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Lane Detection Using CNN-LSTM with Curve Fitting for Autonomous Driving 基于CNN-LSTM曲线拟合的自动驾驶车道检测
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31781
Wenwei Wang, Zhipeng Zhang, Yue Gao, Yiding Li
The efficient and accurate detection of lanes and the extraction of their key features are critical to autonomous driving. In this paper, a lane detection method that combines convolutional neural networks (CNN) and long-short-time memory neural networks (LSTM) is proposed to extract key features of lanes with great rapidity and accuracy. The main process is as follows: ( 1 ) The video is processed using a featurebased image processing method to extract key information of the lanes which is stored as a label. (2) The CNN model and the CNN-LSTM model are established respectively. ( 3 ) Training and testing are operated on above-mentioned models using the images and labels obtained in step(1). ( 4 ) Multi-platform verification of trained models is operated with entirely new videos. The results show that the detection rates of CNN model on training data and verification data are 94.9% and 91.2%, respectively, and the processing speed reaches up to 46.2 milliseconds per frame and its time consumption is only 5.59% of the traditional processing method; the detection rates of CNN-LSTM model are respectively 97.6% and 94.4%, and the processing speed achieves 54.7 milliseconds per frame which consumes only 6.61% time of the traditional method, and it also shows great performance on the micro platform.
高效、准确的车道检测及其关键特征提取对自动驾驶至关重要。本文提出了一种将卷积神经网络(CNN)和长短时记忆神经网络(LSTM)相结合的车道检测方法,快速准确地提取车道的关键特征。主要过程如下:(1)采用基于特征的图像处理方法对视频进行处理,提取车道的关键信息,以标签的形式存储。(2)分别建立CNN模型和CNN- lstm模型。(3)使用步骤(1)获得的图像和标签对上述模型进行训练和测试。(4)用全新的视频对训练好的模型进行多平台验证。结果表明:CNN模型对训练数据和验证数据的检测率分别为94.9%和91.2%,处理速度高达46.2毫秒/帧,时间消耗仅为传统处理方法的5.59%;CNN-LSTM模型的检测率分别为97.6%和94.4%,处理速度达到54.7毫秒/帧,耗时仅为传统方法的6.61%,在微平台上也表现出良好的性能。
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引用次数: 3
State of Health Estimation for Lithium-Ion Batteries Based on Elman Neural Network 基于Elman神经网络的锂离子电池健康状态评估
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31814
Zheng Chen, Qiao Xue, Yonggang Liu, Jiangwei Shen, Renxin Xiao
This paper proposes a state of health (SOH) estimation method with integration of grey relational analysis (GRA) with Elman neural network (NN). First, the experimental data of lithium-ion battery life attenuation are analyzed and the health factors (HFs) are extracted. Then, the correlation degree between HFs and SOH are analyzed by the GRA. Finally, the extracted HFs are considered as the model input, and the SOH as taken as a model target output for SOH prediction. The prediction results show that the proposed method has high prediction accuracy that it can be applied to the online SOH estimation.
提出了一种将灰色关联分析(GRA)与Elman神经网络(NN)相结合的健康状态估计方法。首先,对锂离子电池寿命衰减的实验数据进行分析,提取健康因子;然后利用GRA分析了HFs与SOH的相关程度。最后,将提取的hf作为模型输入,将SOH作为模型目标输出进行SOH预测。预测结果表明,该方法具有较高的预测精度,可用于在线SOH估计。
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引用次数: 4
State Estimation of Lithium Battery Based on Least Squares Support Vector Machine 基于最小二乘支持向量机的锂电池状态估计
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31818
Jiabo Li, M. Ye, Shengjie Jiao, Dawei Shi, Xinxin Xu
In order to improve the accuracy of battery SOC, this paper presents a novel least squares support vector machine(LSSVM) framework based on machine learning. Put the current, voltage and temperature at the current moment and the SOC estimated at the previous time are used as input vectors of the model to estimate the SOC at the current time. The experimental results show that the proposed model can achieve better SOC estimation accuracy than the LSSVM model with limited data samples.
