Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-t...Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-the-loop driving simulator.The system framework of the platform can be summarized as follows:the visual simulation system,which is responsible for the simulation calculation of the driving vehicle and the driving scenes;the platform control system,which is responsible for the information dispatch of the platform and the autonomous driving control of the vehicle;and the interactive control system,which is responsible for the simulation signal acquisition and steering control tasks.At the same time,this paper presents a specific solution based on practice,using UC-win/Road to develop the visual simulation system,using Qt Creator to develop the platform control system,and using development boards to build the interactive control system.To solve the autonomous driving control problem of a simulated vehicle,this paper constructs a classic two-degree-of-freedom vehicle dynamics model for lateral control and studies the LQR control algorithm based on this model,providing the implementation procedure of the algorithm.For longitudinal control,considering that the vehicle needs dual control of speed and position,this paper adopts the cascaded PID control method,with position control and speed control as the outer and inner loops of the PID controller,respectively.Finally,the testing of the lateral and longitudinal control algorithms is conducted.In the lateral control test,a continuous curved road with different curvatures is designed to analyze the lane deviation and heading angle error of the vehicle at different curvature bends.In the longitudinal control test,the functions of vehicle cruise control and distance-based car-following are mainly examined.The lateral error of the system does not exceed 0.3 m,and the longitudinal error exceeds 1 km/h(0.278 m/s).The experimental results show that the autonomous driving control program designed in this paper is effective and verifies the feasibility of the proposed driving simulation platform design.展开更多
In order to study the transmission efficiency of engine and optimize the structure of driving wheel,the rotational speed storage test device of driving wheel in tracked vehicle based on magnetoelectric sensor was desi...In order to study the transmission efficiency of engine and optimize the structure of driving wheel,the rotational speed storage test device of driving wheel in tracked vehicle based on magnetoelectric sensor was designed.The device consisted of a mounting bracket,a sensor and a tester.The mounting bracket was installed in vehicle body after fixing the tester and sensor to mounting bracket beside the driving wheel.Using the storage test instrument,the wireless trigger technology was applied to synchronously record and stored the rotational speed data of the driving wheel in tracked vehicle.After the experiment was finished,the data was read out through the upper computer.Both valid data and satisfactory results were obtained through both simulated and actual vehicle tests.展开更多
In this study,we used the short-distance mobility vehicles(electric wheelchair)WHILL,which is sold as a mobility support device rather than a welfare care device,and conducted test rides on campus and on public roads....In this study,we used the short-distance mobility vehicles(electric wheelchair)WHILL,which is sold as a mobility support device rather than a welfare care device,and conducted test rides on campus and on public roads.The participants in the experiment were 10 healthy men and women in their 20s to 60s who did not use electric wheelchairs in their daily lives.The results showed that about half of the experiment participants did not feel anxious about operating WHILL.On the other hand,many participants felt uneasy about the operation of moving backward diagonally.The WHILL’s steering wheel was easy to operate,and it was also very comfortable during the test drive.Before and after the test drive,the impression evaluation of WHILL changed significantly from negative to positive.An improved model of WHILL was proposed based on the results of the questionnaire survey and interview survey after the test drive.展开更多
Propagation models are the foundation for radio planning in mobile networks. They are widely used during feasibility studies and initial network deployment, or during network extensions, particularly in new cities. Th...Propagation models are the foundation for radio planning in mobile networks. They are widely used during feasibility studies and initial network deployment, or during network extensions, particularly in new cities. They can be used to calculate the power of the signal received by a mobile terminal, evaluate the coverage radius, and calculate the number of cells required to cover a given area. This paper takes into account the standard K factors model and then uses the Ion motion optimization (IMO) algorithm to set up a propagation model adapted to the physical environment of each of the Cameroonian cities of Yaoundé and Bertoua for different frequencies and technologies. Drive tests were made on the CDMA network in the city of Yaoundé on one hand and on an LTE TDD network in the city of Bertoua on the other hand. IMO is used as the optimization algorithm to deduct a propagation model which fits the environment of the two considered towns. The calculation of the root-mean-square error (RMSE) between the actual data from the drive tests and the prediction data from the implemented model allows the validation of the obtained results. A comparative study made between the RMSE value obtained by the new model and those obtained by the Okumura-Hata and K factors standard models, allowed us to conclude that the new model obtained in each of these two cities is better and more representative of our local environment than the Okumura-Hata currently implemented. The implementation shows that IMO can perform well and solve this kind of optimization problem;the newly obtained models can be used for radio planning in the cities of Yaounde and Bertoua in Cameroon.展开更多
Work-zone crashes have always drawn public attention. A number of fatalities are recorded every year nationwide within work zone areas. Most existing countermeasures have been dedicated more to the advance warning are...Work-zone crashes have always drawn public attention. A number of fatalities are recorded every year nationwide within work zone areas. Most existing countermeasures have been dedicated more to the advance warning areas, transition areas, and activity areas of work zone, than the termination areas, where drivers might play less attention to safety threats. In this study, the vehicle-to-vehicle communication based left turn warning system was applied at a work zone termination area, which is immediately followed by a T-intersection. The work-zone is located on the minor road side, while left turn vehicles will be appearing from the major street through the said T-intersection. A smart phone application was designed using Android coding system to provide several types of warning messages to drivers. Corresponding scenarios were designed in a driving simulator, and 20 subjects were recruited to participate in the simulation test followed by a questionnaire survey. The subjects received a warning message when driving to the termination area of a work zone on the coming left turn vehicles. Twenty test drivers’ driving speed, acceleration rates, and break reaction distance to the warning messages were studied in four different scenarios. Results show that the smartphone application has a great impact on driving behaviors, especially the female voice and the beep tone warning, which are recommended for possible field tests. Besides, the developed smartphone applications can be further updated for practical applications of similar needs.展开更多
基金supported by the National Natural Science Foundation of China(52472366)the National Key Research and Development Program of China(2023YFB4302600)Hubei Province Key Research and Development Program(2024BAB051).
