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Open-source dataset of vehicle state for an electric vehicle on a low-adhesion road

Science China(Information Sciences) 2022年第3期65卷 258-259页

作者： Shuo CAI Haitao dING Yunfeng HU Lin ZHANG Qin LI Hong CHEN State Key Laboratory of Automotive Simulation and Control Jilin University Department of Control Science and Engineering Jilin University School of Automotive Studies Tongji University Collaborative Innovation Center of Electric Vehicles in Beijing Beijing Institute of Technology GAC R&D Center

This study demonstrates and opens for academic research six sets of electric vehicle data collected during experiments on a low-adhesion road. The 11-dimensional data were collected from a small, single-motor SUV with front-wheel *** data collected for vehicles on low-adhesion roads are crucial for research on system dynamics modeling,stability control system design, and vehicle state estimation. Indeed, all vehicle control systems must be validated on low-adhesion roads, including vehicle models,

关键词： vehicle experimental data dynamics modeling state estimation control system design low adhesion road

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Nonlinear Moving Horizon Longitudinal Control for Electric Vehicles Based on Tire Force Prediction in Snow Environment 41

Nonlinear Moving Horizon Longitudinal Control for Electric V...

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第41届中国控制会议

作者： Chang Liu Yang Liu Xu Zhao Qikun dai Qingyu Meng Hongyan Guo China FAW Group Corporation R&D Center Department of Control Science and Engineering Jilin University State Key Laboratory of Automotive Simulation and Control Jilin university

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper uses a nonlinear longitudinal control method for distributed drive electric vehicles（ddEV） to solve the safety problem of ddEV when driving on snow-covered ***,an optimal slip control scheme based on tire force prediction is ***,use the Burckhardt tire model to draw μ-κ,curve,use the magic formula to draw F-κcurve,get the maximum longitudinal tire force that can be provided under different road types *** calculate the tire force required for stable driving of the vehicle,predict the state of the vehicle in *** paper aims at the situation that tire force is not saturated during the driving process of the vehicle,the lower layer uses the nonlinear model predictive control（NMPC）algorithm to design the optimal slip *** main purpose is to control the torque of the four wheels simultaneously so that the slip rate can follow the optimal value,thereby effectively preventing the wheels from over-slipping during driving or locking during braking,enhancing the maneuverability and stability of the vehicle in extreme ***,the dynamic simulation software CarSim is used for simulation verification under various working *** results show that the controller designed in this paper can effectively track the optimal slip value of each wheel,play a driving assistance function,and realize the multi-objective requirements of "safety-power-comfort".

关键词： distributed drive Electric Vehicle Tire Force Prediction Slip Control Nonlinear Model Predictive Control

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Longitudinal Cruise Control of Truck Platoon Based on distributed Sliding Mode Control Strategy 6

Longitudinal Cruise Control of Truck Platoon Based on Distri...

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6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022

作者： Cheng, Feihao Zheng, Hongyu Gong, Chaofan Kaku, Chuyo Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China Jiangsu Chaoli Electric Co. Ltd R&d Center Danyang China

ISBN: (数字)9781665453745

ISBN: (纸本)9781665453745

This study proposes a SMC-based longitudinal cruise controller of truck platoon. Firstly, the platoon model with the constant time headway spacing is characterized and the platoon control objectives including rear-end collision avoidance and string stability are formulated. Then, under the bidirectional-following topology, the distributed sliding mode controller is designed and the saturation function-based reaching law is introduced to reduce chattering. Furthermore, the convergence of the headway of platoon members and the string stability of platoon are demonstrated by a Lyapunov function of sliding surface and a transfer function of spacing error, respectively. Finally, the simulation of platoon including 5 trucks is conducted, considering both accelerating and cruising scenarios of the leader truck. The results show the quick convergence of spacing errors, with string stability and collision avoidance guaranteed, and validate the effectiveness of the SMC-based controller. © 2022 IEEE.

关键词： Sliding mode control

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Control, Modeling and Stability Analysis of drU-based Grid-forming Converter

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Chinese Journal of Electrical Engineering 2025年第1期11卷 83-92页

作者： Wencong Wu Minzhi Wang Liang Tu Haiqing Cai Guanglei Yan Xiaohui Qu Haohan Gu Wei Chen State Key Laboratory of HVDC China Southern Power GridGuangzhou 510663China National Energy Power Grid Technology R&D Center Guangzhou 510663China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power Systems China Southern Power GridGuangzhou 510663China CSG Key Laboratory for Power System Simulation China Southern Power GridGuangzhou 510663China School of Electrical Engineering Southeast UniversityNanjing 210096China

diode rectifier unit(drU)-based high-voltage direct current(HVdC)transmissionsystems areeffectivein achieving the stableandeconomical operation of offshore *** theuncontrollable characteristicsof drUs,a grid-forming(GFM)strategy forwind-turbine converters isnecessary to support offshore AC voltageand ***,the active power-synchronization control in traditional GFM converters is unsuitable for drU-based GFM ***,the stability issue for drU-based HVdC systems involving drU-based GFM and grid-following(GFL)converters has not yet been *** solve these issues,this study begins with the characteristics of a drU-based HVdC system and presents a control scheme for drU-based GFM converters for power ***,the dq-frame impedance model of the drU-based GFM converteris proposed for the stability analysis of the entire HVdC ***,a simulation platform is built to verify the model accuracy and system stability.

