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Distributed Algorithm for Constructing Efficient Tree Topology for Message Dissemination in Vehicular Networks 构建高效树状拓扑的分布式算法在车载网络中的消息传播
Pub Date : 2014-02-20 DOI: 10.1155/2014/903895
S. Kamakshi, S. Natarajan
Vehicular ad hoc network is an ad hoc network constituted among moving vehicles that have wireless dedicated short range communication (DSRC) devices in order to provide ubiquitous connectivity even if the road-side infrastructure is unavailable. Message dissemination in vehicular ad hoc networks is necessary for exchanging information about prevailing traffic information, so that the vehicles can take alternate routes to avoid traffic jam. A major challenge in broadcast protocols is that they result in flooding of messages that reduce the speed of dissemination due to collision. Dissemination of messages using tree topology reduces the number of rebroadcasts. Dynamicity Aware Graph Relabeling System model provides a framework to construct spanning tree in mobile wireless network. In this paper, we propose a new distributed algorithm for constructing an arbitrary spanning tree based on Dynamicity Aware Graph Relabeling System model, which develops a maximum leaf spanning tree in order to reduce the number of rebroadcasts and dissemination time. Our simulation results prove that the number of vehicles rebroadcasting the message is curtailed to 15% and the dissemination time required to achieve 100% reachability is curtailed by 10% under average vehicle density.
车辆自组织网络是在具有无线专用短距离通信(DSRC)设备的移动车辆之间建立的自组织网络,目的是在道路侧基础设施不可用的情况下提供无处不在的连接。车辆自组织网络中的消息发布是交换当前交通信息的必要条件,从而使车辆能够选择备选路线以避免交通堵塞。广播协议的一个主要挑战是它们会导致消息泛滥,由于碰撞而降低传播速度。使用树状拓扑的消息传播减少了重广播的次数。动态感知图重标注系统模型为移动无线网络中生成树的构建提供了一个框架。本文提出了一种基于动态感知图重标注系统模型构建任意生成树的分布式算法,该算法通过构造最大叶生成树来减少重发次数和传播时间。我们的仿真结果证明,在平均车辆密度下,转播消息的车辆数量减少到15%,达到100%可达性所需的传播时间减少了10%。
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引用次数: 2
Robust PID Steering Control in Parameter Space for Highly Automated Driving 高度自动驾驶参数空间鲁棒PID转向控制
Pub Date : 2014-02-04 DOI: 10.1155/2014/259465
M. T. Emirler, Ismail Meric Can Uygan, B. A. Güvenç, L. Guvenç
This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies -stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan.
本文设计了一种基于参数空间的鲁棒PID转向控制器。该控制器用于中型轿车自动路径跟随的自动转向。本文建立了该中型轿车的线性和非线性模型。实验结果验证了车辆的纵向和横向动力学模型。本文研究的是自动转向控制,主要集中在横向运动方向上。利用线性模型在参数空间中设计满足-稳定性的PID转向控制器。将所设计的PID转向控制器应用于仿真研究,验证了所提方法的有效性。给出了圆弹道和曲线弹道的仿真结果,并进行了详细的讨论。这项研究是一项旨在实现中型轿车高度自动化驾驶的大型研究的一部分。
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引用次数: 54
Control of Yaw Disturbance Using Fuzzy Logic Based Yaw Stability Controller 基于模糊逻辑的偏航稳定性控制器控制偏航扰动
Pub Date : 2014-02-04 DOI: 10.1155/2014/754218
S. Krishna, S. Narayanan, S. Ashok
Yaw stability is an important consideration for the vehicle directional stability and handling behavior during emergency maneuvers. In order to maintain the desired path of the vehicle, in presence of disturbances due to cross wind, different road conditions, and tire deflections, a fuzzy logic based yaw stability controller is proposed in this paper. Proposed control system receives yaw rate error, steering angle given by the driver, and side slip angle as inputs, for calculating the additional steering angle as output, for maintaining the yaw stability of the vehicle. As the side slip angle cannot be measured directly in a vehicle, it was estimated using a model based Kalman observer. A two-degrees-of-freedom vehicle model is considered in the present work. The effect of disturbance on yaw rate and yaw rate error of the vehicle is simulated for sinusoidal, step maneuver and compared with the existing fuzzy control system which uses two inputs such as steering angle and yaw rate. The simulation results show better performance of the proposed fuzzy based yaw controller as compared with existing control system. Proposed fuzzy based yaw stability controller can be implemented in steer-by-wire system for an active front steering of a road vehicle.
