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An adaptive Kalman filter-based estimation method for online oxygen flow measurement in PEMFCs with mismatch detection

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Measurement 2025年 254卷

作者： Hongwei Yue Hongwen He Jingda Wu Jinzhou Chen Xuyang Zhao Yuhua Chang National Key Laboratory of Advanced Vehicle Integration and Control National Engineering Research Center for Electric Vehicles School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China Faculty of Automotive and Construction Machinery Engineering Warsaw University of Technology Narbutta 84 02-524 Warsaw Poland

Accurate airflow monitoring is critical for optimizing the performance of PEMFCs in dynamic environments. However, existing sensor techniques face significant limitations due to safety risks and leakage concerns, making direct measurement impractical. Furthermore, the complex interactions among system parameters challenge traditional observer techniques, as parameter mismatches often compromise estimation accuracy. To address these issues, this paper proposes a novel state estimation method to achieve robust online oxygen flow estimation across diverse scenarios. The proposed method uses a square root cubature Kalman filter to fuse the predictive model with limited sensor signals, enabling precise estimation of unmeasurable states in the cathode channel. To deal with model uncertainties, a Mahalanobis distance-based metric is introduced to assess the occurrence of mismatches, while a cascade classifier identifies specific parameters that influence estimation performance. Subsequently, the corresponding observer combined with an augmented mechanism is activated to correct the estimated oxygen flow, considering the influence of mismatched parameters. Additionally, an event-triggered mechanism is employed to minimize unnecessary computational requirements. Simulation results demonstrate that the proposed method significantly outperforms traditional estimation methods, improving estimation accuracy and reducing the mean absolute error of oxygen flow estimation by over 31 %, 70 %, and 83 % when the three uncertain parameters are mismatched, respectively. This method represents a significant advancement in monitoring unmeasurable states, further driving the application of advanced estimation technologies.

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Applicability of qualitative reliability analysis for redundant systems

Applicability of qualitative reliability analysis for redund...

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ISCIII'07: 3rd International Symposium on Computational Intelligence and Intelligent Informatics

作者： Fülep, Tímea Michelberger, Pál Nádai, László Advanced Vehicles and Vehicle Control Knowledge Center Budapest University of Technology and Economics Stoczek street 6 H-1111 Budapest Computer and Automation Research Institute Hungarian Academy of Sciences Kende street 13-17 H-1111 Budapest

ISBN: (纸本)1424411580

In this paper we consider the design problematic of safety critical systems for future commercial vehicles. The development of such systems is mainly driven by the social demand that the citizens want to see safer, more reliable vehicles on the roads, which can also handle more complex situations than the human driver can. Redundant electronic systems confront us with new challenges in reliability analysis, since handling and defining their back-up strategies is not a straightforward task by means of using qualitative approaches. It is also questionable whether the well-known approaches of classical reliability theory are appropriate for redundant electronic systems, especially if they are of safety critical nature, such as the electronic brake system that has been used in commercial vehicles in Europe for almost a decade. The paper presents a less widespread and a more widespread technique through reliability theory, which enable the designer organizing functions and subsystems, failures and logical relationships between failures from the system level up-to the last component without missing any of them. © 2007 IEEE.

关键词： Systems analysis

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Driving Style Recognition Based on Multi-source Information and Multi-stimulus Paradigm 8

Driving Style Recognition Based on Multi-source Information ...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Qiuzheng, Liu Xiao, Yang Kunchao, Zhang Xiaoyang, Guo Baicang, Guo Lisheng, Jin Global R&d Center China Faw Corporation Limited National Key Laboratory of Advanced Vehicle Integration and Control Changchun China School of Vehicles and Energy Yanshan University Qinhuangdao China

