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Steer-by-wire (SBW) system, which is characterized by variable gear ratio, better active safety, unmanned drive, has been widely studied to realize a distinctive driving experience. Control strategy acts as a key part of SBW system to achieve the goal. In this paper, a control strategy by bilateral control structure for steer-by-wire system is proposed. To make SBW system has the same function of...
This paper proposed a control strategy of differential steering specialized for four wheel independent driving (4WID) EVs. Different from traditional single torque-based control method, this strategy is designed to use the advantage of fast speed control of in-wheel motor. Four wheels are regulated to desired differential speed based on the reference vehicle velocity. Combined with Ackermann-Jeantand...
As an important component of Intelligent Transportation Systems(ITS), vehicular ad hoc networks can provide safer and more comfortable driving circumstance for the drivers. To provide privacy-preserving of the vehicle's identity, to the best of our knowledge, pseudonyms certificate and group-oriented signature are two most widely accepted ways in VANET. However, the two method sexists many efficiency...
The increasing prospect of electric drive vehicles has led many different control schemes to apply on the driving system. Differential speed steering which do not use traditional steering mechanism is studied on a four-wheel-driving vehicle. By comparison with the traditional Ackerman-steered vehicle, differential-steered method shown its advantage on the simple structure. However, since the steering...
Driver assistance system enhances traffic safety and efficiency. Accurate 3D pose of front vehicle can help driver to make right decisions on road. We propose a novel real-time system to estimate 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. Vehicle rear is firstly identified in the video captured by an on-board camera, after license...
Different conditions, such as occlusions, changes of lighting, shadows and rotations, make vehicle type classification still a challenging task, especially for real-time applications. Most existing methods rely on presumptions on certain conditions, such as lighting conditions and special camera settings. However, these presumptions usually do not work for applications in real world. In this paper,...
In this paper an extended Kalman filter for real-time estimation of micro flight vehicle body attitude by using MEMS gyros, accelerometers, and magnetometers is presented. The algorithm uses quaternions to represent rotation, which can avoid the singularity problem caused by using Euler angles. Attitude quaternion errors and drift bias of gyros were selected to construct a state vector. The state...
The rendezvous of an orbiting vehicle with a target body in another orbit can be accomplished in a specified time by two or more impulses. Aiming to solve the minimum fuel, multiple-impulse and time-fixed rendezvous problem, the genetic algorithm method is used in this paper. The genetic algorithm is a direct method for solving this constrained optimization problem that is based on natural selection,...
Cooperative localization (CL) is a crucial loop in navigation with multiple autonomous underwater vehicles( AUVs). Measuring and communicating are essential for CL to improve the position performance, which two are still difficult challenges until now, due to the terrible underwater environment. To make the furthest use of the measurements, in this paper, an optimal measure choosing strategy (OMCS)...
The Multi-Depot Vehicle Routing Problem with time-dependent and fuzzy travel time is very difficult to solve to optimality even for relatively small size instances. So few or no literatures have focused on the problem so far. But it is very close to real world and can make the schedule more availability and more flexible. So this paper focuses on modeling and solution of the problem. A model of MDVRPTW...
The paper presents a model of the real world vehicle routing and dispatching problem. In real world, vehicle travel speeds are varying with period of time and can not be expressed as exact values. So the time-dependent and fuzzy travel speeds are introduced into the model. A dispatching period is divided into some time slices and each time slice is designated a triangular fuzzy speed. The travel time...
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