeve (SL) and target dog gear is reduced to a certain value by speed synchronization, angle synchronization is adopted to synchronize the SL quickly to the target tooth slot’s angular position predicted by the DTA. A two-speed planetary NSAMT is taken as an example to carry out comparative simulations and bench experiments. Results show that gear shifting duration and maximum jerk are reduced under the shift control with the proposed method, which proves the effectiveness of the proposed coordinated shift control method with DTA.

关键词： electric vehicle nonsynchronizer automated mechanical transmission (NSAMT) planetary gear coordinated shift control dynamic tooth alignment

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冲突场景下基于事件触发的多车协同控制与实验验证 Research Article

胡展溢1,乔英俊2,3,李星宇1,黄晋1,贾一帆1,钟志华2

《信息与电子工程前沿（英文）》 2022年第23卷第11期页码 1700-1713 doi: 10.1631/FITEE.2100504

摘要：

队列系统在提高交通吞吐量和道路安全方面极具潜力，其被广泛用于高速公路上智能网联汽车的协同控制。受队列控制的启发，虚拟队列可以极大地简化冲突场景下智能网联多车系统的协同行驶。车车通信是虚拟队列系统的重要组成部分。在通信资源有限的情况下，大量数据传输必然会出现传输延迟、丢包等缺陷。因此，需要避免不必要的传输，从而建立一个可靠的无线网络。针对这一问题，本文提出一种基于事件触发的鲁棒控制方法，在保证时变不确定性条件下虚拟队列系统稳定性的同时，减少通信资源的利用。本文解析地证明了闭环系统的一致有界性、一致最终有界性和队列稳定性。本文所设计的触发条件考虑了边界信息的不确定性，使阈值估计更加合理。仿真和实验结果表明，该方法可以在多车协作的同时大大减少数据传输。阈值的选取影响跟踪能力和通信负担，其优化方法值得在今后的研究中探索。

关键词：智能网联汽车；事件触发控制；非线性不确定性动力学；冲突区域

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以智能网联汽车为载体的汽车强国战略顶层设计

边明远,李克强

《中国工程科学》 2018年第20卷第1期页码 52-58 doi: 10.15302/J-SSCAE-2018.01.008

摘要：

智能网联汽车是以信息技术为代表的新科技变革趋势下产生的一种新兴产业形态。由于体现为跨行业多领域新技术的深度交叉融合，智能网联汽车的产业化发展必定能带动相关行业的协同进步，从而推动中国制造业的转型升级，实现我国由汽车大国向汽车强国的转变。本文阐述了建设汽车强国的本质内涵以及发展智能网联汽车对建设汽车强国的意义，分析了中国发展智能网联汽车具备的基础和面临的问题，并提出了以智能网联汽车为载体的建设汽车强国战略的顶层设计方案。

关键词：智能网联汽车汽车强国产业转型升级顶层设计

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基于车联网的信号灯协同控制 Article

李婉, 班学钢

《工程（英文）》 2020年第6卷第12期页码 1463-1472 doi: 10.1016/j.eng.2020.10.009

摘要：

本文提出了一个基于车联网（CV）环境的交通主干道信号灯协同控制的模型及其求解方法。首先，我们将信号优化与协同控制问题归结为一个混合整数非线性规划（MINLP）。通过考虑单个车辆轨迹的最小油耗和行程时间求解最优相位持续时间和相位差。由于模型的复杂性，我们将问题分解为两个层次：使用动态规划（DP）优化相位持续时间的交叉路口层，以及用于优化所有交叉路口相位差的干道交通层。同时，我们开发了一种基于预测的方法以求解上述双层优化模型。在各种场景下，我们利用交通模拟对模型进行了测试。与传统的感应信号灯协同控制相比，求解MINLP和双层优化模型生成的信号时序规划可以合理地提升交通信号灯控制性能和路网的服务水平。在高密度的交通流量的环境中并考虑不同车辆类型时，与感应信号灯相比，上述双层优化模型的求解法使路网总成本降低了3.8%，MINLP的应用使系统总成本降低了5.9%。这也表明对于交通密度相对较高的干道交通来说，本文提出的协同控制方案效果显著。而仿真结果也表明对于同时拥有主要道路和次要道路的交叉路口而言，面向主要道路进行的协同控制对次要道路上的车辆几乎没有影响。