在紧急机动中,横摆稳定性是影响车辆航向稳定性和操纵行为的重要因素。为了在侧风、不同路况和轮胎偏转等干扰下保持车辆的预期路径,本文提出了一种基于模糊逻辑的偏航稳定性控制器。所提出的控制系统以横摆角速度误差、驾驶员给出的转向角和侧滑移角为输入,计算额外的转向角作为输出,维持车辆的横摆稳定性。由于无法直接测量车辆的侧滑角,采用基于卡尔曼观测器的模型对侧滑角进行估计。本文考虑的是一个二自由度的车辆模型。仿真了干扰对飞行器正弦波阶跃机动的横摆角速度和横摆角速度误差的影响,并与现有的采用转向角和横摆角速度两个输入的模糊控制系统进行了比较。仿真结果表明,与现有控制系统相比,所提出的模糊偏航控制器具有更好的性能。所提出的基于模糊的偏航稳定性控制器可用于道路车辆主动前转向的线控转向系统。
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引用次数: 6
Performance Comparison of IEEE 802.11p and IEEE 802.11b for Vehicle-to-Vehicle Communications in Highway, Rural, and Urban Areas IEEE 802.11p和IEEE 802.11b在高速公路、农村和城市地区车对车通信中的性能比较
Pub Date : 2013-11-06 DOI: 10.1155/2013/971684
B. E. Bilgin, V. C. Gungor
Communication between vehicles has recently been a popular research topic. Generally, the Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), and Infrastructure-to-Infrastructure (I2I) communications applications can be divided into two sections: (i) safety applications and (ii) nonsafety applications. In this study, we have investigated the performance of IEEE 802.11p and IEEE 802.11b based on real-world measurements and radio propagation models of V2V networks in different environments, including highway, rural, and urban areas. Furthermore, we have investigated the most used V2V mobility models and simulation tools. Comparative performance evaluations show that the IEEE 802.11p achieves higher network throughput, low end-to-end delay, and higher delivery ratio compared to IEEE 802.11b. Overall, our main objective is to describe potential advantages, research challenges, and applications of V2V networks and show how IEEE 802.11p and IEEE 802.11b will perform under different radio propagation environments.
