In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering th...In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.展开更多
In order to reveal the changing law of the mechanical response of asphalt pavements under the action of vehicle load and provide references for the design of durable pavements,three typical asphalt pavement structures...In order to reveal the changing law of the mechanical response of asphalt pavements under the action of vehicle load and provide references for the design of durable pavements,three typical asphalt pavement structures with flexible base(S1),combined base(S2),and semi-rigid base(S3)were selected to perform field strain tests under static and dynamic load using the fiber Bragg grating optical sensing technology.The changing characteristics of the strain field along the horizontal and depth directions of pavements were analyzed.The results indicate that the most unfavorable asphalt pavement layers were the upper-middle surface layer and the lower base layer.In addition,the most unfavorable loading positions on the surface layer and the base layer were the center of wheel load and the gap center between two wheels,respectively.The most unfavorable layer of the surface layers gradually moved from the lower layer to the upper layer with the increase of base layer modulus.The power function relationships between structural layer strain and vehicle speed were revealed.The semi-rigid base asphalt pavement was the most durable pavement type,since its strain value was lower compared to those of the other structures.展开更多
To improve the possible superelevation runoff models for the cycling track design,at first,two existing representative superelevation runoff models used in China were investigated and fitted. Then,an optimization meth...To improve the possible superelevation runoff models for the cycling track design,at first,two existing representative superelevation runoff models used in China were investigated and fitted. Then,an optimization methodology was proposed,which was focused on the track geometry itself,without the consideration of the physical characteristic of the cyclist,assuming that less vertical curvature values correspond to less riding time. The riding performance formulae were obtained with the variables of riding time,riding velocity and vertical curvature of cycling track. Finally,with the refined adjustment on the vertical curvatures with the help of cycling track design software and considering the effect of horizontal alignments,the optimized models were finalized. It is clearly seen that these optimized models take the form of quartic parabola and are verified to achieve 0.005-0.021 s improvement in the event of 200 m time trial.展开更多
Foundation scour is an important cause for structural failure of sea-crossing bridges. Usually, the sea-crossing bridges operate under the harsh natural environment in which service wind, wave and vehicle loads are st...Foundation scour is an important cause for structural failure of sea-crossing bridges. Usually, the sea-crossing bridges operate under the harsh natural environment in which service wind, wave and vehicle loads are stronger and extreme loads such as earthquake, hurricane, and ship collision, are more frequent. As a result of the foundation scour,the dynamic behavior of bridge under different combined action of service and extreme loads may be further escalated.In particular, this work has investigated the scour effect on a sea-crossing bridge under service wind, wave and vehicle loads as well as extreme seismic loads. The dynamic coupled earthquake-wind-wave-vehicle-bridge(EWWVB) system is established by considering the interactions within the system, and the p-y curve method is used to calculate the loaddisplacement relation of the pile and soil under various levels of foundation scour. After that, a case study has been performed on a cable-stayed bridge with foundation scour. The results indicate that the dynamic characteristics of bridge structure will change after considering bridge scour, and the dynamic responses of bridge and vehicle will be affected to different degrees under service and seismic loads considering bridge scour.展开更多
基金Project(20180608005600843855-19)supported by the International Graduate Exchange Program of Beijing Institute of Technology,China。
文摘In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.
基金Projects(51908071,51708071)supported by National Natural Science Foundation of ChinaProject(2020JJ5975)supported by the Natural Science Foundation of Hunan Province,China+1 种基金Project(18C0194)supported by the Scientific Research Project of Education Department of Hunan Province,ChinaProject(kfj190301)supported by Open Fund of Key Laboratory of Road Structure and Material of Ministry of Transport(Changsha University of Science&Technology),China。
文摘In order to reveal the changing law of the mechanical response of asphalt pavements under the action of vehicle load and provide references for the design of durable pavements,three typical asphalt pavement structures with flexible base(S1),combined base(S2),and semi-rigid base(S3)were selected to perform field strain tests under static and dynamic load using the fiber Bragg grating optical sensing technology.The changing characteristics of the strain field along the horizontal and depth directions of pavements were analyzed.The results indicate that the most unfavorable asphalt pavement layers were the upper-middle surface layer and the lower base layer.In addition,the most unfavorable loading positions on the surface layer and the base layer were the center of wheel load and the gap center between two wheels,respectively.The most unfavorable layer of the surface layers gradually moved from the lower layer to the upper layer with the increase of base layer modulus.The power function relationships between structural layer strain and vehicle speed were revealed.The semi-rigid base asphalt pavement was the most durable pavement type,since its strain value was lower compared to those of the other structures.
基金Project(BZ2008056) supported by Jiangsu International Cooperative Research Program in 2008, China
文摘To improve the possible superelevation runoff models for the cycling track design,at first,two existing representative superelevation runoff models used in China were investigated and fitted. Then,an optimization methodology was proposed,which was focused on the track geometry itself,without the consideration of the physical characteristic of the cyclist,assuming that less vertical curvature values correspond to less riding time. The riding performance formulae were obtained with the variables of riding time,riding velocity and vertical curvature of cycling track. Finally,with the refined adjustment on the vertical curvatures with the help of cycling track design software and considering the effect of horizontal alignments,the optimized models were finalized. It is clearly seen that these optimized models take the form of quartic parabola and are verified to achieve 0.005-0.021 s improvement in the event of 200 m time trial.
基金Project(51908472)supported by the National Natural Science Foundation of ChinaProjects(2019TQ0271,2019M663554)supported by the China Postdoctoral Science FoundationProject(2020YJ0080)supported by the Project of Science and Technology Department of Sichuan Province,China。
文摘Foundation scour is an important cause for structural failure of sea-crossing bridges. Usually, the sea-crossing bridges operate under the harsh natural environment in which service wind, wave and vehicle loads are stronger and extreme loads such as earthquake, hurricane, and ship collision, are more frequent. As a result of the foundation scour,the dynamic behavior of bridge under different combined action of service and extreme loads may be further escalated.In particular, this work has investigated the scour effect on a sea-crossing bridge under service wind, wave and vehicle loads as well as extreme seismic loads. The dynamic coupled earthquake-wind-wave-vehicle-bridge(EWWVB) system is established by considering the interactions within the system, and the p-y curve method is used to calculate the loaddisplacement relation of the pile and soil under various levels of foundation scour. After that, a case study has been performed on a cable-stayed bridge with foundation scour. The results indicate that the dynamic characteristics of bridge structure will change after considering bridge scour, and the dynamic responses of bridge and vehicle will be affected to different degrees under service and seismic loads considering bridge scour.
