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融合改进A^(*)算法和DWA算法的全局动态路径规划

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重庆理工大学学报（自然科学） 2024年第2期38卷 77-86页

作者：董晓东李刚宗长富李永明李云龙李祥辽宁工业大学汽车与交通工程学院辽宁锦州121001 吉林大学汽车仿真与控制国家重点实验室长春130022

针对常规A^(*)算法存在的路径规划中冗余节点过多、拐点过多、规划路径与障碍间的距离过短、容易产生碰撞等问题,提出了一种将改进A^(*)算法与动态窗口法相结合的新方法。该算法通过对栅格地图中的障碍栅格进行量化处理,提取环境信息,... 详细信息

针对常规A^(*)算法存在的路径规划中冗余节点过多、拐点过多、规划路径与障碍间的距离过短、容易产生碰撞等问题,提出了一种将改进A^(*)算法与动态窗口法相结合的新方法。该算法通过对栅格地图中的障碍栅格进行量化处理,提取环境信息,并根据这些信息对A*算法的启发函数和子节点选择策略进行调整。此外,为了优化路径的平滑度和安全性,设计了一种路径节点平滑处理算法。仿真实验结果表明,融合动态窗口法的融合算法不仅能够保证所规划路径的全局最优性,而且能够有效地避开随机障碍物。

关键词：路径规划 A^(*)算法动态窗口法随机避障融合算法

Dual Extended Kalman Filter for Combined Estimation of Vehicle State and Road Friction

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 313-324页

作者： zong changfu HU Dan ZHENG Hongyu State Key Laboratory of Automotive Simulation and Control Jilin University

Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute（HSRI） tire model; the dual extended Kalman filter （DEKF） technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions（high-friction, low-friction, and joint-friction）. On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future.

关键词： vehicle state road friction coefficient estimation dual extended Kalman filter (DEKF)

Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking

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Chinese Journal of Mechanical Engineering 2012年第1期25卷 88-97页

作者： zong changfu ZHU Tianjun WANG Chang LIU Haizhen State Key Laboratory of Automobile Dynamic Simulation Jilin UniversityChangchun 130025China Department of Mechanical and Electric Engineering Hebei Engineering UniversityHandan 056021China

Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.

关键词： rollover jack-knifing tractor semi-trailer multi-objective stability control

Path-following control of autonomous ground vehicles using triple-step model predictive control

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Science China(Information Sciences) 2020年第10期63卷 264-266页

作者： Yulei WANG Hongyu ZHENG changfu zong Hongyan GUO Hong CHEN State Key Laboratory of Automotive Simulation and Control Jilin University Department of Control Science and Engineering Jilin University

Dear editor,Autonomous ground vehicles (AGVs) equipped with a variety of advanced sensor systems exemplify the recent advances in modern automobile industry and have been receiving significant research interest from academia to industry owing to their prospect to reduce traffic congestion and traffic *** core feature of AGVs refers to any

关键词： Autonomous ground vehicles Model predictive control path following triple-step control constraints

Cone Barrel Object Detection Method Based on Improved YOLOv5

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Cone Barrel Object Detection Method Based on Improved YOLOv5

Approach of Driving Skill Evaluation System Based on Vehicle Performance Optimization

2022中国汽车工程学会年会暨展览会

作者： Wang Huadong Li Gang Zhang Dong zong changfu Automobile & Transportation Engineering College Liaoning University of Technology Brunel University Automobile & Transportation Engineering College Jilin University

Aiming at the problem of low accuracy cone barrel detection in the field of the college students' driverless Formula Competition,a cone barrel target detection method based on improved YOLOv5 is proposed,which detects three different colours of cone barrels on the field to realize the perception function of driverless racing cars on the cone barrels on the race ***,the YOLOv5 backbone network is designed in combination with the coordinate attention mechanism module to improve the accuracy of model detection;secondly,the backbone network of YOLOv5 is replaced with GhostNet,the parameter of the network model is reduced,and EIoU is selected as the loss function of border regression to improve the accuracy of the model;finally,the self-built dataset is sent to the improved YOLOv5 for training and comparison experiment with the original *** results show that the improved algorithm map reaches 99%,the detection accuracy is improved by 8.4% compared with the original YOLOv5,and the detection speed is increased by2 *** improved algorithm has greatly improved its accuracy and speed compared with the previous improvement,which proves the effectiveness of the improved algorithm.