车辆之间的通信是最近一个热门的研究课题。一般来说,车对车(V2V)、车对基础设施(V2I)和基础设施对基础设施(I2I)通信应用可以分为两部分:(i)安全应用和(ii)非安全应用。在本研究中,我们基于实际测量和不同环境(包括高速公路、农村和城市地区)的V2V网络无线电传播模型,研究了IEEE 802.11p和IEEE 802.11b的性能。此外,我们还研究了最常用的V2V移动性模型和仿真工具。对比性能评估表明,与IEEE 802.11b相比,IEEE 802.11p实现了更高的网络吞吐量、更低的端到端延迟和更高的传输率。总体而言,我们的主要目标是描述V2V网络的潜在优势、研究挑战和应用,并展示IEEE 802.11p和IEEE 802.11b在不同无线电传播环境下的表现。
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引用次数: 52
Advances of Human Factors Research for Future Vehicular Technology 面向未来车辆技术的人为因素研究进展
Pub Date : 2013-09-30 DOI: 10.1155/2013/749089
M. Akamatsu, P. Green, K. Bengler
Although automotive human factors research began after the World War II, vehicular technology has developed to adapt the vehicle to the human operator and the requirements of traffic since its inception, with the initial focus being on ease of operation of the steering wheel and brake pedal and methods to provide adequate road illumination at night. For many decades, human factors research mainly concerned making the primary driving tasks (controlling a vehicle and obeying signs and signals) easy to do, providing adequate space for the driver and passengers, mitigating crash injuries, and making secondary controls and displays inside the vehicle easy to use. With the introduction of advanced driver assistance systems and driver information systems in 1980s, there have been a marked increase in the number of studies of driver mental workload as well as more general, quantitative studies of driver behavior, both on real roads and in driving simulators to help design and evaluate those systems. That line of human factors research will continue as vehicle automation and driver information increases. Another line of research concerns driver distraction, with a special concern being the use of mobile devices such as cellular phones. The implementation of driver assistance and information systems has resulted in a shift in automotive human factors research. METHODS for the automotive human factors research have been mostly transferred from psychology and cognitive science, physiology, statistics, and various engineering disciplines. But, as vehicular technology continues to evolve, new methods and theories are needed to address those issues and the human aspects of the vehicular technology so vehicles will be safe, easy to use, and useful. Keywords: Driver distraction; Language: en
虽然汽车人为因素的研究始于第二次世界大战后,但车辆技术已经发展到使车辆适应人类操作员和交通的要求,最初的重点是方向盘和刹车踏板的易于操作以及在夜间提供充足道路照明的方法。几十年来,人为因素的研究主要涉及使主要驾驶任务(控制车辆和服从标志和信号)易于完成,为驾驶员和乘客提供足够的空间,减轻碰撞伤害,以及使车内的次要控制和显示易于使用。随着20世纪80年代先进的驾驶员辅助系统和驾驶员信息系统的引入,对驾驶员心理负荷的研究以及对驾驶员行为的更一般的定量研究的数量显著增加,无论是在真实道路上还是在驾驶模拟器上,以帮助设计和评估这些系统。随着车辆自动化和驾驶员信息的增加,这方面的人为因素研究将继续下去。另一项研究涉及司机分心,特别关注的是使用手机等移动设备。驾驶辅助和信息系统的实施导致了汽车人为因素研究的转变。汽车人为因素的研究方法主要是从心理学和认知科学、生理学、统计学和各种工程学科转移过来的。但是,随着车辆技术的不断发展,需要新的方法和理论来解决这些问题,以及车辆技术的人性化方面,以便车辆安全,易于使用和有用。关键词:驾驶员分心;语言:在
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引用次数: 1
Analysis of Temporal Relationships between Eye Gaze and Peripheral Vehicle Behavior for Detecting Driver Distraction 人眼注视与周边车辆行为的时间关系分析用于驾驶员分心检测
Pub Date : 2013-09-15 DOI: 10.1155/2013/285927
Takatsugu Hirayama, K. Mase, K. Takeda
A car driver’s cognitive distraction is a main factor behind car accidents. One’s state of mind is subconsciously exposed as a reaction reflecting it by external stimuli. A visual event that occurs in front of the driver when a peripheral vehicle overtakes the driver’s vehicle is regarded as the external stimulus. We focus on temporal relationships between the driver’s eye gaze and the peripheral vehicle behavior. The analysis result showed that the temporal relationships depend on the driver’s state. In particular we confirmed that the timing of the gaze toward the stimulus under the distracted state induced by a music retrieval task using an automatic speech recognition system is later than that under a neutral state while only driving without the secondary cognitive task. This temporal feature can contribute to detecting the cognitive distraction automatically. A detector based on a Bayesian framework using this feature achieves better accuracy than one based on the percentage road center method.
