With the advancement of intelligent driving technology, researchers are paying more and attention to identification traffic signs. Although a detection method signs based on color or shape can achieve recognition large categories such as prohibitions warnings, few, accuracy is not high. A sign algorithm small in computation good real-time, but features greatly affected by light weather. For questions raised above, this paper puts forward an improved YOLOv5 method. The uses SIoU loss function...

Inaccurate measurements of vehicular distance can significantly disrupt the decision-making intelligent vehicles, potentially leading to accidents such as collisions on slope roads. Existing ranging methods fail accurately measure This paper proposes an optimized approach address this challenge. Initially, a observer is developed using vanishing point determine position vehicle and calculate angle. An observation model then created based slope’s geometry distance. Furthermore, enhanced...

With the rapid development of China high-speed railway, drivers face increasingly significant technical challenges during operations, such as fault handling. Currently, depend on onboard mechanic when facing issues, for instance, traction loss or sensor faults. This dependency can hinder effective operation, even lead to accidents, while waiting faults be addressed. To enhance accuracy and explainability actions handling, an Intelligent Driver Advisory System (IDAS) framework based a large...

The formation cause of high-order wheel polygonization high-speed trains is investigated. A modelling wheelset/track interaction based on the finite element method (FEM) set up. stability wheelset-track system (WTS) studied by using complex eigenvalue analysis (CEA) modal coupling theory. dynamic response wheelset rolling rails simulated transient (TDA). results show that friction-induced vibration (FIV) WTS at about 540 Hz, which composed fifth-order bending mode axle and antisymmetric yaw...

Many tire-road friction coefficient estimation methods require the wheel angular speed sensor to provide a signal. In this paper, algorithm for distributed drive electric vehicles using permanent magnet synchronous motors(PMSM) sensorless control is proposed reduce use of sensors. The signal replaced by rotor obtained from PMSM control. First, three degrees freedom vehicle dynamics model and mathematical are established, strong tracking cubature Kalman filtering based on orthogonal...

To accurately obtain the state parameter information of a vehicle, square root generalized high-order cubature Kalman filter (CKF) estimation algorithm based on atomic search optimization (ASO-SRGHCKF) is proposed. On basis CKF, using rule instead cumbersome spherical rule, algorithm's weights and points are calculated directly. Then, filtering technology introduced, CKF (SRGHCKF) derived by replacing Cholesky decomposition with orthogonal triangle (QR) decomposition. lessen estimate error...

Aiming to more accurately control the wheel speed of an electric vehicle (EV) driven by four in-wheel motors, a developed whale optimization algorithm-proportional–integral–derivative (KW-WOA-PID) algorithm is proposed herein. In this study, mathematical and simulation models are built for EVs analyzing mechanical structures motors. Simulations conducted, driving requirements motors obtained. Then, specific motor. The (WOA) optimized kent mapping adaptive weight coefficient improve ability...

This article focuses on realizing the chaos control of a permanent magnet synchronous motor by combining pseudo-linear inverse system and synthetical sliding mode control. First, dimensionless nonlinear mathematical model is established, its analyzed Lyapunov exponent method. The parameter range when appears obtained. Then, decoupling method used to analyze reversibility system, obtained, which compounded with original into that consists two independent subsystems, including first-order...

A 3-degree of freedom (DOF) nonlinear model including yaw, lateral, and roll motions was constructed, a numerical simulation chaotic behavior performed using the Lyapunov exponent method. The vehicle motion is complex, manifesting double-periodic, quasi-periodic, phases, which negatively affects lateral stability. To control this behavior, controller designed based on sliding mode variable structure (SM-VSC) decrease chattering further improve stability under extreme operating conditions,...

Rail corrugation is very serious in Cologne egg fastener track; effective control measures are still lacking. The cause of the wear on a curved metro track analyzed based friction-induced vibration theory. A finite element model established to study frequency domain and time features oscillation this system. influences spacing support length investigated develop countermeasures. simulation results show that wheel-track system wavelength-fixed mechanism rail track. There two reasons why low...

Abstract The advancement of autonomous driving heavily relies on the ability to accurate lane lines detection. As deep learning and computer vision technologies evolve, a variety learning-based methods for line detection have been proposed by researchers in field. However, owing simple appearance lack distinctive features, it is easy other objects with similar local appearances interfere process detecting lines. precision limited unpredictable quantity diversity To address aforementioned...

Based on the principle of multi-stage vibration isolation and active absorption, a passive vibration-isolating system motor vibration-absorbing are designed for electric wheel wheel-hub motor-driven vehicle, 1/4 suspension structural diagrams two systems drawn. Secondly, corresponding multi-degrees-of-freedom vertical model is established according to different diagrams, dynamic differential equation deduced. Then, by programming MATLAB software used solve acceleration vehicle body,...

Abstract A discrete mathematical model of a permanent magnet synchronous motor (PMSM) is established, then the fifth-order cubature Kalman filter (CKF) algorithm introduced. Gauss–Newton iterative method introduced into process CKF to generate innovation variance and covariance. Therefore, an proposed as basis PMSM sensorless control implemented. Then, based on applied electric power steering (EPS) system, whose system constructed by adopting typical assist return strategy. Finally, verify...

High-speed autonomous emergency collision avoidance for intelligent vehicles is a challenging task. Many existing studies have not considered the effect of road adhesion coefficient in vehicle high-speed planning layer. Additionally, lateral control, strong coupling motion on system model considered. This increases uncertainty process and correlates with driving safety. In this regard, article conducted relevant studies. First, distributed drive electric (DDEV) controlled longitudinal speed...

摘要: 建立7自由度整车模型和汽车电子稳定性程序(Electronic stability program, ESP)与电动助力转向系统(Electric power steering, EPS)功能分配协调控制模型,对ESP应用参数自整定模糊PID控制,对EPS运用H∞鲁棒控制,并进行功能分配控制器的设计,功能分配控制器通过运用多目标模糊决策来决定ESP与EPS控制器的功能分配系数,从而实现功能分配控制。基于Matlab/simulink软件,在双移线工况下进行仿真。仿真结果证明,所建立的ESP与EPS功能分配控制模型与控制策略能够明显改善车辆在高速紧急转向下的操纵和侧向稳定性。进行硬件在环试验,试验结果和仿真结果一致。

To address the difficulties in accurately measuring driving state parameters and road adhesion coefficient, this paper, permanent magnet synchronous motor (PMSM) was selected as automotive in-wheel motor, distributed drive electric vehicle (DDEV) simulation model built based on CarSim MATLAB/Simulink software. PMSM speed estimation by Adaptive Sliding Mode Observer (ASMO) used input information for subsequent studies of coefficient estimation. Next, paper established a nonlinear...

To study the ride comfort of wheel-hub-driven electric vehicles, a simulation and verification method based on combination ADAMS MATLAB modeling is proposed. First, multibody dynamic model an in-wheel motor-driven vehicle established using ADAMS/Car. Then, pavement excitation electromagnetic force analytical equations are provided specific operating conditions motor to analyze impact fluctuation from unsprung mass increase air gap unevenness after introduction motor. Next, vibration motion...