ISBN: (纸本)9798331504892

Aiming at the correlation between sudden stimuli and driver behavior in vehicle driving environment, this paper starts with the correlation between stimuli and driving style recognition and proposes the most significant multi-dimensional stimulus paradigm that affects the accuracy of driving style recognition. Specifically, the single mode stimulus is selected in the typical vehicle driving environment to create a multi-dimensional stimulus paradigm scene. The EEG signal and vehicle data of drivers under the multi-dimensional stimulus paradigm were collected and pre-processed by the brain-computer-environment synchronous experimental platform. Based on the collected EEG signal and vehicle data, the characteristic parameters of driving style were obtained by principal component analysis and the driving style was classified by K-means clustering algorithm. The neural network recognition algorithm is used to recognize the driving style. The results showed that under the multi-dimensional stimulus paradigm, such as driving straight on a sunny day with vehicle cue light flashing, driving straight on a sunny day with vehicle cue light flashing and intelligent voice interaction stimulus, driving straight on a rainy day with intelligent voice interaction stimulus, driving straight on a rainy day with vehicle cue light flashing and intelligent voice interaction stimulus, driving straight on a snowy day with voice interaction stimulus. The driving style recognition accuracy of the model is 87.5%, 75%, 83.3%, 70.8% and 87.5%, respectively, which significantly decreases compared with no stimulus, which lays a foundation for further optimization of the intelligent vehicle driving style recognition algorithm considering specific environment. © 2024 IEEE.

关键词： K-means clustering

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Applicability of Qualitative Reliability Analysis for Redundant Systems

Applicability of Qualitative Reliability Analysis for Redund...

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International Symposium on Computational Intelligence and Intelligent Informatics, ISCIII

作者： Timea Fulep Pal Michelberger Laszlo Nadai Advanced Vehicles and Vehicle Control Knowledge Center Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

In this paper we consider the problematic design of safety critical systems for future commercial vehicles. The development of such systems is mainly driven by the social demand that the citizens want to see safer, more reliable vehicles on the roads, which can also handle more complex situations than the human driver can. Redundant electronic systems confront us with new challenges in reliability analysis, since handling and defining their back-up strategies is not a straightforward task by means of using qualitative approaches. It is also questionable whether the well-known approaches of classical reliability theory are appropriate for redundant electronic systems, especially if they are of safety critical nature, such as the electronic brake system that has been used in commercial vehicles in Europe for almost a decade. The paper presents a less widespread and a more widespread technique through reliability theory, which enable the designer organizing functions and subsystems, failures and logical relationships between failures from the system level up-to the last component without missing any of them.

关键词： vehicle safety control systems Costs Intelligent vehicles Reliability theory Maintenance Process design Assembly systems Redundancy Electronic circuits

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Driving Style Recognition Based on Multi-source Information and Multi-stimulus Paradigm *

Driving Style Recognition Based on Multi-source Information ...

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Conference on vehicle control and Intelligence (CVCI)

作者： Liu Qiuzheng Yang Xiao Zhang Kunchao Guo Xiaoyang Guo Baicang Jin Lisheng National Key Laboratory of Advanced Vehicle Integration and Control Global R&D Center China FAW Corporation Limited Changchun China School of Vehicles and Energy Yanshan University Qinhuangdao China

ISBN: (数字)9798331504892

ISBN: (纸本)9798331504908

关键词： Accuracy Neural networks Clustering algorithms Brain modeling Electroencephalography Data models Classification algorithms Pattern recognition Optimization Principal component analysis

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Simulation and Field Testing of Multiple vehicles Collision Avoidance Algorithms

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1045-1063页

作者： Chaoyue Zu Chao Yang Jian Wang Wenbin Gao Dongpu Cao Fei-Yue Wang the College of Computer Science and Technology Jilin UniversityChangchun 130012China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou 221004China the College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of EducationJilin UniversityChangchun 130012 Chongqing Xibu Automobile Proving Ground Management Co.Ltd. Chongqing 404100China the State Grid JIBEI Electric Power Company Limited Management Training Center China the Advanced Vehicle Engineering Center Cranfield UniversityCranfield MK430ALUK the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

关键词： Collision avoidance intelligent vehicles intervehicle communication simulation testing trajectory planning

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Applications of Game Theory in Vehicular Networks: A Survey

arXiv

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arXiv 2021年

作者： Sun, Zemin Liu, Yanheng Wang, Jian Li, Guofa Anil, Carie Li, Keqiang Guo, Xinyu Sun, Geng Tian, Daxin Cao, Dongpu College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University Guangdong Shenzhen518060 China School of Computer Science and Engineering VIT-AP Andhra Pradesh Amaravati522237 India College of Engineering Nanjing Agricultural University Nanjing210031 China State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Tsinghua University Beijing100084 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China Waterloo Cognitive Autonomous Driving Lab University of Waterloo N2L 3G1 Canada