关键词： diode rectifier unit offshore wind-powergeneration grid-forming converter impedance model stabilityanalysis

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Intelligent vehicle decision-making strategy integrating spatiotemporal features at roundabout

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Expert Systems with Applications 2025年 273卷

作者： Ma, Wenxiao Wu, Jian Sun, Bohua Leng, Xinlun Miao, Weiwei Gao, Zhenhai Li, Wenjin State Key Laboratory of Automotive Simulation and Control Jilin University Chang chun130022 China R&D Center Chassis Department China FAW Group Corporation Chang chun130022 China

To overcome the problems of weak driving safety and low traffic efficiency of intelligent vehicles in roundabout scenarios, and to improve the autonomous decision-making ability of intelligent systems. In this paper, we propose an intelligent vehicle decision-Making Strategy based on SpatioTemporal graph neural Networks, namely dMS-STNet. Using end-to-end deep learning methods based on the historical information of intelligent vehicles and surrounding vehicles, output the action sequence of future driving behavior of intelligent vehicles. Specifically, a spatiotemporal graph is used to model the driving environment of vehicles, and a graph convolutional neural network is used to explore the spatial interaction relationship between intelligent vehicles and environmental vehicles. Next, based on the time convolutional network, learn the temporal characteristics of intelligent vehicles. Further integrate the complex spatiotemporal interaction relationship between intelligent vehicles and environmental vehicles through a gated fusion network. Moreover, a multi-layer perceptron is used to map the fused tensor into a sequence of driving behavior actions. In addition, experimental data collection and software in the loop testing verification were conducted on the Carla simulator platform. The research results indicate that the model proposed in this paper outperforms the comparative models in terms of prediction accuracy, safety, and traffic efficiency, fully leveraging the autonomous decision-making performance advantages of intelligent vehicles. © 2025 Elsevier Ltd

关键词： Convolutional neural networks

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A Method for decoupling Target Motion from Base Motion in Line of Sight (LOS) Tracking Systems

A Method for Decoupling Target Motion from Base Motion in Li...

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Asian Control Conference

作者： Bohan Wu Haobo Jia Baoxiang Xing Yao Ma Songlin Chen Control and Simulation Center Harbin Institute of Technology Harbin China R&D Department Harbin HIT-HANBO Technology Co. Ltd Harbin China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper proposes a method for enhancing the target tracking accuracy and disturbance rejection performance of moving-base Line of Sight (LOS) tracking systems. The method decouples target motion from base motion, allowing for the compensation of base motion as a measurable disturbance at the angular velocity output. This is achieved through the use of a feedforward controller, which improves the disturbance rejection performance of the system. With regard to target motion, an Extended Kalman Filter (EKF) integrating multiple sensors is employed to estimate the motion of the target with respect to the turntable. This eliminates the necessity to obtain the absolute attitude of the turntable base. The estimation is then used to generate angular velocity commands for feedforward control, and enhancing the system's target tracking accuracy. This approach decouples the base motion, thereby eliminating its adverse effects on command estimation and avoiding conflicts with base motion disturbance feedforward. Finally, through comparative simulation experiments, the effectiveness of the proposed method for moving-base LOS tracking systems is validated.

关键词： Target tracking Accuracy Estimation Angular velocity Sensors Frequency measurement Kalman filters

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Expanding carbon neutrality strategies:Incorporating out-ofboundary emissions in city-level frameworks

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Environmental Science and Ecotechnology 2024年第4期20卷 145-153页

作者： Zhe Zhang Mingyu Li Li Zhang Yunfeng Zhou Shuying Zhu Chen Lv Yixuan Zheng Bofeng Cai Jinnan Wang Center for Carbon Neutrality Chinese Academy of Environmental PlanningBeijing100043China School of Environment Tsinghua UniversityBeijing100084China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing100084China R&D and International Cooperation Office Chinese Academy of Environmental PlanningBeijing100043China School of Economics and Management Beijing University of Chemical TechnologyBeijing100029China Center of Air Quality Simulation and System Analysis Chinese Academy of Environmental PlanningBeijing100043China

