For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,t...For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,the algorithms that provide driver intent belong to two categories:those that use physics based models with some type of filtering,and machine learning based approaches.In this paper we employ barrier functions(BF)to decide driver intent.BFs are typically used to prove safety by establishing forward invariance of an admissible set.Here,we decide if the“target”vehicle is violating one or more possibly fictitious(i.e.,non-physical)barrier constraints determined based on the context provided by the road geometry.The algorithm has a very small computational footprint and better false positive and negative rates than some of the alternatives.The predicted intent is then used by a control barrier function(CBF)based collision avoidance system to prevent unnecessary interventions,for either an autonomous or human-driven vehicle.展开更多
在硬件在回路仿真系统中,模型需与数据采集卡之间进行实时数据的采集和交换,Simulink下Real Time Workspace工具箱提供了与硬件之间的实时数据采集和交换,但是工具箱并不支持市面上所有采集板卡的类型,给用户对采集板卡选型带来一定局...在硬件在回路仿真系统中,模型需与数据采集卡之间进行实时数据的采集和交换,Simulink下Real Time Workspace工具箱提供了与硬件之间的实时数据采集和交换,但是工具箱并不支持市面上所有采集板卡的类型,给用户对采集板卡选型带来一定局限性。因此本文使用Simulink中S-Function模块编写不同采集板卡的硬件驱动,证明只要是数据采集工具箱支持的板卡型号,都可以用S-Function进行模块化硬件驱动编写,解决了Simulink中Real Time Workspace工具箱给用户在使用Simulink建模过程中对板卡选型的局限性这一问题。展开更多
为了预防职业驾驶员肌肉骨骼疾病,促进职业健康,通过功能性动作筛查(functional movement screen,FMS)评估职业驾驶员功能性运动能力现状,进一步探讨运动干预效果。采用分层便利抽样法,选取145名职业驾驶员作为研究对象,通过FMS测试其...为了预防职业驾驶员肌肉骨骼疾病,促进职业健康,通过功能性动作筛查(functional movement screen,FMS)评估职业驾驶员功能性运动能力现状,进一步探讨运动干预效果。采用分层便利抽样法,选取145名职业驾驶员作为研究对象,通过FMS测试其功能性运动能力。随后,对其中20名女性驾驶员实施运动干预,全程监控其运动负荷,并在干预结束后进行FMS后测。通过SPSS 29.0软件分析FMS测试结果、性别间差异及运动干预效果。结果表明:职业驾驶员FMS总分普遍低于14分;单项测试中,主动直腿上抬动作得分最高,直线弓步蹲动作得分最低;深蹲、跨栏步、主动直腿上抬以及躯干稳定俯卧撑动作得分存在性别差异(P<0.05);干预后,女性驾驶员的基本功能动作、下肢柔韧性以及躯干稳定性动作模式明显改善,差异均有统计学意义(P<0.05);运动干预负荷整体属于中等强度有氧运动。可见,职业驾驶员的功能性运动能力普遍不足,中等强度的运动干预是改善女性驾驶员功能性运动能力、预防肌肉骨骼疾病的有效手段。展开更多
文摘For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,the algorithms that provide driver intent belong to two categories:those that use physics based models with some type of filtering,and machine learning based approaches.In this paper we employ barrier functions(BF)to decide driver intent.BFs are typically used to prove safety by establishing forward invariance of an admissible set.Here,we decide if the“target”vehicle is violating one or more possibly fictitious(i.e.,non-physical)barrier constraints determined based on the context provided by the road geometry.The algorithm has a very small computational footprint and better false positive and negative rates than some of the alternatives.The predicted intent is then used by a control barrier function(CBF)based collision avoidance system to prevent unnecessary interventions,for either an autonomous or human-driven vehicle.
文摘在硬件在回路仿真系统中,模型需与数据采集卡之间进行实时数据的采集和交换,Simulink下Real Time Workspace工具箱提供了与硬件之间的实时数据采集和交换,但是工具箱并不支持市面上所有采集板卡的类型,给用户对采集板卡选型带来一定局限性。因此本文使用Simulink中S-Function模块编写不同采集板卡的硬件驱动,证明只要是数据采集工具箱支持的板卡型号,都可以用S-Function进行模块化硬件驱动编写,解决了Simulink中Real Time Workspace工具箱给用户在使用Simulink建模过程中对板卡选型的局限性这一问题。
文摘为了预防职业驾驶员肌肉骨骼疾病,促进职业健康,通过功能性动作筛查(functional movement screen,FMS)评估职业驾驶员功能性运动能力现状,进一步探讨运动干预效果。采用分层便利抽样法,选取145名职业驾驶员作为研究对象,通过FMS测试其功能性运动能力。随后,对其中20名女性驾驶员实施运动干预,全程监控其运动负荷,并在干预结束后进行FMS后测。通过SPSS 29.0软件分析FMS测试结果、性别间差异及运动干预效果。结果表明:职业驾驶员FMS总分普遍低于14分;单项测试中,主动直腿上抬动作得分最高,直线弓步蹲动作得分最低;深蹲、跨栏步、主动直腿上抬以及躯干稳定俯卧撑动作得分存在性别差异(P<0.05);干预后,女性驾驶员的基本功能动作、下肢柔韧性以及躯干稳定性动作模式明显改善,差异均有统计学意义(P<0.05);运动干预负荷整体属于中等强度有氧运动。可见,职业驾驶员的功能性运动能力普遍不足,中等强度的运动干预是改善女性驾驶员功能性运动能力、预防肌肉骨骼疾病的有效手段。