关键词：车联网交通信号灯协同控制动态规划双层优化混合整数非线性规划

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智能网联汽车预期功能安全关键挑战与中国解决方案

李骏, 邵文博, 王红

《工程（英文）》 2023年第31卷第12期页码 27-30 doi: 10.1016/j.eng.2023.09.008

摘要：

智能网联汽车（ICV）是全球汽车工业转型和发展的关键战略焦点，对提升驾驶安全、改善交通效率和实现低碳交通具有重要意义。然而，在ICV的发展中，由于系统复杂性提升，以及动态和挑战性的场景层出不穷，预期功能安全（SOTIF）问题已成为ICV研究和商业化面临的最关键障碍之一。本研究从全球ICV相关事故出发，强调了SOTIF问题的紧迫性，并总结了SOTIF发展面临的关键挑战，包括ICV的长尾场景问题、系统复杂性和多样性，以及人工智能算法的不透明性和不确定性。为解决这些挑战，提出了包含离线安全设计与开发、车载安全监测与防护以及主动持续学习与成长的覆盖ICV全生命周期的中国解决方案，为推动ICV的安全产业化提供重要指导建议。

关键词：智能网联汽车预期功能安全（SOTIF）离线开发车载防护持续学习

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Modeling and control of photovoltaic energy conversion connected to the grid

Rebei NAJET, Ben Ghanem BELGACEM, Hasnaoui OTHMAN

《能源前沿（英文）》 2012年第6卷第1期页码 35-46 doi: 10.1007/s11708-012-0169-y

摘要： This paper presents modeling and control of a photovoltaic generator (PVG) connected to the grid. The parameters of the PVG have been identified in previous work (series and parallel resistance, reverse saturation current and thermal voltage) using Newton-Raphston and the gradient algorithm. The electrical energy from a PVG is transferred to the grid via two static converters (DC/DC and DC/AC). The objective of the proposed control strategy is to maximize energy captured from the PVG. The adapted control law for extracting maximum power from the PVG is based on the incremental conductance algorithm. The developed algorithm has the capability of searching the maximum photovoltaic power under variable irradiation and temperature. To control the DC/AC inverter, an intelligent system based on two structures is constructed: a current source control structure and a voltage source control structure. The system has been validated by numerical simulation using data obtained from the PVG installed in the laboratory research (INSAT, Tunisia).

关键词： photovoltaic generator (PVG) maximum power point tracker grid-connected static converters

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Multimodal processes optimization subject to fuzzy operation time constraints: declarative modeling approach A preliminary version was presented at the 12th International Conference on Distributed Computing and Artificial Intelligence, June 3–5, 2015, Spain

Izabela NIELSEN,Robert WÓJCIK,Grzegorz BOCEWICZ,Zbigniew BANASZAK

《信息与电子工程前沿（英文）》 2016年第17卷第4期页码 338-347 doi: 10.1631/FITEE.1500359

摘要： We present an extension of the resource-constrained multi-product scheduling problem for an automated guided vehicle (AGV) served flow shop, where multiple material handling transport modes provide movement of work pieces between machining centers in the multimodal transportation network (MTN). The multimodal processes behind the multi-product production flow executed in an MTN can be seen as processes realized by using various local periodically functioning processes. The considered network of repetitively acting local transportation modes encompassing MTN’s structure provides a framework for multimodal processes scheduling treated in terms of optimization of the AGVs fleet scheduling problem subject to fuzzy operation time constraints. In the considered case, both production takt and operation execution time are described by imprecise data. The aim of the paper is to present a constraint propagation (CP) driven approach to multi-robot task allocation providing a prompt service to a set of routine queries stated in both direct and reverse way. Illustrative examples taking into account an uncertain specification of robots and workers operation time are provided.

关键词： Automated guided vehicles (AGVs) Scheduling Multimodal process Fuzzy constraints Optimization

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Automated synthesis of steady-state continuous processes using reinforcement learning

《化学科学与工程前沿（英文）》 2022年第16卷第2期页码 288-302 doi: 10.1007/s11705-021-2055-9

摘要： Automated flowsheet synthesis is an important field in computer-aided process engineering. The present work demonstrates how reinforcement learning can be used for automated flowsheet synthesis without any heuristics or prior knowledge of conceptual design. The environment consists of a steady-state flowsheet simulator that contains all physical knowledge. An agent is trained to take discrete actions and sequentially build up flowsheets that solve a given process problem. A novel method named SynGameZero is developed to ensure good exploration schemes in the complex problem. Therein, flowsheet synthesis is modelled as a game of two competing players. The agent plays this game against itself during training and consists of an artificial neural network and a tree search for forward planning. The method is applied successfully to a reaction-distillation process in a quaternary system.

