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Investigating the role of exiting vehicles and turn indicator usage in gap acceptance at single-lane

Nathan P. BELZ

《结构与土木工程前沿（英文）》 2017年 第11卷 第1期   页码 8-16 doi: 10.1007/s11709-016-0365-7

摘要： Roundabouts are becoming a preferred form of intersection control type due to their safety and capacity benefits. Yield control at roundabout entries inherently reduces fuel consumption and emissions when compared to other conventional intersection types. However, these benefits can be limited by poor driver behavior and judgment when entering the roundabout. This research addresses the nature of gap distributions and use of turn indicators by exiting vehicles at three single-lane roundabouts in Vermont, New York, and Alaska. Presented here is a comparison of vehicle headways measured at two different locations in each roundabout. Rejected headways are analyzed in the context of priority abstaining events when entering drivers yield to vehicles exiting on the same leg of the roundabout suggesting that “true” critical gaps are being overestimated. Results indicate that exiting vehicles, particularly those that do not use their turn indicators when departing from the major-stream of traffic have an influence on the entry decision of drivers on the same approach. This behavior is of particular concern for intersection efficiency (i.e., delay) and sustainability (i.e., excess fuel consumption and emissions). Results prompt the consideration of more consistent guidance on and enforcement of turn indicator use during roundabout negotiations.

关键词： roundabouts     exiting vehicles     turn indicator use     headways    

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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)    

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从有缆遥控水下机器人到自治水下机器人

封锡盛

《中国工程科学》 2000年 第2卷 第12期   页码 29-33

摘要：

文章给出了水下机器人的定义，依据定义进行了分类，简要回顾了几类重要水下机器人的进展，指出了无人无缆自治水下机器人（AUVs）是当今水下机器人研究与开发的热点，介绍了最近20年沈阳自动化研究所与国内外有关单位合作，在水下机器人领域从无人有缆遥控水下机器人（ROVs）到AUVs的研究开发工作，它从一个侧面反映了我国在这一领域的进展情况

关键词： 水下机器人     AUVs     ROVs     潜水器     海洋开发     海洋工程    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization algorithm    

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Implementation of a flexible Major Vacation Toll-free Program for small passenger vehicles in China

Meng XU, Ziyou GAO

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 498-499 doi: 10.15302/J-FEM-2017111

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Analysis on carbon emission reduction intensity of fuel cell vehicles from a life-cycle perspective

《能源前沿（英文）》 doi: 10.1007/s11708-023-0909-1

摘要： The hydrogen fuel cell vehicle is rapidly developing in China for carbon reduction and neutrality. This paper evaluated the life-cycle cost and carbon emission of hydrogen energy via lots of field surveys, including hydrogen production and packing in chlor-alkali plants, transport by tube trailers, storage and refueling in hydrogen refueling stations (HRSs), and application for use in two different cities. It also conducted a comparative study for battery electric vehicles (BEVs) and internal combustion engine vehicles (ICEVs). The result indicates that hydrogen fuel cell vehicle (FCV) has the best environmental performance but the highest energy cost. However, a sufficient hydrogen supply can significantly reduce the carbon intensity and FCV energy cost of the current system. The carbon emission for FCV application has the potential to decrease by 73.1% in City A and 43.8% in City B. It only takes 11.0%–20.1% of the BEV emission and 8.2%–9.8% of the ICEV emission. The cost of FCV driving can be reduced by 39.1% in City A. Further improvement can be obtained with an economical and “greener” hydrogen production pathway.

关键词： hydrogen energy     life-cycle assessment (LCA)     fuel cell vehicle     carbon emission     energy cost    

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对我国电动汽车产业化问题的思考

郭孔辉

《中国工程科学》 2011年 第13卷 第9期   页码 4-7

摘要：

简单介绍了电动车的特点和发展情况，认为电池比重量大、比价格高是电动汽车的特点，成本、寿命和重量是发展电动汽车的关键；提出了我国电动车行业的一些不合理的现象；指出发展小型高效电动汽车是我国汽车产业发展的战略选择；最后给出了电动汽车发展的路线：市场引导、扶小带大、低端切入、多样发展。

关键词： 电动汽车     产业化     战略选择     发展路线    

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Real-world fuel consumption of light-duty passenger vehicles using on-board diagnostic (OBD) systems