In the Internet of things (IoT) era, vehicles and other intelligent components in an intelligent transportation system (ITS) are connected, forming vehicular networks (VNs) that provide efficient and safe traffic and ubiquitous access to various applications. However, as the number of nodes in an ITS increases, it is challenging to satisfy a varied and large number of service requests with different quality of service (QoS) and security requirements in highly dynamic VNs. Intelligent nodes in VNs can compete or cooperate for limited network resources to achieve the objective for either an individual or a group. Game theory (GT), a theoretical framework designed for strategic interactions among rational decision makers sharing scarce resources, can be used to model and analyze individual or group behaviors of communicating entities in VNs. This paper primarily surveys the recent developments of GT in solving various challenges of VNs. This survey starts with an introduction to the background of VNs. A review of GT models studied in the VNs is then introduced, including the basic concepts, classifications, and applicable vehicular issues. After discussing the requirements of VNs and the motivation of using GT, a comprehensive literature review on GT applications in dealing with the challenges of current VNs is provided. Furthermore, recent contributions of GT to VNs that are integrated with diverse emerging 5G technologies are surveyed. Finally, the lessons learned are given, and several key research challenges and possible solutions of applying GT in VNs are outlined. Copyright © 2021, The Authors. All rights reserved.

关键词： Quality of service

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A SUBMARINE control-SYSTEM TEST vehicle

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NAVAL ENGINEERS JOURNAL 1980年第2期92卷 148-155页

作者： SEJD, JJ WATKINSON, KW HILL, WF Mr. James J. Sejd received his B.S. degree in Civil Engineering from Case Western Reserve University and has since undergone considerable graduate study at both The George Washington and American Universities. He served almost four years in the U.S. Navy as a Naval Aviator and enjoys the unique distinction of being qualified in both Heavier- and Lighter-than-Air aircraft. Early in his career he was employed at the Navy's Bureau of Ships in the capacity of a Structural Designer and Structural Research Monitor. In 1966 he joined the Staff of the Center for Naval Analyses where he was involved in the mathematical modeling of ships and aircraft and in economic “trade-off‘ analysis. In 1970. he went to the Naval Ship Engineering Center as an Operations Research Analyst in the Ship Design and Development Division. At the present time he is employed as a Program Manager for the Naval Sea Systems Command Ship Design Research and Development Office. A member of ASNE since 1973 he also is a member of the Association of Scientists and Engineers at NAVSEA the Operations Research Society of America and the Lighter-Than-Air Society. Mr. Kenneth W. Watkinson received both is B.S. and M.S. degrees in Engineering Science from Florida State University in 1970 and 1971 respectively. Since graduation he has been employed at the Naval Coastal Systems Center (NCSC). Panama City. Fla. where he is primarily involved in the investigation of the stability and control of underwater vehicles. For the past four years he has been the Task Leader and Principal Investigator for the NCSC portion of the Advanced Submarine Control Program involved in developing control design methods and the instrumentation system for the Submarine Control System Test Vehicle. Mr. William F. Hill is currently the ASCOP Program Manager at Lockheed Missiles & Space Company (LMSC) Inc. where he has the overall responsibility for design and construction of the Control System Test Vehicle (CSTV). He entered the aircraft industry in England as an Apprentice w

As part of the advanced Submarine control Program (ASCOP), the Naval Sea Systems Command has developed an open water Submarine control System Test vehicle (CSTV). This vehicle is a 1/12 scale model of an SSN 688 Class Submarine, with provisions for easy geometric changes. Such changes include alternate Sail size and location, the addition of parallel middle-bodies, alternative tail sections, and alternative control configurations. A self-contained instrumentation and control system provides the capability for “on-board” recording of all relevant Submarine-state variables, over the entire speed and depth range, to a degree of data accuracy exceeding any known system. With the means thus available to correlate measured vehicle hydrodynamics with selected maneuvers, conditions, and changes in hull geometry and control surface configuration, modern mathematical techniques for improving submarine equations of motion can be employed to permit dramatic design enhancements in both safety and performance. This paper provides the rationale and history of the development of this vehicle, a description of the instrumentation and control package, and a description of the vehicle itself.

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