为了提高电池SOC的精度,提出了一种基于机器学习的最小二乘支持向量机(LSSVM)框架。将当前时刻的电流、电压和温度,以及前一时刻估计的SOC作为模型的输入向量,来估计当前时刻的SOC。实验结果表明,在有限的数据样本下,该模型比LSSVM模型具有更好的SOC估计精度。
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引用次数: 2
Air Supply System Control of PEM Fuel Cell for Electric Vehicle Application Based on Multi-layer Prediction Strategy 基于多层预测策略的PEM燃料电池电动汽车送风系统控制
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31811
Ya-Xiong Wang, Jinzhou Chen, Hongwen He
Proton exchange membrane (PEM) fuel cell engine has many advantages, including high energy density, high efficiency, low operation temperature, and zero emissions, which is a promising application to electric vehicles. In this paper, a multi-layer prediction control strategy for air supply system of a full-power PEM fuel cell electric vehicle is proposed, and a mathematical model of PEMF fuel cell engine air supply system is established in MATLAB/Simulink environment. The control scheme of the proposed multi-layer prediction strategy is that the top-layer model prediction is used for predicting the driving condition (speed of the vehicle) to obtain the desired air mass flow rate, and the bottom-layer air flow model prediction control (MPC) can adopt the top-layer airflow demand to regulate the oxygen excess ratio of PEM fuel cell engine. The proposed control strategy can meet the needs of the fuel cell stack reaction of oxygen as well as prevent air starvation that might occur in PEM fuel cell electric vehicle during driving conditions variation.
质子交换膜(PEM)燃料电池发动机具有能量密度高、效率高、工作温度低、零排放等优点,在电动汽车上具有广阔的应用前景。提出了一种全功率PEM燃料电池汽车送风系统的多层预测控制策略,并在MATLAB/Simulink环境下建立了PEMF燃料电池发动机送风系统的数学模型。所提出的多层预测策略的控制方案是,利用顶层模型预测预测车辆的行驶状态(车速),得到期望的空气质量流量,底层空气流量模型预测控制(MPC)采用顶层气流需求来调节PEM燃料电池发动机的氧气过剩比。所提出的控制策略既能满足燃料电池堆氧反应的需要,又能防止PEM燃料电池电动汽车在行驶工况变化过程中可能出现的空气饥饿问题。
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引用次数: 2
Multi-objective Optimization for Electric and Thermal Energy Storage of Integrated Energy System under Uncertainty 不确定条件下综合能源系统电、热储能多目标优化
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31779
Yu Fu, Qie Sun, R. Wennersten
Energy storage system is an important unit to maintain stable output of the system, reduce energy cost, and realize peak-shaving in the integrated energy system. For the two commonly used energy storage methods, electrical energy storage and thermal energy storage, coordinating the optimal configuration of the two can make the system more efficient and energy-saving operation. At present, uncertainty brings great complexity to the optimal design of the system. At the same time, ignoring the influence of uncertainty on the system will lead to the optimization result being a suboptimal situation. Thus, in this paper, a multiobjective optimization under uncertainty is carried out to find the optimal configuration of electric and thermal energy storage system.
储能系统是综合能源系统中保持系统稳定输出、降低能源成本、实现调峰的重要单元。对于电能存储和热能存储这两种常用的储能方式,协调两者的优化配置可以使系统更加高效节能的运行。目前,不确定性给系统的优化设计带来了很大的复杂性。同时,忽略不确定性对系统的影响,将导致优化结果处于次优状态。因此,本文采用不确定条件下的多目标优化方法寻找电、热储能系统的最优配置。
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引用次数: 2
Fault Diagnosis of Lithium-ion Battery System Based on Hybrid System and Recursive Least Squares-Extended Kalman Filter 基于混合系统和递推最小二乘扩展卡尔曼滤波的锂离子电池系统故障诊断
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31786
Tiantian Lin, Zi-qiang Chen, Chang-wen Zheng
A diagnosis method of relay faults and sensor faults based on hybrid system for lithium-ion battery system is proposed in the paper. A battery system, which contains not only discrete dynamics but also continuous dynamics, can be classified into a hybrid system in which hybrid automaton is established to simultaneously handle these two dynamics. For battery fault diagnosis, besides the observation of discrete events, the distinguishability analysis of continuous dynamics is also needed. The recursive least squares and extended Kalman filter algorithm is used to track the continuous dynamics of the battery and generate voltage residual in this paper. The distinguishability analysis is performed based on the voltage residual and current. Federal Urban Driving Schedule test on a battery pack is conducted for evaluating the proposed method. The results indicate that the fault diagnosis method can perform well for the battery system.
