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

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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
{"title":"Simulation analysis of occupant frontal collision damage*","authors":"Jinbo Wang, Yanfei Gao, Gaowei Xu, Fengyan Yi","doi":"10.1109/CVCI51460.2020.9338604","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338604","url":null,"abstract":"In order to obtain the accuracy of vehicle parameters and occupant injury information after collision, and reduce the high cost of the sample vehicle crash test and the uncertain factors in the collision process, build rigid body model and multi-rigid body model by PC-Crash platform of traffic accident reconstruction software. Set the parameters and initial motion state of the model, and carry out the simulation and reconstruction of the traffic accident collision, which can obtain instantaneous motion state parameters of the collision vehicle and occupant. To simulate and demonstrate the process of the traffic accident, comparing the demonstration results with the actual traffic accidents, and the reduction rate of the real motion pattern is more than 95%,so that the effectiveness of this method is verified. It provides a reference for the better use of PC-Crash software to realize the simulation analysis of occupant's frontal injury, and provides a theoretical basis for accident treatment.","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":"130727563","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
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
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
{"title":"Matrix Inequalities Based Robust Model Predictive Control for Vehicle Considering Model Uncertainties and External Disturbances*","authors":"Wenjun Liu, Guang Chen, Alois Knoll","doi":"10.1109/CVCI51460.2020.9338626","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338626","url":null,"abstract":"Model uncertainties and external disturbances can inevitably affect vehicle dynamic control accuracy and even cause the vehicle system to be unstable and unsafe. Therefore, vehicle dynamic controller must be able to suppress the influence of model uncertainties and external disturbances on vehicle dynamic control performance. To this aim, we design a matrix inequalities (both bilinear matrix inequalities (BMIs) and linear matrix inequalities (LMIs) are involved) based robust model predictive controller for vehicle dynamic control. Robust positive invariant (RPI) set is used to guarantee the controller is robust and to construct the matrix inequality equations. We test the usefulness of the proposed controller via a numerical example.","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":"133946869","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
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
{"title":"Research on ECSA Degradation Model for PEM Fuel Cell under Vehicle Conditions","authors":"Hang You, Jun Fu, Xi Li","doi":"10.1109/CVCI51460.2020.9338596","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338596","url":null,"abstract":"Fuel cell vehicles are a trend in the development of new energy vehicles in the future. However, the degradation of PEMFC has always been one of the reasons restricting its development. This paper studies a PEMFC degradation model based on ECSA to determine the appropriate working state to reduce the rapid degradation of PEMFC. This model mainly simulates the dissolution and maturation of platinum clusters in the catalytic layer and explains the decline of ECSA. The simulation results show that the model can well correspond to the phenomenon of accelerated aging of the fuel cell due to variable load under vehicle operating conditions. It is suggested that the model facilitates the development of a hybrid energy management system for vehicles aimed at fuel cell degradation.","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":"134383692","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
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
{"title":"A Goal-Biased RRT Path Planning Approach for Autonomous Ground Vehicle","authors":"Xianjian Jin, Zeyuan Yan, Hang Yang, Qikang Wang, Guo-dong Yin","doi":"10.1109/CVCI51460.2020.9338597","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338597","url":null,"abstract":"For the application of autonomous ground vehicle (AGV) operating in unstructured environment, a path planning method based on an improved goal-biased Rapidly-exploring Random Trees (bias-RRT) is proposed. The algorithm combines random sampling with numerical optimization to achieve fast convergence speed and satisfy constraints. KD-Tree and potential field of the environment are implemented to increase the sampling efficiency, and cubic B-splines are used to smooth the path for better tracking performance. The algorithm improves the efficiency of searching while guarantee safety and quality of the planned path. Simulation results verify the effectiveness of the proposed method.","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":"132550763","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: 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
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
{"title":"The Effects of Parameter Variations on the Torque Control of Induction Motor","authors":"F. Zhao, Jianwei Zhang, Dongmei Wu, Guoqing Liu, Wensong Lang, Pinglai Wang","doi":"10.1109/CVCI51460.2020.9338443","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338443","url":null,"abstract":"By analyzing the principle and method of the direct vector control torque control method for induction motor, an analysis method of the influence of motor parameter changes on the accuracy of motor electromagnetic torque control under steady-state conditions is proposed, and the application of four common flux observations is derived. In direct vector control, the error function of the electromagnetic torque is estimated. The influence of the change of induction motor parameters on the torque control accuracy is theoretically analyzed, and the simulation is verified by Simulink. The simulation proves that the method can correctly analyze the torque control accuracy under the condition of induction motor vector control without complicated calculations.","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":"124202315","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
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
{"title":"Nonlinear Control Strategy of Hybrid Energy Storage System Based on Feedback Linearization","authors":"Zhangyu Lu, Xizheng Zhang, Yaonan Wang","doi":"10.1109/CVCI51460.2020.9338495","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338495","url":null,"abstract":"In view of the nonlinear characteristics of the hybrid energy storage system (HESS), a nonlinear control strategy based on feedback linearization theory is proposed. The control objectives of the strategy are battery/super capacitor current and DC bus voltage. Firstly, by analyzing the state equation of the circuit, the affine nonlinear model of the circuit is established. Then, the input-output feedback linearization and sliding mode surface are designed to realize the current tracking control of the battery and super capacitor. Finally, the classic voltage closed-loop control is used to realize the bus voltage stability. The simulation model is established on Simulink, and the simulation results show that the proposed control strategy is effective.","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":"125098207","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: 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
{"title":"Influence of Vehicle Speeds in Curve Driving on Pupil Diameters of Drivers","authors":"Mingwang Feng, Rong Fan, Chao Liu, Tianyi Gao, Z. Wang, R. Zheng","doi":"10.1109/CVCI51460.2020.9338528","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338528","url":null,"abstract":"The pupil diameter is one of the most important assessing indicators for the mental state of drivers. On the other hand, it is still a topic to quantitatively assess the effect of vehicle speeds on pupil diameters of drivers. Therefore, this study recorded pupil diameters under different vehicle speeds of 40, 60, and 80 km/h in the driving simulator experiment. Furthermore, this paper analyzed pupil diameters on the straight and curve road sections, and the difference of pupil diameters between left and right eyes. The results indicate that there is a positive association between the pupil diameter and the vehicle speed, and there is a difference for pupil diameters in the straight and curve driving. In addition, the difference of pupil diameters between left and right eyes is higher in the straight section than that in the curve section.","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":"126090758","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
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