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Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection control

Computer Modeling in engineering & Sciences 2024年第8期140卷 1485-1506页

作者： Xiaofeng Yang Wei Wang Yujie Shen Changning Liu Tianyi Zhang School of Automotive and Traffic Engineering Jiangsu UniversityZhenjiang212013China Automotive Engineering Research Institute Jiangsu UniversityZhenjiang212013China Chongqing Key Laboratory of Urban Rail Transit System Integration and Control Chongqing400074China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan universityChangsha410082China

This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition ***,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then ***,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is ***,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal ***,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road *** results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency *** random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire *** indicates that the designed controllable dynamic inertia

关键词： HMDV static eccentricity ADRC dynamic inertial suspension road excitation

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Projection Anti-Distortion Method Based on Optical Field Model 7

Projection Anti-Distortion Method Based on Optical Field Mod...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Wang, Xiangyang Jia, Zhihuan Fu, He Gao, Jinwu State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China Electricity Facilities Guangri Guangzhou Co. Ltd. Guangzhou Guangzhou China

ISBN: (纸本)9798350340488

To enhance the safety and comfort of driving at night, high-definition warning/interactive ICONS will be projected on the ground in conjunction with the ADAS Advanced Driver Assistance system to alert nearby pedestrians and drivers. To solve the problem of trapezoidal distortion caused by automobile headlights when projecting high-definition warning/interactive ICONS and pictures to the ground, firstly, the ground lighting area is connected with the luminous array according to the light field model established in the previous chapter, and then the corresponding luminous array corresponds to the coordinate value of the image pixel point to realize the coordinate reconstruction. Then, after the bilinear interpolation, the luminance value of the image pixel is assigned to the corresponding luminescent array coordinate, and the image is projected to the ground without distortion. Finally, the experimental system test platform was built to verify the method. © 2023 IEEE.

关键词： anti-distortion light field model optical field projection traffic warning sign

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Event-Based Dissipative Path Following control for Autonomous Ground Vehicles With External Disturbances and Actuator Faults

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-10页

作者： Li, Wenfeng Wong, Pak Kin Xie, Zhengchao Gao, Jinwu Hu, Yunfeng Zhao, Jing School of Mechanical Engineering and Automation Northeastern University Shenyang China Department of Electromechanical Engineering University of Macau Macau China Department of Mechanical Engineering South China University of Technology Guangzhou China State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun China

In this paper, a novel event-based dissipative fuzzy control method is proposed for path following systems of autonomous ground vehicles subject to external disturbances and actuator faults. As the varying longitudinal velocity causes highly nonlinearities in the path following systems, a Takagi-Sugeno fuzzy vehicle dynamics model is established for controller design. Moreover, the time delay, multiple actuator faults and external disturbances are fully considered in the modeling of vehicle dynamic systems. For the improvement of path following performance, a dissipative performance index is employed in the controller design to strengthen the reliability of the control method. To achieve a better economization of the limited resource, an enhanced adaptive event-triggered mechanism is introduced into the controller design. Based on an augmented Lyapunov-Krasovskii functional candidate, a less conservative theorem is obtained by employing some extended integral inequalities. The theorem guarantees that the resulted fuzzy path following control system meets the strict dissipative performance on the premise of asymptotic stability. Finally, experimental results validate the superiority of the proposed method. IEEE

关键词： Linear matrix inequalities

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Time delay recursive neural network-based direct adaptive control for a piezo-actuated stage

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Science China(Technological Sciences) 2023年第5期66卷 1397-1407页

作者： WANG YiFan ZHOU MiaoLei SHEN ChuanLiang CAO WenJing HUANG XiaoLiang Department of Control Science and Engineering Jilin UniversityChangchun130022China State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun130022China Department of Engineering and Applied Sciences Sophia UniversityTokyo102-8554Japan Department of Electrical Engineering Chalmers University of TechnologyGothenburg41296Sweden

Piezo-actuated stage is a core component in micro-nano manufacturing ***,the inherent nonlinearity,such as rate-dependent hysteresis,in the piezo-actuated stage severely impacts its tracking *** study proposes a direct adaptive control(DAC)method to realize high precision *** proposed controller is designed by a time delay recursive neural *** with those existing DAC methods designed under the general Lipschitz condition,the proposed control method can be easily generalized to the actual systems,which have hysteresis ***,a hopfield neural network(HNN)estimator is proposed to adjust the parameters of the proposed controller ***,a modular model consisting of linear submodel,hysteresis submodel,and lumped uncertainties is established based on the HNN estimator to describe the piezoactuated stage in this ***,the performance of the HNN estimator can be exhibited visually through the modeling *** proposed control method eradicates the adverse effects on the control performance arising from the inaccuracy in establishing the offline model and improves the capability to suppress the influence of hysteresis on the tracking accuracy of piezo-actuated stage in comparison with the conventional DAC *** stability of the control system is ***,a series of comparison experiments with a dual neural networks-based data driven adaptive controller are carried out to demonstrate the superiority of the proposed controller.

