There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle collision.Post-impact hazards can be more serious as the driver may fail to maintain effective control after collisi...There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle collision.Post-impact hazards can be more serious as the driver may fail to maintain effective control after collisions.To avoid subsequent crash events and to stabilize the vehicle,this paper proposes a post-impact motion planning and stability control method for autonomous vehicles.An enabling motion planning method is proposed for post-impact situations by combining the polynomial curve and artificial potential field while considering obstacle avoidance.A hierarchical controller that consists of an upper and a lower controller is then developed to track the planned motion.In the upper controller,a time-varying linear quadratic regulator is presented to calculate the desired generalized forces.In the lower controller,a nonlinear-optimization-based torque allocation algorithm is proposed to optimally coordinate the actuators to realize the desired generalized forces.The proposed scheme is verified under comprehensive driving scenarios through hardware-in-loop tests.展开更多
The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehi...The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehicle is controlled to prevent possible collisions.This paper proposes a lane-exchanging driving strategy for the autonomous vehicle to cooperate with the nearby vehicle by integrating vehicle trajectory prediction and motion control.A trajectory prediction method is developed to anticipate the nearby vehicle trajectory.The Gaussian mixture model(GMM),together with the vehicle kinematic model,are synthesized to predict the nearby vehicle trajectory.A potential-feldbased model predictive control(MPC)approach is utilized by the autonomous vehicle to conduct the lane-exchanging maneuver.The potential feld of the nearby vehicle is considered in the controller design for collision avoidance.On-road driving data verifcation shows that the nearby vehicle trajectory can be predicted by the proposed method.CarSim®simulations validate that the autonomous vehicle can perform the lane-exchanging maneuver and avoid the nearby vehicle using the proposed driving strategy.The autonomous vehicle can thus safely perform the laneexchanging maneuver and avoid the nearby vehicle.展开更多
The electrical performance of radomes on high-speed aircraft can be influenced by the thermal and mechanical loads produced during high-speed flight,which can affect the detection dis-tance and accuracy of the guidanc...The electrical performance of radomes on high-speed aircraft can be influenced by the thermal and mechanical loads produced during high-speed flight,which can affect the detection dis-tance and accuracy of the guidance system.This paper presents a new method that uses the Finite Difference Time Domain(FDTD)method to calculate the electrical performance of radomes under Thermo-Mechanical-Electrical(TME)coupling.This method can accurately characterize the effects of material dielectric temperature drift and structural deformation on the electrical performance of the radome under flight conditions,enabling high-precision full-wave calculations of the broadband electrical performance of the radome.The method initiates by utilizing a Finite Element Grid Model(FE-GM)of the radome to sequentially acquire the radome's response temperature field and structural deformation field through thermal and mechanical simulations.Subsequently,spatial mapping techniques are developed to accurately incorporate the dielectric temperature drift and structural deformation of the radome into its Yee grid Electromagnetic(EM)simulation model.A verification case was designed to test the proposed method,and the results confirmed its high computational accuracy.Additionally,the effectiveness and necessity of the method were further demonstrated by analyzing the electrical performance of a fused silica ceramic radome used on a high-speed aircraft.展开更多
基金Beijing Municipal Science and Technology Commission via the Beijing Nova Program(Grant No.Z201100006820007).
文摘There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle collision.Post-impact hazards can be more serious as the driver may fail to maintain effective control after collisions.To avoid subsequent crash events and to stabilize the vehicle,this paper proposes a post-impact motion planning and stability control method for autonomous vehicles.An enabling motion planning method is proposed for post-impact situations by combining the polynomial curve and artificial potential field while considering obstacle avoidance.A hierarchical controller that consists of an upper and a lower controller is then developed to track the planned motion.In the upper controller,a time-varying linear quadratic regulator is presented to calculate the desired generalized forces.In the lower controller,a nonlinear-optimization-based torque allocation algorithm is proposed to optimally coordinate the actuators to realize the desired generalized forces.The proposed scheme is verified under comprehensive driving scenarios through hardware-in-loop tests.
基金Supported by Project of National Natural Science Foundation of China(Grand No.52102469)Science and Technology Major Project of Guangxi(Grant Nos.AB21196029 and AA18242033)State Key Laboratory of Automotive Safety and Energy(Grant No.KF2014).
文摘The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehicle is controlled to prevent possible collisions.This paper proposes a lane-exchanging driving strategy for the autonomous vehicle to cooperate with the nearby vehicle by integrating vehicle trajectory prediction and motion control.A trajectory prediction method is developed to anticipate the nearby vehicle trajectory.The Gaussian mixture model(GMM),together with the vehicle kinematic model,are synthesized to predict the nearby vehicle trajectory.A potential-feldbased model predictive control(MPC)approach is utilized by the autonomous vehicle to conduct the lane-exchanging maneuver.The potential feld of the nearby vehicle is considered in the controller design for collision avoidance.On-road driving data verifcation shows that the nearby vehicle trajectory can be predicted by the proposed method.CarSim®simulations validate that the autonomous vehicle can perform the lane-exchanging maneuver and avoid the nearby vehicle using the proposed driving strategy.The autonomous vehicle can thus safely perform the laneexchanging maneuver and avoid the nearby vehicle.
文摘The electrical performance of radomes on high-speed aircraft can be influenced by the thermal and mechanical loads produced during high-speed flight,which can affect the detection dis-tance and accuracy of the guidance system.This paper presents a new method that uses the Finite Difference Time Domain(FDTD)method to calculate the electrical performance of radomes under Thermo-Mechanical-Electrical(TME)coupling.This method can accurately characterize the effects of material dielectric temperature drift and structural deformation on the electrical performance of the radome under flight conditions,enabling high-precision full-wave calculations of the broadband electrical performance of the radome.The method initiates by utilizing a Finite Element Grid Model(FE-GM)of the radome to sequentially acquire the radome's response temperature field and structural deformation field through thermal and mechanical simulations.Subsequently,spatial mapping techniques are developed to accurately incorporate the dielectric temperature drift and structural deformation of the radome into its Yee grid Electromagnetic(EM)simulation model.A verification case was designed to test the proposed method,and the results confirmed its high computational accuracy.Additionally,the effectiveness and necessity of the method were further demonstrated by analyzing the electrical performance of a fused silica ceramic radome used on a high-speed aircraft.