Cities are increasingly vital in global carbon mitigation efforts,yet few have specifically tailored carbon neutrality ***,out-of-boundary indirect greenhouse gas(GHG)emissions,aside from those related to electricity and heat imports,are often overlooked in existing pathways,despite their significance in comprehensive carbon mitigation *** this gap,here we introduce an integrated analysis framework focusing on both production and consumption-related GHG *** to Wuyishan,a service-oriented city in Southern China,this framework provides a holistic view of a city's carbon neutrality pathway,from a full-scope GHG emission *** findings reveal the equal importance of carbon reduction within and outside the city's boundaries,with out-of-boundary emissions accounting for 42%of Wuyishan's present total GHG *** insight highlights the necessity of including these external factors in GHG accounting and mitigation strategy *** framework serves as a practical tool for cities,particularly in developing countries,to craft effective carbon neutrality roadmaps that encompass the full spectrum of GHG emissions.

关键词： Greenhouse gas emissions Full-scope emission accounting Carbon neutrality pathway City-level

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Estimation of Tire-road Friction Coefficient Based on the Unitire Model 6

Estimation of Tire-Road Friction Coefficient Based on the Un...

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6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022

作者： Gong, Chaofan Zong, Changfu Lu, dang Kaku, Chuyo Zhang, dong Jilin University The State Key Laboratory of Automotive Simulation and Control Changchun China Jiangsu Chaoli Electric Co. Ltd R&d Center Danyang China Brunel University London The Department of Mechanical and Aerospace Engineering London United Kingdom

ISBN: (数字)9781665453745

ISBN: (纸本)9781665453745

The rapid development of autonomous driving technologies places higher demands on the accurate estimation of tire-road friction coefficient (TrFC) in vehicle motion and vehicle dynamics control. A tire model must be built to accurately describe the friction conditions between the tire and road surface. The Unitire model not only holds the advantage of highly accurate representation of tire properties under various complex situations, but it also takes complete account of the relationship between TrFC and road conditions, tire load, and slip speed through dynamic friction characteristics. Therefore, a method based on the Unitire model for TrFC estimation is proposed in this paper. A normalized force calculation method for the Unitire model is proposed subsequently. The simulation experiment results show that the proposed method performs better than the general tire model, which indicates the great potential of the Unitire model for TrFC estimation. © 2022 IEEE.

关键词： Tires

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Feedforward Control Method Based on Trajectory Prediction for Pointing and Tracking System

Feedforward Control Method Based on Trajectory Prediction fo...

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2022 Chinese Automation Congress, CAC 2022

作者： Guo, Fengyu Tao, Yibo Xie, Cheng Xing, Baoxiang Wang, Qiyue Chen, Songlin Harbin Institute of Technology Control and Simulation Center Harbin China Harbin HIT-Hanbo Technology Co. Ltd R&d Department Harbin China Harbin HIT-Hanbo Technology Co. Ltd Production Department Harbin China

ISBN: (纸本)9781665465335

In general control systems, feedforward control is widely used because it can significantly enhance the tracking performance of the system when the closed-loop control performance is limited. In the pointing and tracking system, since the sensor can only measure the deviation information, there is no target motion trajectory available. Therefore, feedforward control cannot be used directly. In addition, the low target detection frequency of the pointing and tracking system also brings difficulties to the application of feedforward control. To solve the above problems, this paper proposes an effective feedforward control implementation method. On the one hand, the target motion trajectory is predicted through the fusion of multiple sensor information, and on the other hand, the frame rate of the trajectory is improved by using Kalman filtering. Finally, the feedforward control is realized by analyzing the boresight state under the ideal tracking state. Through the experimental verification, the feedforward control method proposed in this paper can effectively improve the target tracking accuracy. © 2022 IEEE.

关键词： Feedforward control

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A dATA-drIVEN APPrOACH TO PrEdICT ΔV SENSITIVITY ANd COrrECT PrOPAGATION ErrOrS OF NEAr-EArTH ASTErOIdS

A DATA-DRIVEN APPROACH TO PREDICT ΔV SENSITIVITY AND CORREC...

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AAS/AIAA Astrodynamics Specialist Conference, 2020

作者： Paek, Sung Wook Balasubramanian, Sivagaminathan de Weck, Olivier L. Simulation Group Samsung SDI R&D Center Gyeonggi-do 16678 Korea Republic of Aeronautics and Astronautics Massachusetts Institute of Technology MA02139 United States

ISBN: (纸本)9780877036753

A data-driven approach is presented in this paper to describe (1) the deflection sensitivity of asteroids and (2) its position error between the ground truth and an in-house propagator. It is shown that the proposed formulas are in fact extensions of Fourier series with coefficients that are power functions. The proposed formulas are validated against datasets from JPL center for NEO Studies (CNEOS) and JPL HOrIZONS. © 2021, Univelt Inc. All rights reserved.

关键词： Asteroids

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