关键词： piezo-actuated stage direct adaptive control time delay recursive neural network hopfield neural network estimator

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Research on Dynamic Obstacle Avoidance and Path Planning Methods in Emergency Scenarios 7

Research on Dynamic Obstacle Avoidance and Path Planning Met...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Lv, Ying Qi, Xu Dong, Xiaoyu Wang, Xinyu Chen, Guoying Yao, Jun National Key Laboratory of Advanced Vehicle Integration and Control China FAW Co.Ltd Changchun China College of Automotive Engineering Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

ISBN: (纸本)9798350340488

With the rapid development of autonomous driving, much attention has been paid to the development of collision avoidance systems in emergency scenarios that have a critical impact on driving safety. In this paper, a multi-constraint collision avoidance path planning method that considers the drivable area of a vehicle is proposed to meet the safety and real-time requirements of collision avoidance for autonomous vehicles. The algorithm defines the collision hazard moment, calculates the relationship between the collision hazard moment and the vehicle position constraint, makes corrections to the drivable area in the vehicle collision avoidance process, and finally obtains the vehicle emergency collision avoidance path by solving an optimization problem that satisfies the vehicle dynamics constraints and the position constraints. In this paper, the Matlab/Carsim/Prescan simulation sets up a high-speed driving condition in front of which there is an obstacle in the same direction of motion to prove that the multi-constraint optimized path planning algorithm considering the vehicle's travelable area can obtain a smooth and collision-free path, and the steering wheel changes smoothly in the tracking control, and the tracking control accuracy is below 0.07m. The experimental results show that the planning algorithm achieves the accurate lane change process The experimental results show that the planning algorithm achieves precise constraints on the lane change process, meets the requirements of the collision avoidance process on the computational efficiency, and takes into account the comfort of the driver. © 2023 IEEE.

关键词： automated driving numerical optimization path planning

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ACMuse: An Actionable Multi-Stage Safety Evaluation Framework for Autonomous Vehicles 8

ACMuse: An Actionable Multi-Stage Safety Evaluation Framewor...

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

作者： Lyu, Zhouhang Wang, Cheng Yu, Ruilin Zhang, Yuxin State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China School of Engineering and Physical Sciences Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9798331504892

Safety evaluation methods for autonomous vehicles (AVs) have been recently studied. Existing methods such as sample-based methods employ criticality metrics to evaluate AV safety. They are typically restricted to single-dimension evaluations and fail to offer substantial evidence to address the critical question of how safe is safe enough. In response, we introduce an actionable multi-stage safety evaluation framework (ACMuse) designed to evaluate AV safety. This framework systematically measures safety performance through five sequential stages: safety distance assessment, collision risk check, collision avoidance capabilities assessment, collision severity assessment, and accident liability determination. Each stage is featured with specific quantitative indexes to enable an actionable framework across different test scenarios. We demonstrated the effectiveness of ACMuse by applying it to an actual Highway Pilot (HWP) system using real-world experiments. The results indicate that ACMuse offers deep and insightful safety analysis of the HWP, underscoring its ability to identify safety issues and its contributions to AV release. © 2024 IEEE.

关键词： Vehicle safety

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Requirements Decomposition for Perception Systems of Autonomous Vehicles: A Case Study of Multi-Object Tracking 27

Requirements Decomposition for Perception Systems of Autonom...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Yu, Ruilin Wang, Cheng Lv, Zhouhang Zhang, Yuxin Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China School of Engineering and Physical Sciences Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9798331505929

Safety requirements decomposition is critical to ensure a safe autonomous vehicle (AV) by design despite the importance of safety verification and validation. This study proposes a method called QUASARS (QUAntifying SAfety Requirements using Shapley) for efficiently decomposing AV perception safety requirements into component-level and effectively quantifying them. QUASARS models the quantification of the impact of component-level faults on system-level faults as a feature importance calculation problem. We demonstrated QUASARS using a multi-object tracking system as an example and validated component-level safety requirements 100 times on the test set. After meeting the generated component-level safety requirements, the testing system was able to meet the system-level safety requirements, indicating the effectiveness of this method in decomposing system-level safety requirements into component-level. © 2024 IEEE.

