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Distributed receding horizon control of a platoon of multiple CAVs with discontinuous-gear transmissions
作者 admin
出版年份 2016 引用
摘要

Model predictive control-based cooperative lane change strategy for improving traffic flow
作者 Di Wang, Manjiang Hu, Yunpeng Wang, Jianqiang Wang, Hongmao Qin and Yougang Bian
出版年份 2016 引用
摘要
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article,...展开全文
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article, feasibility criteria of lane change are designed, which considers the acceptable acceleration/deceleration of neighboring vehicles; meanwhile, a cooperative lane change strategy based on model predictive control is proposed in order to attenuate the adverse impacts of lane change on traffic flow. The proposed strategy implements the centralized decision making and active cooperation among the subject vehicle performing lane change in the subject lane and the preceding vehicle and the following vehicle in the target lane during lane change. Using model predictive control, safety, comfort, and traffic efficiency are integrated as the objectives, and lane change process is optimized. Numerical simulation results of the cooperative lane change strategy suggest that the deceleration of following vehicle can be weakened and further the shock wave propagated in traffic flow can be alleviated to some degree compared with traditional lane change.收起全文

Distributed receding horizon control of a platoon of multiple CAVs with discontinuous-gear transmissions
作者 Shengbo Li, Yang Zhang, Yougang Bian, Keqiang Li
出版年份 2016 引用
摘要
The platooning of connected automated vehicles (CAVs) have the potential to significantly benefit the road transportation. This paper presents a distributed control algorithm for a platoon of vehicles with discontinuous gear transm...展开全文
The platooning of connected automated vehicles (CAVs) have the potential to significantly benefit the road transportation. This paper presents a distributed control algorithm for a platoon of vehicles with discontinuous gear transmissions using the receding horizon optimization. A directed graph is used to describe the underlying communication topology among different vehicles. Each vehicle is modeled as a three-state nonlinear system with mixed integer inputs. To achieve the coordination of multiple vehicles, each vehicle is assigned a local open-loop optimal control problem, of which the cost function is designed by penalizing on both tracking errors and fuel consumption. The equality terminal constraint is employed to guarantee the consensus of desired terminal state in the predictive horizon, which is critical for the asymptotical stability. Numerical simulations demonstrate that this algorithm has the potential to achieve the consensus of multi-vehicles in a platoon while improving fuel efficiency.收起全文

Model predictive control-based cooperative lane change strategy for improving traffic flow
作者 Di Wang, Manjiang Hu, Yunpeng Wang, Jianqiang Wang, Hongmao Qin and Yougang Bian
出版年份 2016 引用
摘要
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article,...展开全文
Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article, feasibility criteria of lane change are designed, which considers the acceptable acceleration/deceleration of neighboring vehicles; meanwhile, a cooperative lane change strategy based on model predictive control is proposed in order to attenuate the adverse impacts of lane change on traffic flow. The proposed strategy implements the centralized decision making and active cooperation among the subject vehicle performing lane change in the subject lane and the preceding vehicle and the following vehicle in the target lane during lane change. Using model predictive control, safety, comfort, and traffic efficiency are integrated as the objectives, and lane change process is optimized. Numerical simulation results of the cooperative lane change strategy suggest that the deceleration of following vehicle can be weakened and further the shock wave propagated in traffic flow can be alleviated to some degree compared with traditional lane change.收起全文

The relationship between the resonance frequency of a steering system and the tire-road friction coefficient
作者 Long Chen,Yugong Luo,Mingyuan Bian,Zhaobo Qin,Keqiang Li
出版年份 2016 引用
摘要
Some researchers found the relationship between the resonance frequency of an in-wheel motor (IWM) drive system and the tire-road friction coefficient (TRFC), and used it to estimate TRF...展开全文
Some researchers found the relationship between the resonance frequency of an in-wheel motor (IWM) drive system and the tire-road friction coefficient (TRFC), and used it to estimate TRFC. This paper tries to establish a similar relation between the road condition and the electric power steering system (EPS) frequency response, by analysing the dynamic characteristics. System modelling is conducted by coupling a lateral-relaxation-length based dynamic tire model and a simplified motor model. Then detailed analysis of the system dynamics in the frequency domain is provided by a deduced frequency response function, considering different system parameters, such as longitudinal velocity and the gear ratio. As a result of analysis, a function of the system resonance frequency (RF) which is related to TRFC is presented. Comparison of the RF is made between EPS and IWM to propose a TRFC estimation idea based on frequency domain data fusion. The correctness of the RF equation is demonstrated using a simulation model.
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Model-independent self-tuning fault-tolerant control method for 4WID EV
作者 Yugong Luo,Jian Luo,Zhaobo Qin
出版年份 2016 引用
摘要
To solve the problem of the existing fault-tolerant control system of four-wheel independent drive (4WID) electric vehicles (EV), which relies on fault diagnosis information and has limited res...展开全文
To solve the problem of the existing fault-tolerant control system of four-wheel independent drive (4WID) electric vehicles (EV), which relies on fault diagnosis information and has limited response to failure modes, a model independent self-tuning fault-tolerant control method is proposed. The method applies model-independent adaptive control theory for the self-tuning active fault-tolerant control of a vehicle system. With the nonlinear properties of the adaptive control, the complex and nonlinear issues of a vehicle system model can be solved. Besides, using the online parameter identification properties, the requirement of accurate diagnosis information is relaxed. No detailed model is required for the controller, thereby simplifying the development of the controller. The system robustness is improved by the error based method, and the error convergence and input-output bounds are proved via stability analysis. The simulation and experimental results demonstrate that the proposed fault-tolerant control method can improve the vehicle safety and enhance the longitudinal and lateral tracking ability under different failure conditions.
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Green light optimal speed advisory for hybrid electric vehicles
作者 Yugong Luo,Shan Li,Shuwei Zhang,Zhaobo Qin,Keqiang Li
出版年份 2016 引用
摘要
There are few studies on the speed optimization of hybrid electric vehicles (HEVs) in an intelligent transportation system (ITS), and therefore, this paper proposes a novel optimal speed advisor...展开全文
There are few studies on the speed optimization of hybrid electric vehicles (HEVs) in an intelligent transportation system (ITS), and therefore, this paper proposes a novel optimal speed advisory strategy for continuous intersections that helps reduce fuel consumption and passing time. The map of the complex fuel consumption model of HEVs is constructed, and a method based on a genetic algorithm that considers continuous intersections and traffic conditions is designed to solve this nonlinear optimization problem. The comparison of the results of a real driving test and a single-intersection optimization algorithm with the simulation results of the proposed optimal speed algorithm for continuous intersections shows that the proposed strategy has a significant advantage in reducing fuel consumption and intersection passing time.
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Optimal Design of Hybrid Track-type Dozers with Two-planetary Gear Sets and Clutches
作者 Zhaobo Qin,Yugong Luo,Ziheng Pan,Keqiang Li
出版年份 2016 引用
摘要
Series hybrid electric systems for track-type dozers (TTD) have been applied now. This paper provides a new type of design with multi-modes based on two-planetary gear sets. The track on each...展开全文
Series hybrid electric systems for track-type dozers (TTD) have been applied now. This paper provides a new type of design with multi-modes based on two-planetary gear sets. The track on each side can be controlled independently, which can realize central steering and precise control. A systematic methodology is developed to screen out optimal designs which can ensure the driving attributes such as steering and going backwards. The fuel economy of the feasible designs is then compared with the series hybrid TTD under typical conditions using optimal control. The results show that hybrid systems with planetary gear sets have developmental potential for TTD, which can be used for future application.
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