微机电技术、移动计算技术和无线通信技术的飞速发展,促使在现有道路网上快速构建一个自组织、分布式控制的车辆间多跳通信网络成为现实,随之引起了一系列问题亟待解决,例如高速运动车辆间的物理拓扑连通性,它是车用自组织网络(vehicula...微机电技术、移动计算技术和无线通信技术的飞速发展,促使在现有道路网上快速构建一个自组织、分布式控制的车辆间多跳通信网络成为现实,随之引起了一系列问题亟待解决,例如高速运动车辆间的物理拓扑连通性,它是车用自组织网络(vehicular ad hoc network,简称VANET)对用户提供可靠服务的先决条件.针对上述问题,推导得出了一种用于高速公路场景中车用自组织网络1-连通必要条件的概率计算方法,并借助真实的车辆运动轨迹数据做了大量模拟实验.实验结果表明,为了确保网络中不存在孤立节点,每个节点的通信距离应满足Θ(|log(1-p1/n)|/n).展开更多
A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajec...A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.展开更多
A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once ...A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.展开更多
文摘微机电技术、移动计算技术和无线通信技术的飞速发展,促使在现有道路网上快速构建一个自组织、分布式控制的车辆间多跳通信网络成为现实,随之引起了一系列问题亟待解决,例如高速运动车辆间的物理拓扑连通性,它是车用自组织网络(vehicular ad hoc network,简称VANET)对用户提供可靠服务的先决条件.针对上述问题,推导得出了一种用于高速公路场景中车用自组织网络1-连通必要条件的概率计算方法,并借助真实的车辆运动轨迹数据做了大量模拟实验.实验结果表明,为了确保网络中不存在孤立节点,每个节点的通信距离应满足Θ(|log(1-p1/n)|/n).
基金Projects(90820302, 60805027, 61175064) supported by the National Natural Science Foundation of ChinaProject(2011ssxt231) supported by the Master Degree Thesis Innovation Project Foundation of Central South University, China+1 种基金Project(200805330005) supported by the Research Fund for the Doctoral Program of Higher Education, ChinaProject(2011FJ4043) supported by the Academician Foundation of Hunan Province, China
文摘A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.
基金Projects(90820302,60805027) supported by the National Natural Science Foundation of ChinaProject(200805330005) supported by Research Fund for Doctoral Program of Higher Education of China+1 种基金Projects(2009FJ4030) supported by Academician Foundation of Hunan Province,ChinaProject supported by the Freedom Explore Program of Central South University,China
文摘A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.