提出了一种基于混合系统的锂离子电池继电器故障和传感器故障诊断方法。一个既有离散动力学又有连续动力学的电池系统可以归为混合系统,在混合系统中建立混合自动机来同时处理这两种动力学。对于电池故障诊断,除了对离散事件的观察外,还需要对连续动力学进行可分辨性分析。采用递推最小二乘和扩展卡尔曼滤波算法对蓄电池的连续动态进行跟踪,产生电压残差。基于剩余电压和电流进行了可分辨性分析。在电池组上进行联邦城市驾驶计划测试以评估所提出的方法。结果表明,该方法能较好地用于蓄电池系统的故障诊断。
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引用次数: 0
A Novel Modular Liquid-cooled Battery Thermal Management for Cylindrical Lithium-ion Battery Module 一种新型圆柱形锂离子电池模块的模块化液冷电池热管理方法
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31787
Haitao Wang, T. Tao, Jun Xu, Xiaoyan Liu, Piao Gou, X. Mei
Effective battery thermal management is significant for electric vehicle to maintain the performance and life cycle of battery packs. In this paper, a novel modular liquid-cooled system for batteries is designed, and the effect of cooling water flow rate and cooling mode (Serial cooling and parallel cooling) on the thermal behavior of the battery module is studied by CFD numerical simulation and experiment. The results show that there is a limit to improve the cooling effect by increasing the cooling water flow rate for the specific cooling structure. When the flow rate is relatively small, increasing the cooling water flow rate can significantly lower the maximum temperature and improve the temperature uniformity in the battery module; when the flow rate increases to a certain value, increasing the cooling water flow rate has no obvious effect on improving cooling effect. Compared with serial cooling, parallel cooling can significantly lower the temperature of the battery module, reduce the temperature difference between single cells, and improve the temperature uniformity of the battery module.
有效的电池热管理对于维持电动汽车电池组的性能和寿命周期具有重要意义。本文设计了一种新型的电池模块液冷系统,通过CFD数值模拟和实验研究了冷却水流量和冷却方式(串联冷却和并联冷却)对电池模块热行为的影响。结果表明,对于特定的冷却结构,通过提高冷却水流量来提高冷却效果是有限的。当流量较小时,增加冷却水流量可显著降低电池模块内最高温度,改善温度均匀性;当流量增加到一定值时,增加冷却水流量对提高冷却效果没有明显效果。与串联冷却相比,并联冷却可以显著降低电池模块的温度,减小单体电池之间的温差,提高电池模块的温度均匀性。
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引用次数: 0
Intelligent Vehicle Path Tracking Control Based on Moving Horizon Sliding Mode Control 基于移动视界滑模控制的智能车辆路径跟踪控制
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31823
Wu Yan, Wang Lifang, Li Fang
Due to the strong nonlinearity and the uncertainty of the vehicle, accurate path tracking control becomes a challenge. This paper proposes a path tracking control strategy that can simultaneously consider the dynamic characteristics of tracking performance and system constraints. The control strategy is based on moving horizon sliding mode control (MHSMC), in which the sliding mode surface is used to construct the prediction model, and the effects of parameter perturbation and external disturbance are eliminated through feedback correction and rolling optimization, then the prediction results of the model output are corrected so as to make sure optimal performance control under system constraints. The MHSMC combines the advantages of sliding mode control and moving horizon control, effectively improving the dynamic performance and robustness of the system. The simulation results of typical conditions show that the control strategy proposed in this paper can make the vehicle track the reference path well and has strong robustness.