文摘Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-the-loop driving simulator.The system framework of the platform can be summarized as follows:the visual simulation system,which is responsible for the simulation calculation of the driving vehicle and the driving scenes;the platform control system,which is responsible for the information dispatch of the platform and the autonomous driving control of the vehicle;and the interactive control system,which is responsible for the simulation signal acquisition and steering control tasks.At the same time,this paper presents a specific solution based on practice,using UC-win/Road to develop the visual simulation system,using Qt Creator to develop the platform control system,and using development boards to build the interactive control system.To solve the autonomous driving control problem of a simulated vehicle,this paper constructs a classic two-degree-of-freedom vehicle dynamics model for lateral control and studies the LQR control algorithm based on this model,providing the implementation procedure of the algorithm.For longitudinal control,considering that the vehicle needs dual control of speed and position,this paper adopts the cascaded PID control method,with position control and speed control as the outer and inner loops of the PID controller,respectively.Finally,the testing of the lateral and longitudinal control algorithms is conducted.In the lateral control test,a continuous curved road with different curvatures is designed to analyze the lane deviation and heading angle error of the vehicle at different curvature bends.In the longitudinal control test,the functions of vehicle cruise control and distance-based car-following are mainly examined.The lateral error of the system does not exceed 0.3 m,and the longitudinal error exceeds 1 km/h(0.278 m/s).The experimental results show that the autonomous driving control program designed in this paper is effective and verifies the feasibility of the proposed driving simulation platform design.
基金Cultivation Programs for Young Scientific Research Personnel of Higher Education Institutions in Shanxi Province(No.2019QPJH18)Fund for“1331 Project”Key Innovative Research Team of Shanxi Province(No.1331KIPT)。
文摘In order to study the transmission efficiency of engine and optimize the structure of driving wheel,the rotational speed storage test device of driving wheel in tracked vehicle based on magnetoelectric sensor was designed.The device consisted of a mounting bracket,a sensor and a tester.The mounting bracket was installed in vehicle body after fixing the tester and sensor to mounting bracket beside the driving wheel.Using the storage test instrument,the wireless trigger technology was applied to synchronously record and stored the rotational speed data of the driving wheel in tracked vehicle.After the experiment was finished,the data was read out through the upper computer.Both valid data and satisfactory results were obtained through both simulated and actual vehicle tests.
文摘In this study,we used the short-distance mobility vehicles(electric wheelchair)WHILL,which is sold as a mobility support device rather than a welfare care device,and conducted test rides on campus and on public roads.The participants in the experiment were 10 healthy men and women in their 20s to 60s who did not use electric wheelchairs in their daily lives.The results showed that about half of the experiment participants did not feel anxious about operating WHILL.On the other hand,many participants felt uneasy about the operation of moving backward diagonally.The WHILL’s steering wheel was easy to operate,and it was also very comfortable during the test drive.Before and after the test drive,the impression evaluation of WHILL changed significantly from negative to positive.An improved model of WHILL was proposed based on the results of the questionnaire survey and interview survey after the test drive.
文摘Propagation models are the foundation for radio planning in mobile networks. They are widely used during feasibility studies and initial network deployment, or during network extensions, particularly in new cities. They can be used to calculate the power of the signal received by a mobile terminal, evaluate the coverage radius, and calculate the number of cells required to cover a given area. This paper takes into account the standard K factors model and then uses the Ion motion optimization (IMO) algorithm to set up a propagation model adapted to the physical environment of each of the Cameroonian cities of Yaoundé and Bertoua for different frequencies and technologies. Drive tests were made on the CDMA network in the city of Yaoundé on one hand and on an LTE TDD network in the city of Bertoua on the other hand. IMO is used as the optimization algorithm to deduct a propagation model which fits the environment of the two considered towns. The calculation of the root-mean-square error (RMSE) between the actual data from the drive tests and the prediction data from the implemented model allows the validation of the obtained results. A comparative study made between the RMSE value obtained by the new model and those obtained by the Okumura-Hata and K factors standard models, allowed us to conclude that the new model obtained in each of these two cities is better and more representative of our local environment than the Okumura-Hata currently implemented. The implementation shows that IMO can perform well and solve this kind of optimization problem;the newly obtained models can be used for radio planning in the cities of Yaounde and Bertoua in Cameroon.
文摘Work-zone crashes have always drawn public attention. A number of fatalities are recorded every year nationwide within work zone areas. Most existing countermeasures have been dedicated more to the advance warning areas, transition areas, and activity areas of work zone, than the termination areas, where drivers might play less attention to safety threats. In this study, the vehicle-to-vehicle communication based left turn warning system was applied at a work zone termination area, which is immediately followed by a T-intersection. The work-zone is located on the minor road side, while left turn vehicles will be appearing from the major street through the said T-intersection. A smart phone application was designed using Android coding system to provide several types of warning messages to drivers. Corresponding scenarios were designed in a driving simulator, and 20 subjects were recruited to participate in the simulation test followed by a questionnaire survey. The subjects received a warning message when driving to the termination area of a work zone on the coming left turn vehicles. Twenty test drivers’ driving speed, acceleration rates, and break reaction distance to the warning messages were studied in four different scenarios. Results show that the smartphone application has a great impact on driving behaviors, especially the female voice and the beep tone warning, which are recommended for possible field tests. Besides, the developed smartphone applications can be further updated for practical applications of similar needs.