汽车司机的认知分心是导致交通事故的主要因素。一个人的心理状态下意识地暴露出来,作为外界刺激对其的反应。当周边车辆超过驾驶员的车辆时,驾驶员前方发生的视觉事件被视为外部刺激。我们关注驾驶员眼睛注视与周边车辆行为之间的时间关系。分析结果表明,时间关系依赖于驾驶员的状态。特别是,我们证实,在使用自动语音识别系统的音乐检索任务引起的分心状态下,注视刺激的时间比在无辅助认知任务的驾驶下的中性状态下晚。这种时间特征有助于自动检测认知分心。基于贝叶斯框架的检测器使用该特征比基于百分比道路中心方法的检测器具有更好的精度。
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引用次数: 16
Automotive Technology and Human Factors Research: Past, Present, and Future 汽车技术与人为因素研究:过去、现在和未来
Pub Date : 2013-09-04 DOI: 10.1155/2013/526180
M. Akamatsu, P. Green, K. Bengler
This paper reviews the history of automotive technology development and human factors research, largely by decade, since the inception of the automobile. The human factors aspects were classified into primary driving task aspects (controls, displays, and visibility), driver workspace (seating and packaging, vibration, comfort, and climate), driver’s condition (fatigue and impairment), crash injury, advanced driver-assistance systems, external communication access, and driving behavior. For each era, the paper describes the SAE and ISO standards developed, the major organizations and conferences established, the major news stories affecting vehicle safety, and the general social context. The paper ends with a discussion of what can be learned from this historical review and the major issues to be addressed. A major contribution of this paper is more than 180 references that represent the foundation of automotive human factors, which should be considered core knowledge and should be familiar to those in the profession.
本文回顾了自汽车诞生以来,汽车技术发展和人为因素研究的历史。人为因素方面分为主要驾驶任务方面(控制、显示和可视性)、驾驶员工作空间(座位和包装、振动、舒适性和气候)、驾驶员状态(疲劳和损伤)、碰撞伤害、高级驾驶员辅助系统、外部通信访问和驾驶行为。对于每个时代,本文描述了SAE和ISO标准的制定,主要组织和会议的建立,影响车辆安全的主要新闻报道,以及一般的社会背景。本文最后讨论了从这一历史回顾中可以学到什么以及需要解决的主要问题。本文的一个主要贡献是180多篇参考文献,这些文献代表了汽车人为因素的基础,应该被认为是核心知识,应该被业内人士所熟悉。
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引用次数: 81
Improving Energy Conversion Efficiency by means of Power Splitting in Dual Drive Train EV Applications 在双传动系统电动汽车应用中,通过功率分割提高能量转换效率
Pub Date : 2013-08-26 DOI: 10.1155/2013/398361
M. Roscher, R. Michel, Wolfgang Leidholdt
The limited amount of energy stored on board of battery electric vehicles (BEV) spurs research activities in the field of efficiency optimization for electric drive train applications in order to achieve an enhanced mileage. In this work a control method for BEV applications with two drive trains (e.g., one at the front and one at the rear axle) is presented. Herein, a simple optimization algorithm is introduced enabling to operate the two drives with different torque values, depending on the instantaneous operation point, leading to a reduction of apparent power losses on board. Simulations on a virtual BEV yield a decrease in the cumulated energy consumptions during typical BEV operation, leading to an increase in the achievable mileage.