由于车辆本身具有很强的非线性和不确定性,精确的路径跟踪控制成为一项挑战。提出了一种同时考虑跟踪性能动态特性和系统约束的路径跟踪控制策略。该控制策略基于移动水平滑模控制(MHSMC),利用滑模曲面构建预测模型,通过反馈修正和滚动优化消除参数摄动和外部干扰的影响,然后对模型输出的预测结果进行修正,以保证在系统约束下的最优控制性能。MHSMC结合了滑模控制和运动水平控制的优点,有效地提高了系统的动态性能和鲁棒性。典型工况的仿真结果表明,本文提出的控制策略能使车辆很好地跟踪参考路径,具有较强的鲁棒性。
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引用次数: 0
Qualitative Data Analysis of the Energy Transition of Urban Buildings in China 中国城市建筑能源转型的定性数据分析
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31793
Yu Wang, R. Wennersten, Qie Sun
Over the recent decades, there has been an explosive growth in China’s urban buildings and related energy consumption. Great efforts have been done to transform the urban buildings into more sustainable paradigms. The aim of this work is to better understand the ongoing energy transition in China. Through a research based on qualitative data analysis, this work provides insights into the transition of China’s urban buildings towards deep decarbonization, decentralization and digitalization. This work also furnishes a discussion of the energy system configuration of the transitioning urban buildings.
近几十年来,中国城市建筑和相关能源消耗呈爆炸式增长。人们已经做出了巨大的努力,将城市建筑转变为更可持续的范例。这项工作的目的是更好地了解中国正在进行的能源转型。通过基于定性数据分析的研究,本研究对中国城市建筑向深度脱碳、去中心化和数字化的过渡提供了见解。本文还对转型城市建筑的能源系统配置进行了探讨。
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引用次数: 1
Spatial-temporal Variations in Vegetation and their Driving Factors in the Amur River Basin 阿穆尔河流域植被时空变化及其驱动因素
Pub Date : 2019-10-31 DOI: 10.12783/dteees/iceee2019/31796
S. Zhou, Wc Zhang
In the past decades, the Amur River Basin has experienced complex regional fluctuations and strong spatial heterogeneity in vegetation. In this study, the spatial-temporal variations in vegetation and their driving factors in the basin were investigated using GIMMS NDVI data over 1982–2013, and MODIS NDVI/EVI and NPP product from 2002 to 2013. A Mann- Kendall trend test were applied to investigate the sustainability and trends of NDVI in this basin. In addition, linear regression trend was applied to analyze spatial distribution of the NDVI, EVI and NPP trends over the period 2002–2013. For further assessment of the driving factors of vegetation, the impacts of individual climatic factors or changes of each land use type on vegetation were analyzed using PLSR and RR based on long-term meteorological data and annual time-series of land use. The relationship between vegetation and hydrological components were also assessed using SWAT hydrological process simulation results.
近几十年来,阿穆尔河流域植被经历了复杂的区域波动和强烈的空间异质性。利用1982—2013年GIMMS NDVI数据和2002—2013年MODIS NDVI/EVI和NPP产品,研究了流域植被时空变化及其驱动因素。采用Mann- Kendall趋势检验对该流域NDVI的可持续性和变化趋势进行了研究。此外,利用线性回归趋势分析了2002-2013年NDVI、EVI和NPP的空间分布趋势。为了进一步评估植被驱动因子,基于长期气象资料和土地利用年际时间序列,利用PLSR和RR分析了各气候因子或各土地利用类型变化对植被的影响。利用SWAT水文过程模拟结果评价了植被与水文组分之间的关系。
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引用次数: 0
期刊
DEStech Transactions on Environment, Energy and Earth Sciences
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