A5023258152- Vehicle Dynamics and Control Systems
- Hydraulic and Pneumatic Systems
- Advanced Manufacturing and Logistics Optimization
- Inertial Sensor and Navigation
- Structural Health Monitoring Techniques
- Infrastructure Maintenance and Monitoring
- Soil Mechanics and Vehicle Dynamics
- Robotic Path Planning Algorithms
Beijing Institute of Technology
2022-2024
The available road grade information makes a significant impact on improving the quality of vehicle control. In order to solve limited application scenario and insufficient accuracy current estimation methods, this paper presents novel model-based approach. First, Quaternion Unscented Kalman Filter (QUKF) using three-axle angular velocities accelerations from low-cost Inertial Measurement Unit (IMU) speed CAN bus is designed estimate pitch angle vehicle. particular, measurement noise UKF...
Autonomous tractor semi-trailers are expected to improve safety and efficiency for road freight transportation. However, the complex dynamics introduced by articulated structure of semi-trailer results in poor yaw roll stability, which consequence poses great challenges path tracking under extreme conditions featuring high lateral acceleration or low tire-road friction. In this work, a stability-guaranteed computationally efficient model predictive framework is devised. particular,...
In recent years, autonomous tractor semi-trailers have been considered a promising solution for transportation on highways, ports, and large logistics centers to improve safety efficiency. However, due the complicated dynamics introduced by articulation structure, there are still challenges in achieving high-precision path tracking stability control semi-trailers, especially critical scenarios. this work, bi-level scheme semi-trailer is proposed. At higher level, robust model predictive...
In recent years, autonomous tractor semi-trailers have been considered a promising solution for improving safety and efficiency in transportation. However, due to the complicated dynamics characteristics of semi-trailer, collision avoidance trajectory planning tracking control are still challenges. Especially emergency scenarios, semi-trailer needs maneuver close its handling limits avoid sudden obstacles, which may lead high risk instability. This paper develops linear time-varying model...