2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)最新文献_第9页

Simulation analysis of occupant frontal collision damage* 乘员正面碰撞损伤仿真分析*

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338604

Jinbo Wang, Yanfei Gao, Gaowei Xu, Fengyan Yi

引用次数: 0

Matrix Inequalities Based Robust Model Predictive Control for Vehicle Considering Model Uncertainties and External Disturbances* 基于矩阵不等式的考虑模型不确定性和外部干扰的车辆鲁棒模型预测控制*

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338626

Wenjun Liu, Guang Chen, Alois Knoll

引用次数: 0

Vibrotactile Take-over Requests in Highly Automated Driving 高度自动驾驶中的振动触觉接管要求

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338667

Duanfeng Chu, Rukang Wang, Ying Deng, Lingping Lu, Chaozhong Wu

{"title":"Vibrotactile Take-over Requests in Highly Automated Driving","authors":"Duanfeng Chu, Rukang Wang, Ying Deng, Lingping Lu, Chaozhong Wu","doi":"10.1109/CVCI51460.2020.9338667","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338667","url":null,"abstract":"Highly automated vehicle has the possibility in getting stuck with edge scenarios where the automation cannot handle. Under this circumstance, sending out a takeover request and dragging the driver back into the control loop are required to avoid traffic accidents. Among various possible modalities for alerting drivers about take-over requests, vibrotactile alerts provide significant advantages. A driver-in-the-loop and hardware-in-the loop driving simulator was designed for the investigation of take-over performance. In this simulator, take-over signal was provided the vibration motors embedded in the vibrotactile seat. Moreover, body pressure mapping test illustrated that the vibration motors fixed in the vibrotactile seat would not reduce seating comfort. Twenty-four vibration patterns were generated via the vibration motors embedded in the backrest and cushion of the vibrotactile seat. Besides, Eighteen participants were recruited to take part in the experiment, which consisted of three sessions: 1) baseline (no driving task), 2) HAD (driving a highly automated vehicle and getting ready for the respond to the take-over request), 3) N-back (performing the same task with mental demanding task added in). Specifically, in baseline session, participants need the only answer regarding the type of vibration pattern. However in HAD and N-Back session, participants had to perform the maneuver (steering left/right or braking) according to the coding directional information of vibration patterns. Correct response rate and reaction time of each participant in each session were recorded and analysed. The results indicated that dynamic patterns yielded significantly higher correct response rate than static patterns. In addition, reaction times for dynamic patterns were faster than those for static patterns, but the effect was not statistically significant. Moreover, ANOVA tests illustrated that mental-demanding non-driving task had no significant effect on take-over performance.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131533734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Research on ECSA Degradation Model for PEM Fuel Cell under Vehicle Conditions 车辆工况下PEM燃料电池ECSA退化模型研究

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338596

Hang You, Jun Fu, Xi Li

引用次数: 1

A Goal-Biased RRT Path Planning Approach for Autonomous Ground Vehicle 自主地面车辆目标偏置RRT路径规划方法

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338597

Xianjian Jin, Zeyuan Yan, Hang Yang, Qikang Wang, Guo-dong Yin

引用次数: 8

Self-Supervised Monocular Depth Estimation Scale Recovery using RANSAC Outlier Removal 基于RANSAC离群值去除的自监督单目深度估计尺度恢复

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338538

Zhuoyue Wu, G. Zhuo, Feng Xue

{"title":"Self-Supervised Monocular Depth Estimation Scale Recovery using RANSAC Outlier Removal","authors":"Zhuoyue Wu, G. Zhuo, Feng Xue","doi":"10.1109/CVCI51460.2020.9338538","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338538","url":null,"abstract":"Recently, self-supervised method has become an increasingly significant branch of depth estimation task, especially in the realm of autonomous driving applications. However, current per-pixel depth maps yielded from RGB images still suffer from uncertain scale factor generated by the nature of monocular image sequences, which further leads to the insufficiency in practical use. In this work, we first analyze such scale uncertainty both theoretically and practically. Then we perform scale recovery utilizing geometric constraint to estimate accurate scale factor, RANSAC(Random sample consensus) outlier removal is introduced into pipeline to obtain accurate ground point extraction. Adequate experiments on KITTI dataset(dataset generated by an autonomous driving platform built up by KIT and TRINA comprising stereo and optical flow image pairs as well as laser data, distributed to train set and test set on account of deep learning), show that, using only camera height prior, our proposed method, though not relying on additional sensors, is able to achieve accurate scale recovery and outperform existing scale recovery methods.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133227684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Design of road feel feedback algorithm for steer-by- Wire 线控转向的路感反馈算法设计

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338568

Liuhe, Xianzhong Zeng, Liu Shuo

{"title":"Design of road feel feedback algorithm for steer-by- Wire","authors":"Liuhe, Xianzhong Zeng, Liu Shuo","doi":"10.1109/CVCI51460.2020.9338568","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338568","url":null,"abstract":"With the development of electric power steering becoming more and more mature, many companies and universities have begun to develop steer-by-wire systems. In the online steering system, the steering wheel end is disconnected from the steering rack, and the road feel simulation unit is required to provide the driver with a realtime road feel to ensure the driver's maneuverability of the vehicle. There are many challenges in the generation of analog road feel. The basic functions include central position road feel, active return function, low-speed lightness and high-speed stability. The first part of this article discusses the control method of the road sense feedback motor, the second part is the design of the road sense feedback algorithm, and the third part is the test results and analysis. The motor control algorithm uses PID and feedforward algorithms to achieve precise current control. The road sense feedback part is designed to change the steering force gradient and damping with the speed of the vehicle. It is verified by Carsim and Matlab/Simulink joint simulation. The test part verifies the road sense algorithm. Adapt to different vehicle speeds and working conditions, and the smoothness of the center position and feel meets the needs of road feedback.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129682347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Effects of Parameter Variations on the Torque Control of Induction Motor 参数变化对异步电动机转矩控制的影响

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338443

F. Zhao, Jianwei Zhang, Dongmei Wu, Guoqing Liu, Wensong Lang, Pinglai Wang

引用次数: 1

Nonlinear Control Strategy of Hybrid Energy Storage System Based on Feedback Linearization 基于反馈线性化的混合储能系统非线性控制策略

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338495

Zhangyu Lu, Xizheng Zhang, Yaonan Wang

引用次数: 2

Influence of Vehicle Speeds in Curve Driving on Pupil Diameters of Drivers 弯道行驶中车速对驾驶员瞳孔直径的影响

2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) Pub Date : 2020-12-18 DOI: 10.1109/CVCI51460.2020.9338528

Mingwang Feng, Rong Fan, Chao Liu, Tianyi Gao, Z. Wang, R. Zheng

引用次数: 0