Xuan Zheng, Sheng Lu, Liuhanzi Yang, Min Yan, Guangyi Xu, Xiaomeng Wu, Lixin Fu, Ye Wu

《环境科学与工程前沿（英文）》 2020年 第14卷 第2期 doi: 10.1007/s11783-019-1212-6

摘要： • Fuel consumption (FC) from LDPVs is measured using on-board diagnostic method (OBD). • The FC of the OBD is 7.1% lower than that of the carbon balance results. • The discrepancy between the approved FC and real-world FC is 13%±18%. • There is a strong relationship (R2=0.984) between the average speed and relative FC. An increasing discrepancy between real-world and type-approval fuel consumption for light-duty passenger vehicles (LDPVs) has been reported by several studies. Normally, real-world fuel consumption is measured primarily by a portable emission measurement system. The on-board diagnostic (OBD) approach, which is flexible and offers high-resolution data collection, is a promising fuel consumption monitoring method. Three LDPVs were tested with a laboratory dynamometer based on a type-approval cycle, the New European Driving Cycle (NEDC). Fuel consumption was measured by the OBD and constant-volume sampling system (CVS, a regulatory method) to verify the accuracy of the OBD values. The results of the OBD method and the regulatory carbon balance method exhibited a strong linear correlation (e.g., R2 = 0.906-0.977). Compared with the carbon balance results, the fuel consumption results using the OBD were 7.1%±4.3% lower on average. Furthermore, the real-world fuel consumption of six LDPVs was tested in Beijing using the OBD. The results showed that the normalized NEDC real-world fuel consumption of the tested vehicles was 13%±17% higher than the type-approval-based fuel consumption. Because the OBD values are lower than the actual fuel consumption, using a carbon balance method may result in a larger discrepancy between real-word and type-approval fuel consumption. By means of the operating mode binning and micro trip methods, a strong relationship (R2 = 0.984) was established between the average speed and relative fuel consumption. For congested roads (average vehicle speed less than 25 km/h), the fuel consumption of LDPVs is highly sensitive to changes in average speed.

关键词： Fuel consumption     Light-duty passenger vehicles     On-board diagnostic systems    

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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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Integrated control strategies for railway vehicles with independently-driven wheel motors

FENG Jinzhi, LI Jun, Goodall R. M.

《机械工程前沿（英文）》 2008年 第3卷 第3期   页码 239-250 doi: 10.1007/s11465-008-0053-y

摘要： This paper studies the development of integrated control strategies for railway vehicles with independently-driven wheel motors. First, a non-linear vehicle dynamic model and motor drive strategy are presented, which are followed by an investigation of the integrated control of stabilization, steering, and traction for the vehicle. Meanwhile a reformulated Kalman filter is developed and applied to estimate the required feedback by the control system. Finally, the effectiveness and practicality of the proposed integrated controller are examined and assessed by real-time simulation based on host-target computer technology provided by Matlab/Simulink.

关键词： development     independently-driven     non-linear     stabilization     reformulated    

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Regenerative braking control strategy in mild hybrid electric vehicles equipped with automatic manual

QIN Datong, YE Ming, LIU Zhenjun

《机械工程前沿（英文）》 2007年 第2卷 第3期   页码 364-369 doi: 10.1007/s11465-007-0064-0

摘要： The actual regenerative braking force of an integrated starter/generator (ISG), which is varied with desired braking deceleration and vehicle speed, is calculated based on an analysis of the required deceleration, maximum braking force of ISG, engine braking force and state of charge (SOC) of battery. Braking force distribution strategies are presented according to the actual regenerative braking force of ISG. To recover the vehicle s kinetic energy maximally, braking shift rules for a mild hybrid electric vehicle (HEV) equipped with automatic manual transmission (AMT) are brought forward and effects of transmission ratios are considered. A test-bed is built up and regenerative braking tests are carried out. The results show that power recovered by the braking shift rules is more than that recovered by the normal braking control rules.

