智能汽车 先进传感与控制

所需积分/C币:45 2018-08-29 09:51:18 34.54MB PDF
收藏 收藏 4
举报

进入新世纪以来,我们对安全省时、绿色节能、环境友好以及舒适健康的交通服务需求与日俱增, 汽车及其相关工业随之面临更多的挑战。也正因如此, 许多新的方法、概念以及技术得以不断被研发并应用于汽车工业。   为了更好地服务于智能汽车和先进交通技术领域的专业群体, 我们撰写此书, 为研究者及工程师们提供有关智能汽车运动控制以及相应传感互联技术的新应用与进展。此外, 本书也旨在帮助高年级本科生和研究生对智能汽车、智能控制、车联网等技术的学习探讨。同时总结了我们对于智能汽车运动控制的当下趋势以及未来发展的理解与感悟。
ADVANCED MOTION CONTROL AND SENSING FOR INTELLIGENT VEHICLES Dr. Li li Department of systems and Industrial engineering University of arizona Tucson, AZ85721 Dr Fei-Yue Wang Department of Systems and Industrial engineering University of arizona Tucson,AZ 85721 institute of automation Chinese academy of sciences Beiing, China 100080 SI P ringer Dr Li Li dr Fei-Yue Wang Department of Systems and Industrial Engineering University of arizona Tucson,AZ85719 Advanced Motion Control and Sensing for Intelligent vehicles Library of Congress Control Number: 2006932384 ISBN0387-44407-6 e-ISBN0-38744409-2 SBN9780387444079 e-ISBN9780387444093 Printed on acid-free paper c 2007 Springer Science+ Business Media, LLC All rights reserved This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+ Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief scholarly analysis. Use in connection with any form of information storage and retrieva electronic adaptation, computer software, or by similar or dissimilar methodology now k hereafter developed is forbidde The use in this publication of trade names, trademarks, service marks and similar terms even if they are not identified as such, is not to be taken as an expression of opinion as to Thethe are subject to proprietary rights sponger.cotn Table of contents Table of contents Preface∴..ix Introduction 1. 1 Intelligent Vehicles for Intelligent Transportation Systems 1.2 Issues in Intelligent Vehicles Research and Development 3B0 k Organization… 159 1. 4 Beyond Current Discussion.... 13 5 References 19 Advanced Tire friction Modeling and monitoring………… 33 2.1 Introduction 2.2 Longitudinal Tire/ Road Friction Modeling 2. 2. 1 Longitudinal Tire/Road friction Characteristics 35 2.2.2 Representative Longitudinal Tire/Road Friction Models 2.3 Lateral tire/road friction modeli 46 23. 1 Lateral Tire/Road Friction Models 2.3.2 Bicycle Model 2. 4 Integrated Tire/Road friction Modeli g 53 2. 4. 1 Integrated Tire/Road Friction Characteristics 2.4.2 Empirical and Semi-Empirical Integrated Models 2.4.3 Analytical Integrated models 56 2.5 Tire/Road Friction monitors 2.5.2 Identification of Empirical Longitudinal Friction Mod"..58 for Tire/Road Friction monitors 2.4.3 Observers of Analytical Longitudinal Friction Models .62 2.4.4 Identification of Empirical Lateral Friction Models 2.6 Summary 67 2.7 Reference Advanced Vehicle Lateral Motion Control. 3. 1 Introduction.…. 77 Ⅴ i Table of contents 3.2 Steer-By-Wire Systems 78 3.3 Vehicle Lateral Motion Modeling and Control Strategies……….84 3. 4 Vehicle lateral motion monitors 86 3.5 Vehicle Steering Controller Design.……… 3.5. 1 Vehicle Lateral Motion Control Objectives...,s.....93 3.52 Robust Vehicle Steering Controllers…… 94 3.5.3 Sliding Mode steering Controllers 13 3. 5. 3 Adaptive steering Controllers 甲甲专非,垂。g 416 3.5.4 Fuzzy Steering Controllers ……,17 ummary 120 3.7 Reference Advanced Vehicle Longitudinal Motion Control..........135 4.1 Introduction 135 4.2 Advanced Vehicle powertrain control 137 4. 2. 1 Advanced engine control 甲甲中中 137 4.2.2 Advanced Vehicle Transmission Control..........147 4.3 Vehicle aerodynamics ···.·····················.··;· 151 4.4 Advanced Vehicle Tracking and Braking Control………….13 4.4.1 Advanced Vehicle Tracking and Braking Control…………154 4.4.2 Anti-Lock Braking System Design......,.......1 62 4.5 Adaptive Cruise Contro 170 4.6S 4.7 Reference 174 Advanced vehicle vertical motion Control mags. 1 Introduction 185 5.2 Road roughness Modeling 187 5.3 Advanced Vehicle Suspension Systems 190 3. 1 LTI Suspension Controllers 190 5.3.2 Robust Suspension Controllers 197 5.3. 3 Fuzzy suspension Controllers 200 5.4 Parameter Estimation and Fault Detection of Suspension Systems 205 5.5 Rollover avoidance 213 5.6 Summary…… 216 5.7 References .216 Advanced Individual vehicle motion Control sssmmmsmms. 2 23 6.1 Introduction 23 6.2 Vehicle Path/Trajectory Planning 226 6. 3 Vehicle Parking Problems...................241 6.4 Longitudinal/Lateral/Vertical Vehicle Motion Control Synthesis 253 6.5 Reference 262 Advanced Multiple vehicles Motion Control……………………………269 7.I Introduction 269 7.2 Inter-Vehicle Communication .270 7. 3 Vehicle Platoon Control 272 7. 4 Lane Changing and Lane merging Contro 277 7.4.1 Vehicle Lane Changing Control …277 7.4.2 Vehicle Lane Merging Control 289 7.5 Cooperative Driving at Intersections 294 7.5.1 Uncooperative Driving at Intersections 294 7.5.2 Cooperative Driving at Intersections 298 7.6 Summary 310 7.7 Reference 312 Intelligent Vehicle Vision Systems……………………323 8. 1 Introduction 323 8.2 Advances in Vision Based Lane/Road Detection. ........................325 8.2. 1 Lane/Road Detection Using CMOS/CCD Camera/Radars. 325 8.2.2 Lane/Road Detection Using LiDAR and Laser Sensors..336 8.2.3 Integration of Lane/ Departure Detection and Localization .. 340 8. 3 Advances in Vision Based Vehicle detection 341 8.3.1 Vehicle Detection Using CMOS/CCD Cameras 341 8.3.2 Vehicle Detection Using FMCW Radars 350 8.3.3 Vehicle Detection Using LiDAR or Laser Sensors 57 8. 4 Advances in Vision Based Pedestrian Detection 358 8. 4. 1 Pedestrian Detection Using CCD/CMOS Cameras....358 8.4.2 Pedestrian Detection Using Infrared Cameras.......362 8.5 Advances in Vision Based Traffic Sign detection 8.6 Advances in Vision Based Driver monitors 8.6. 1 Driver/Passenger Position/ Gesture Detection 367 8.6.2 Driver Fatigue Analysis…… 369 8.6.3 Driving Actions Analysis 370 8.7 Further Discussions on Intelligent Vision Systems 371 8.7.1 Multiple vision sensor fusion 371 8.7.2 Vision Sharing 372 8.7.3 Traffic Infrastructures and Vehicle vision Systems 374 8.7. 