电池电动汽车(BEV)上存储的能量有限,这促使人们对电动传动系统应用的效率优化领域进行研究,以实现更高的行驶里程。在这项工作中,提出了一种具有两个传动系(例如,一个在前轴,一个在后轴)的纯电动汽车应用的控制方法。本文介绍了一种简单的优化算法,可以根据瞬时工作点的不同,以不同的转矩值运行两个驱动器,从而降低车载视在功率损耗。在虚拟纯电动汽车上的模拟结果表明,在典型的纯电动汽车运行过程中,累计能耗有所降低,从而提高了可实现的行驶里程。
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引用次数: 3
Fuel Efficiency by Coasting in the Vehicle 通过车辆滑行来提高燃油效率
Pub Date : 2013-08-26 DOI: 10.1155/2013/391650
Payman Shakouri, A. Ordys, P. Darnell, Peter Kavanagh
This paper investigates the possibility of improving the fuel efficiency by decreasing the engine speed during the coasting phase of the vehicle. The proposed approach is stimulated by the fact that the engine losses increase with the engine speed. If the engine speed is retained low, the engine losses will be reduced and subsequently the tractive torque will be increased, enabling the vehicle to remain moving for longer duration while coasting. By increasing the time period of the coasting the fuel efficiency can be increased, especially travelling downhill, since it can benefit from the kinematic energy stored in the vehicle to continue coasting for a longer duration. It is already industry standard practice to cut fuel during coasting and refuel at low engine speed. The substantial difference proposed in this paper is the controlled reduction of engine speed during this phase and thus reduction in the engine losses, resulting in improved fuel economy. The simulation model is tested and the results illustrating an improvement to the fuel efficiency through the proposed method are presented. Some results of the experimental tests with a real vehicle through the proposed strategy are also presented in the paper.
本文研究了在车辆滑行阶段通过降低发动机转速来提高燃油效率的可能性。随着发动机转速的增加,发动机的损失也随之增加,这一事实对所提出的方法有一定的启发。如果发动机转速保持在较低水平,发动机损失将会减少,随后牵引扭矩将会增加,使车辆在滑行时保持更长的运动时间。通过增加滑行的时间,可以提高燃油效率,特别是下坡行驶,因为它可以从储存在车辆中的运动学能量中受益,继续滑行更长时间。在滑行期间减少燃油并在低发动机转速下加油已成为行业标准做法。本文提出的实质性区别是在这一阶段控制发动机转速的降低,从而减少发动机的损失,从而提高燃油经济性。对仿真模型进行了测试,结果表明采用该方法可以提高燃油效率。文中还介绍了采用该策略在一辆实车上进行的一些实验结果。
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引用次数: 16
The Front Seat Passenger: How to Transfer Qualitative Findings into Design 前座乘客:如何将定性发现转化为设计
Pub Date : 2013-07-09 DOI: 10.1155/2013/972570
Sebastian Osswald, Petra Sundström, M. Tscheligi
While the field of automotive HCI research abounds in driver-focused design and studies of driver distraction, relatively little attention has been directed to the front seat passengers. A challenge for designers and researchers is the ideation through exploration of passenger experiences and needs and the question of how to integrate them in design solutions. In this paper, we ground an ideation exercise based on results of a probing study conducted at two petrol stations. A probing package for front seat passengers was designed and distributed in cooperation with a petrol station company. Approximately 700 customers were approached randomly and 90 probe packages were handed out. 30 probing packages were returned and a segment clustering and a qualitative analysis were performed. The results gave insights into the activities and needs of front seat passengers and were then used in a design workshop together with a group of industrial designers. A set of ideas for novel interface solutions for front seat passengers were developed such as the invisible engine (look through the motor block with a display-based camera system). We further discuss the challenges and shortcomings of how to interpret and express ideas when transferring qualitative research findings into design.
虽然汽车人机交互研究领域充斥着以驾驶员为中心的设计和驾驶员分心的研究,但对前排乘客的关注相对较少。设计师和研究人员面临的挑战是通过探索乘客的体验和需求来构思,以及如何将它们整合到设计解决方案中。在本文中,我们根据在两个加油站进行的探索性研究的结果进行了一个构思练习。与一家加油站公司合作,为前排乘客设计和分发了一个探测包。随机接近700多名顾客,分发了90个探测包。返回30个探测包,进行分段聚类和定性分析。结果提供了对前排乘客的活动和需求的见解,然后与一组工业设计师一起用于设计研讨会。为前排乘客开发了一系列新颖的界面解决方案,例如隐形引擎(通过基于显示的摄像头系统查看马达块)。我们进一步讨论了如何在将定性研究结果转化为设计时解释和表达思想的挑战和缺点。
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引用次数: 13
期刊
International Journal of Vehicular Technology
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