关键词： SOC     Braking     battery     regenerative braking     starter/generator    

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Levelized costs of the energy chains of new energy vehicles targeted at carbon neutrality in China

《工程管理前沿（英文）》   页码 392-408 doi: 10.1007/s42524-022-0212-6

摘要： The diffusion of new energy vehicles (NEVs), such as battery electric vehicles (BEVs) and fuel cell vehicles (FCVs), is critical to the transportation sector’s deep decarbonization. The cost of energy chains is an important factor in the diffusion of NEVs. Although researchers have addressed the technological learning effect of NEVs and the life cycle emissions associated with the diffusion of NEVs, little work has been conducted to analyze the life cycle costs of different energy chains associated with different NEVs in consideration of technological learning potential. Thus, relevant information on investment remains insufficient to promote the deployment of NEVs. This study proposes a systematic framework that includes various (competing or coordinated) energy chains of NEVs formed with different technologies of power generation and transmission, hydrogen production and transportation, power-to-liquid fuel, and fuel transportation. The levelized costs of three typical carbon-neutral energy chains are investigated using the life cycle cost model and considering the technological learning effect. Results show that the current well-to-pump levelized costs of the energy chains in China for BEVs, FCVs, and internal combustion engine vehicles (ICEVs) are approximately 3.60, 4.31, and 2.21 yuan/GJ, respectively, and the well-to-wheel levelized costs are 4.50, 6.15, and 7.51 yuan/GJ, respectively. These costs primarily include raw material costs, and they vary greatly for BEVs and FCVs from resource and consumer costs. In consideration of the technological learning effect, the energy chains’ well-to-wheel levelized costs are expected to decrease by 24.82% for BEVs, 27.12% for FCVs, and 19.25% for ICEVs by 2060. This work also summarizes policy recommendations on developing energy chains to promote the diffusion of NEVs in China.

关键词： energy chain     new energy vehicle     internal combustion engine vehicle     life cycle cost     technological learning    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.001

摘要： This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve. Considering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system. Furthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’ behavior and summarizing their manipulation characteristics of “seeking benefits and avoiding losses.” Finally, by integrating the idea of receding-horizon optimization, the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility, optimality, and adaptability. Extensive simulations and experiments are performed, and the results demonstrate the framework’s feasibility and effectiveness, which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants. Moreover, we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’ manipulation.

关键词： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

《工程（英文）》 doi: 10.1016/j.eng.2023.05.017

摘要： This study proposes an image-based visual servoing (IBVS) method based on a velocity observer for an unmanned aerial vehicle (UAV) for tracking a dynamic target in Global Positioning System (GPS)-denied environments. The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target. A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed. The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking. The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer. Thanks to the velocity observer, translational velocity measurements are not required, and the control chatter caused by noise-containing measurements is mitigated. An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability. The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method. Comparative simulations and multistage experiments are conducted to illustrate the tracking stability, anti-disturbance ability, and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle     Visual servoing     Velocity observer     Target tracking    

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Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.005

摘要： While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving. Therefore, we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles. The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety. Specifically, an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics. In addition, an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics. Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety model. Finally, the proposed approach is evaluated through both simulations and experiments. These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

关键词： Autonomous vehicle     Decision-making     Reinforcement learning     Adversarial attack     Safety guarantee    

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标题 作者 时间 类型 操作

Investigating the role of exiting vehicles and turn indicator usage in gap acceptance at single-lane

Nathan P. BELZ

期刊论文

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

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

期刊论文

从有缆遥控水下机器人到自治水下机器人

封锡盛

期刊论文

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

Implementation of a flexible Major Vacation Toll-free Program for small passenger vehicles in China

Meng XU, Ziyou GAO

期刊论文

Analysis on carbon emission reduction intensity of fuel cell vehicles from a life-cycle perspective

期刊论文

对我国电动汽车产业化问题的思考

郭孔辉

期刊论文

Real-world fuel consumption of light-duty passenger vehicles using on-board diagnostic (OBD) systems

Xuan Zheng, Sheng Lu, Liuhanzi Yang, Min Yan, Guangyi Xu, Xiaomeng Wu, Lixin Fu, Ye Wu

期刊论文

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

期刊论文

Integrated control strategies for railway vehicles with independently-driven wheel motors

FENG Jinzhi, LI Jun, Goodall R. M.

期刊论文

Regenerative braking control strategy in mild hybrid electric vehicles equipped with automatic manual

QIN Datong, YE Ming, LIU Zhenjun

期刊论文

Levelized costs of the energy chains of new energy vehicles targeted at carbon neutrality in China

期刊论文

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

期刊论文

Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

期刊论文

Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

期刊论文