4 Vision Sensor design, Calibration and Fault Detection,.,375 8.7.5 Vision based Environment Detection and Adoption 377 8. 8 Reference 378 Intelligent Vehicle Tire Inspection and monitoring……………401 viii Table of contents 9.1 Introduction 40 9.2 Advances in Offline Tire Inspection 403 9.2. 1 Tire Surface Inspection 403 9.2.2 Tire Ply/Belt Inspection 9.2.3 Tire Bearing Inspection…… 9. 3 Advances in Online Tire monitorin 410 9.3.1 SAW Tire sensors 9.3. 2 Tire Rolling/Rotation Analysis and Pressure Monitoring .. 422 9.3.3 Other Tire Deformation/Pressure Monitoring Sensors 425 9. 4 Further discussions 427 9.5 Reference ∴,429 n437 Preface as we enter a new millennium. automotive and associated industries are facing more challenges than ever due to the rapidly growing requirements for safe, time/energy-efficient, environment friendly, and comfortable traf- fic service. As a result, novel concepts and technologies have been con- tinuously developed and applied into the automotive industry. In order to better serve the pressing needs of the professional communities interested in intelligent automotives and advanced transportation systems, we prepare this book to provide the latest information for engineers and researchers with a special focus on intelligent vehicle motion control and correspond ing sensing technologies. Moreover, it intends to help senior undergraduate and beginning graduate students learn several cutting-edge developments of automotives/vehicles and transportation systems. This book also sum- marizes our understanding of the current trend and the likely future of in- telligent vehicle motion control Our research on intelligent vehicles goes back to almost 20 years ago when I was a researcher in a project that built a mobile robot at the RPI/NASA Center of Intelligent robotic Systems for Space exploration Since then, research and development of intelligent vehicles have experi enced tremendous growth and enjoyed numerous successful applications in land sea, and air, for scientific, civilian, or military missions. Our work on intelligent vehicles evolves from specific-application robotic vehicles to general-purpose intelligent vehicles too. In 1994, in collaboration with the National Institute of Standards and Technology (NIST), we constructed the SPIDER (Stewart Platform Instrumented Drive Environmental robot)Ve hicular System for in situ Martian/Lunar resource utilization and for a working prototype of a plant for producing oxygen from the Martian at- mosphere at the UA/NASA Center for Space Engineering Research Center for Utilization of Local Planetary Resources. From 1996 to 1999, we modified a Caterpillar 98T wheel loader for autonomous digging and load- ing operations that can excavate efficiently both soils and rocks. In 2000 we completed our first fully autonomous driving passenger vehicle VISTA (Vehicles with Intelligent Systems for Transport Automation) and demon- strated its functions to the public in Highway 51 in Phoenix, Arizona. In 2002, we finished our design of automated proving grounds based on Preface autonomous driving and wireless communication. In 2005. working to- gether with Xi,an Jiaotong University and Shangdong Academy of Sci- ences, we developed the CasiC Mobile Platform for vASOS(vehicular Application Specific Operating Systems) that is capable of testing and evaluating various embedded electronic and software systems for driving safety, efficiency and comfort This book draws from our recent works on intelligent vehicle research Although many students and researchers have been involved in the devel opment of this book, it is mainly based on Dr. Li Lis Ph. D. dissertation under my supervision from 2001 to 2005. It consists of nine chapters which can be divided into three parts: introduction( Chapter 1), intelligent vehicle motion control(Chapter 2-7), and related vehicle sensing tech- niques( Chapter 8-9) Chapter 1 mainly discusses the research objectives, tasks and back grounds of intelligent vehicle technology. It aims to provide a summary of current achievements and trends. The relationships among intelligent vehi- cle, advanced transportation(highway) system and driver assistance are also discussed Chapter 2 carefully examines the tire/road friction phenomena and re views some frequently used tire/road friction models. These topics provide important background for the individual vehicle motion control studied in Chapter 3-5, as understanding the interaction between the vehicle and the ground is essential to the study of vehicle driving performance The sub ject of Chapter 3 is vehicle lateral dynamics and steering control. Several steering controller design approaches are analyzed in this chapter. Chapter 4 investigates the internal and external vehicle longitudinal dynamics and emphasizes vehicle tracking/breaking control. The decomposition and syn- thesis of vehicle lateral and longitudinal motion control are addressed in Chapter 5. Chapter 6 primarily studies vehicle vertical dynamics and ex amines vehicle suspension controllers. Finally. multiple-vehicle motion control is studied in Chapter 7, which presents additional technical chal lenges especially in communication and coordination Chapters 8 and 9 review the existing approaches and several novel tech niques applied in vehicle visual sensory and tire condition checking, re spectively. Some research results in relevant research areas, i.e. material and device developments, are also outlined The goal of this book is to provide the state of the art survey of research in vehicle motion control and sensing, and to offer a multidisciplinary per- spective for researchers who working in this field. Considering the broad set of the readers whom we would like to reach. we have omitted in several places the full technical details, although the related references have b provided. However, the key research fin dings and trends are addresse een