关键词： autonomous vehicles Quantitative Requirements Risk Decomposition Shapely Value SOTIF

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Energy Optimization of Extended-Range Electric Vehicles Based on Convex Programming Algorithm 6

Energy Optimization of Extended-Range Electric Vehicles Base...

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

作者： Hou, Shengyan Yin, Hai Li, Kai Gao, Jinwu Jilin University State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Changchun China Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China

ISBN: (数字)9781665453745

ISBN: (纸本)9781665453745

Extended-range electric vehicle is a kind of new energy vehicles, and it has the superiorities of high electric drive efficiency, no mileage and charging anxiety. The extended-range electric vehicle has two energy power sources, the range extender and battery, and the energy management between different energy sources directly affects the energy -saving effect of the vehicle. In this paper, a powertrain system model of an extended-range electric vehicle is established. Taking fuel economy as the optimization goal, the convex programming algorithm is used to optimize the power split of powertrain system. The simulation results show that the proposed method is capable of maintaining SOC in a better operating range, and the controller improves the fuel economy by 5.53% and 8.88% compared with the rule-based strategy under the NEDC and UDDS condition. © 2022 IEEE.

关键词： Fuel economy

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A Method for Filtering Data-Driven Predictive control Aimed at Vehicle Lateral Stabilization in Compacted-Snow Rutted Road Conditions 8

A Method for Filtering Data-Driven Predictive Control Aimed ...

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

作者： Zhao, Xu Guo, Hongyan Shi, Wanqing College of Communication Engineering Jilin University Changchun China Jilin Institute of Chemical Technology Department of Aircraft Control and Information Engineering Changchun China College of Communication Engineering Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China

ISBN: (纸本)9798331504892

Designing a data-driven predictive controller for lateral stability of vehicles on compacted-snow rutted roads, especially when the data is subjected to non-stationary noise disturbances, is a significant challenge. This paper introduces a novel subspace predictive equation construction method that incorporates filtering using the inverse of a first-order disturbance model. Based on this, a filtering data-driven predictive controller is designed. The proposed method is tested through numerical simulations and MATLAB/CarSim co-simulation. simulation results show that the proposed subspace predictive equation with filtering effectively mitigates the variance and bias introduced by non-stationary noise. The co-simulation results demonstrate that the controller ensures the stability and robustness of the vehicle system. © 2024 IEEE.

关键词： Predictive control systems

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Discovery of emerging organic pollutants in the atmosphere through an omics approach

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Frontiers of Environmental Science & engineering 2023年第4期17卷 71-81页

作者： Zhen Cheng Xinghua Qiu Xiaodi Shi Xing Jiang Tong Zhu State Key Joint Laboratory for Environmental Simulation and Pollution Control College of Environmental Sciences and EngineeringCenter for Environment and HealthPeking UniversityBeijing 100871China

Ambient air pollution,containing numerous known and hitherto unknown compounds,is a major risk factor for public *** discovery of harmful components is the prerequisite for pollution control;however,this raises a great challenge on recognizing previously unknown *** we systematically review the analytical techniques on air pollution in the framework of an omics approach,with a brief introduction on sample preparation and analysis,and in more detail,compounds prioritization and *** high-resolution mass spectrometry(HRMS,typically coupled with chromatography),the complicated environmental matrix can be digitalized into“fullcomponent”data.A key step to discover emerging compounds is the prioritization of compounds from massive *** fingerprints,suspect lists and biological effects are the most vital untargeted strategies for comprehensively screening critical and hazardous ***,compressed data of compounds can be identified at various confidence levels according to exact mass and the derived molecular formula,MS libraries,and authentic *** an omics approach on full-component data provides a paradigm for discovering emerging air pollutants;nonetheless,new technological advancements of instruments and databases are warranted for further tracking the environmental behaviors,hence to evaluate the health risk of key pollutants.

关键词： Air pollution Emerging pollutants Full-component High-resolution mass spectrometry Omics approach

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