关键词： automated process synthesis flowsheet synthesis artificial intelligence machine learning reinforcement learning

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Generating capacity adequacy evaluation of large-scale, grid-connected photovoltaic systems

Amir AHADI,Seyed Mohsen MIRYOUSEFI AVAL,Hosein HAYATI

《能源前沿（英文）》 2016年第10卷第3期页码 308-318 doi: 10.1007/s11708-016-0415-9

摘要： Large-scale, grid-connected photovoltaic systems have become an essential part of modern electric power distribution systems. In this paper, a novel approach based on the Markov method has been proposed to investigate the effects of large-scale, grid-connected photovoltaic systems on the reliability of bulk power systems. The proposed method serves as an applicable tool to estimate performance (e.g., energy yield and capacity) as well as reliability indices. The Markov method framework has been incorporated with the multi-state models to develop energy states of the photovoltaic systems in order to quantify the effects of the photovoltaic systems on the power system adequacy. Such analysis assists planners to make adequate decisions based on the economical expectations as well as to ensure the recovery of the investment costs over time. The failure states of the components of photovoltaic systems have been considered to evaluate the sensitivity analysis and the adequacy indices including loss of load expectation, and expected energy not supplied. Moreover, the impacts of transitions between failures on the reliability calculations as well as on the long- term operation of the photovoltaic systems have been illustrated. Simulation results on the Roy Billinton test system has been shown to illustrate the procedure of the proposed frame work and evaluate the reliability benefits of using large-scale, grid-connected photovoltaic system on the bulk electric power systems. The proposed method can be easily extended to estimate the operating and maintenance costs for the financial planning of the photovoltaic system projects.

关键词： adequacy assessment Markov method large-scale grid-connected photovoltaic(PV) systems long-term operation

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Evaluation of computer vision techniques for automated hardhat detection in indoor construction safety

Bahaa Eddine MNEYMNEH, Mohamad ABBAS, Hiam KHOURY

《工程管理前沿（英文）》 2018年第5卷第2期页码 227-239 doi: 10.15302/J-FEM-2018071

摘要： Construction is considered among the most dangerous industries and is responsible for a large portion of total worker fatalities. A construction worker has a probability of 1-in-200 of dying on the job during a 45-year career, mainly due to fires, falls, and being struck by or caught between objects. Hence, employers must ensure their workers wear personal protective equipment (PPE), in particular hardhats, if they are at risk of falling, being struck by falling objects, hitting their heads on static objects, or coming in proximity to electrical hazards. However, monitoring the presence and proper use of hardhats becomes inefficient when safety officers must survey large areas and a considerable number of workers. Using images captured from indoor jobsites, this paper evaluates existing computer vision techniques, namely object detection and color-based segmentation tools, used to rapidly detect if workers are wearing hardhats. Experiments are conducted and the results highlight the potential of cascade classifiers, in particular, to accurately, precisely, and rapidly detect hardhats under different scenarios and for repetitive runs, and the potential of color-based segmentation to eliminate false detections.

关键词： construction safety personal protective equipment hardhat computer vision

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hardening performance of three-dimensionally-printed geopolymer based on lunar regolith simulant for automated

《结构与土木工程前沿（英文）》 doi: 10.1007/s11709-023-0003-0

摘要： Using an in situ lunar regolith as a construction material in combination with 3D printing not only reduces the weight of materials carried from the Earth but also improves the automation of lunar infrastructure construction. This study aims to improve the printability of a geopolymer based on a BH-1 lunar regolith simulant, including the extrudability, open time, and buildability, by controlling the temperature and adding admixtures. Rheological parameters were used to represent printability with different water-to-binder ratios, printing temperatures, and contents of additives. The mechanical properties of the hardening geopolymer with different filling paths and loading directions were tested. The results show that heating the printed filaments with a water-to-binder ratio of 0.32 at 80 °C can adjust the printability without adding any additive, which can reduce the construction cost of lunar infrastructure. The printability of the BH-1 geopolymer can also be improved by adding 0.3% Attagel-50 and 0.5% polypropylene fiber by mass at a temperature of 20 °C to cope with the changeable environmental conditions on the Moon. After curing under a simulated lunar environment, the 72-h flexural and compressive strengths of the geopolymer specimens reach 4.1 and 48.1 MPa, respectively, which are promising considering that the acceleration of gravity on the Moon is 1/6 of that on the Earth.

关键词： geopolymer lunar regolith simulant 3D printing rheology printability

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Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

《机械工程前沿（英文）》 2016年第11卷第3期页码 258-274 doi: 10.1007/s11465-016-0381-2

摘要：

Natural gas, whose primary constituent is methane, has been considered a convincing alternative for the growth of the energy supply worldwide. Adsorbed natural gas (ANG), the most promising methane storage method, has been an active field of study in the past two decades. ANG constitutes a safe and low-cost way to store methane for natural gas vehicles at an acceptable energy density while working at substantially low pressures (3.5–4.0 MPa), allowing for conformable store tank. This work serves to review the state-of-the-art development reported in the scientific literature on adsorbents, adsorption theories, ANG conformable tanks, and related technologies on ANG vehicles. Patent literature has also been searched and discussed. The review aims at illustrating both achievements and problems of the ANG technologies-based vehicles, as well as forecasting the development trends and critical issues to be resolved of these technologies.

关键词： adsorbed natural gas (ANG) adsorbent adsorption theory conformable tank natural gas vehicles (NGVs)