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Approach of Driving Skill Evaluation System Based on Vehicle...

2023中国汽车工程学会年会暨展览会

作者： Gong Chaofan zong changfu Dai Changhua Lu Ye Kaku Chuyo Zhang Dong Jilin University SAIC MOTOR Co Ltd. Jiangsu Chaoli Electric Co Ltd. Brunel University London

Driver is a key part of the human-vehicle-road-cloud system,and the rapid development of advanced driving systems has led to the integration of more autonomous driving systems with human drivers,making the study of driver characteristics and driving skills increasingly *** this paper,we propose a novel driving skill evaluation system based on the vehicle performance optimization of the driving condition unit,which is applicable to both human drivers and intelligent driving *** approach for recognizing common vehicle driving conditions on structured roads based on coordinate system transformation is first proposed,which identifies lane keeping acceleration condition,lane keeping deceleration condition,lane changing acceleration condition and lane changing deceleration *** relationship between the ideal driver with the highest driving skill and the optimal vehicle performance based on prediction and optimization is *** the identified driving conditions,local trajectory planning based on quintic polynomials and path-following control based on model predictive control(MPC) are used to obtain the corresponding optimal vehicle *** the physiological and psychological differences between human driver and autonomous driving system,we select comprehensive evaluation indicators evaluation indicators covering handling stability,ride comfort and economy at the level of the final performance of vehicle's driving *** normalization,a driving skill evaluation formula is established *** results of the real-vehicle test show that the proposed driving condition recognition method can effectively identify vehicle driving conditions,the path tracking control model produces a good tracking effect,and the driving skill evaluation results can well distinguish professional driver,general driver and intelligent driving system, and the evaluation period is shortened, indicating strong engineering application feasibility

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重型半挂车简化模型参数辨识研究

汽车工程 2015年第6期37卷 622-630,616页

作者：聂枝根宗长富吉林大学汽车仿真与控制国家重点实验室长春130022

为准确表征重型半挂车的动态特性,在建立3和5自由度简化模型基础上,利用Trucksim数据并运用双模型与遗传算法相结合的方法对简化模型关键参数进行了辨识。利用辨识后的关键参数的MAP图,进行了模型动态工况的仿真。仿真结果与Trucksim数... 详细信息

为准确表征重型半挂车的动态特性,在建立3和5自由度简化模型基础上,利用Trucksim数据并运用双模型与遗传算法相结合的方法对简化模型关键参数进行了辨识。利用辨识后的关键参数的MAP图,进行了模型动态工况的仿真。仿真结果与Trucksim数据对比表明:采用此方法辨识出的关键参数MAP图能够满足重型半挂车简化模型表征车辆实际状态的要求,为车辆稳定性控制奠定了基础。

关键词：重型半挂车动力学模型参数辨识遗传算法

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车辆主动悬架的遗传粒子群LQG控制方法

汽车工程 2015年第2期37卷 189-193页

作者：陈双宗长富辽宁工业大学汽车与交通工程学院锦州121000 吉林大学汽车仿真与控制国家重点实验室长春130022

针对LQG最优控制算法中权重系数依靠经验确定的不足,综合遗传算法和粒子群算法优点,将粒子群算法中粒子速度和位置的更新和遗传算法的选择、交叉与变异操作相结合,提出遗传粒子群LQG控制算法,以优化性能指标权重系数。建立2自由度1/4主... 详细信息

针对LQG最优控制算法中权重系数依靠经验确定的不足,综合遗传算法和粒子群算法优点,将粒子群算法中粒子速度和位置的更新和遗传算法的选择、交叉与变异操作相结合,提出遗传粒子群LQG控制算法,以优化性能指标权重系数。建立2自由度1/4主动悬架车辆模型,利用Matlab/Simulink软件,对车辆悬架的遗传粒子群LQG控制进行仿真,并与传统LQG控制结果进行对比。结果表明,所提出的遗传粒子群LQG控制方法能同时改善汽车的平顺性和操纵稳定性。

关键词：车辆主动悬架 LQG控制遗传粒子群算法

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 174-194页

作者： Buyang Zhang changfu zong Guoying Chen Yanjun Huang Ting Xu College of Automotive Engineering Jilin University Changchun 130022 China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun 130022 China College of Mechanical and Mechatronics Engineering University of Waterloo ON N2L 3G1 Canada

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

关键词： Di erential braking Active steering Vertical tire force calculation Multi-axle truck Integrated control