...展开详情
试读 127P 智能汽车 先进传感与控制
立即下载 低至0.43元/次 身份认证VIP会员低至7折
    一个资源只可评论一次,评论内容不能少于5个字
    usahubble 英文版资料。感谢分享。
    2020-04-07
    回复
    weizc_9527 为什么会是英文版的!!!!唉!!
    2018-09-03
    回复
    关注 私信 TA的资源
    上传资源赚积分,得勋章
    最新推荐
    智能汽车 先进传感与控制 45积分/C币 立即下载
    1/127
    智能汽车 先进传感与控制第1页
    智能汽车 先进传感与控制第2页
    智能汽车 先进传感与控制第3页
    智能汽车 先进传感与控制第4页
    智能汽车 先进传感与控制第5页
    智能汽车 先进传感与控制第6页
    智能汽车 先进传感与控制第7页
    智能汽车 先进传感与控制第8页
    智能汽车 先进传感与控制第9页
    智能汽车 先进传感与控制第10页
    智能汽车 先进传感与控制第11页
    智能汽车 先进传感与控制第12页
    智能汽车 先进传感与控制第13页
    智能汽车 先进传感与控制第14页
    智能汽车 先进传感与控制第15页
    智能汽车 先进传感与控制第16页
    智能汽车 先进传感与控制第17页
    智能汽车 先进传感与控制第18页
    智能汽车 先进传感与控制第19页
    智能汽车 先进传感与控制第20页

    试读已结束,剩余107页未读...

    45积分/C币 立即下载 >