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Shared steering control between a human and an automation designed for low curvature road 人与自动驾驶系统之间的共享转向控制,专为低曲率道路设计
Q4 Engineering Pub Date : 2016-10-10 DOI: 10.1504/IJVS.2016.079655
A. Merah, K. Hartani
In order to facilitate driving and prevent accidents due to lane departure, this paper focuses on the development of an assistance device for lane keeping of a passenger electric vehicle. The goal is to develop a shared control mode based on the anticipation of risk and the prediction of the most probable actions of the driver. The paper is mainly articulated around two axes: the cybernetic modelling of the driver in his task of lateral control of the vehicle and the design of a shared steering control using a Driver-Vehicle-Road (DVR) model. Since many vehicle/road interaction factors (such as road adhesion, aerodynamic forces) and actuator dynamics are very poorly known, the proposed work addresses shared control resulting from applying the linear-quadratic control (LQR) synthesis to the global model (DVR). Innovative criteria were used for assessing the time to lane crossing, the level of sharing between the driver and lateral assistance, as well as their cooperative or conflicting behaviour. All simulation tests are carried out on a 5.8 km track that has several pretty tight radius turns (up to 150 m). The implementation of LQR controller has been made for a longitudinal speed set at 75 km/h. The LQR is sufficient to keep the vehicle under control on a road with low radius curvature. Preliminary simulation results in MATLAB/Simulink are presented to explain the concept.
为了方便驾驶,防止车道偏离事故的发生,本文重点研究了乘用电动汽车车道保持辅助装置的研制。目标是开发一种基于对风险的预测和对驾驶员最可能行为的预测的共享控制模式。本文主要围绕两个轴进行阐述:驾驶员横向控制任务的控制论建模和使用驾驶员-车辆-道路(DVR)模型的共享转向控制设计。由于许多车辆/道路相互作用因素(如道路附着力、空气动力)和执行器动力学知之甚少,因此提出的工作涉及将线性二次控制(LQR)综合应用于全局模型(DVR)所产生的共享控制。创新的标准被用于评估穿越车道的时间,驾驶员和横向辅助之间的共享水平,以及他们的合作或冲突行为。所有的模拟测试都是在5.8公里的赛道上进行的,赛道上有几个非常小的半径转弯(高达150米)。LQR控制器的实现是在纵向速度设定为75公里/小时的情况下进行的。LQR足以使车辆在低半径曲率的道路上保持控制。给出了在MATLAB/Simulink中的初步仿真结果来解释这一概念。
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引用次数: 2
Pedestrian safety: an overview of physical test surrogates, numerical models and availability of cadaveric data for model validation 行人安全:物理测试替代品的概述,数值模型和可用的尸体数据的模型验证
Q4 Engineering Pub Date : 2016-06-22 DOI: 10.1504/IJVS.2016.077152
A. Kalra, Vishal Gupta, M. Shen, X. Jin, C. Chou, King H. Yang
Numerous efforts have been made to replicate pedestrian-car crashes experimentally or numerically to study the pedestrian injury biomechanics for developing countermeasures for pedestrian protection. This overview summarises such efforts towards pedestrian safety and available surrogates used in optimisation of pedestrian-friendly vehicle designs. This paper provides not only available physical surrogates (impactors and pedestrian dummies) used by different regulatory agencies, but also a collection of various numerical models used to predict injury responses in car-pedestrian impacts. Additionally, an overview of many reported cadaveric experiments performed as sustained by pedestrians in car crashes is presented. A validation matrix is proposed for correlating existing/future numerical models with available cadaveric test data. This is to ensure development of high predictive quality FE whole body human models to assess injury risk to pedestrians in car crashes, and in turn for continued improvement over design of pedestrian friendly vehicle front-end and effective countermeasures for pedestrian protection.
为了研究行人损伤的生物力学特性,制定行人保护对策,人们已经做了大量的实验或数值模拟行人与汽车碰撞的研究。本综述总结了行人安全方面的努力,以及用于优化行人友好型车辆设计的可用替代品。本文不仅提供了不同监管机构使用的物理替代品(撞击者和行人假人),而且还提供了用于预测汽车-行人碰撞损伤反应的各种数值模型。此外,概述了许多报道的尸体实验进行了持续的行人在汽车碰撞提出。提出了一个验证矩阵,用于将现有/未来的数值模型与可用的尸体试验数据相关联。这是为了确保开发高预测质量的FE全身人体模型来评估汽车碰撞对行人的伤害风险,从而不断改进行人友好型车辆前端设计和有效的行人保护对策。
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引用次数: 5
Abdominal injury analysis of a 6-year-old pedestrian finite element model in lateral impact 6岁行人侧撞腹部损伤有限元模型分析
Q4 Engineering Pub Date : 2016-06-22 DOI: 10.1504/IJVS.2016.077155
Wenle Lv, J. Ruan, Haiyan Li, Shihai Cui, Lijuan He, Shijie Ruan
A previously developed finite element (FE) model of a 6-year-old pedestrian abdomen was used to analyse internal organs injuries in lateral impact tests in conjunction with scaling methods. The model was applied to reconstruct adult abdominal cadaver experiments in lateral impact to verify its biofidelity by comparing simulation results with scaled experimental response corridors. Simulation results showed that the abdominal force-deformation curves were well matched with the scaled experimental corridors in different impact speeds. The maximum values of abdominal impact force, deformation and viscous criterion (VC) were proportional to impact velocity. In terms of compression and viscous criterion, the paediatric abdomen had a 25% probability risk of AIS4+ (Abbreviated Injury Scale) abdominal injury in impact velocities of 6.7 m/s and 9.4 m/s. Judging by the first principal strain, contusion or rupture of the left kidney, stomach and spleen appeared in simulations of 6.7 m/s and 9.4 m/s, while liver rupture appeared only in simulations of 9.4 m/s. Predicted internal organ injuries were found to be consistent among the force, deformation, and VC basis injury criteria. The maximum abdominal impact force was inversely proportional to the impact angle, while the abdominal deformation was proportional to the impact angle. Therefore, the model can be further applied to analyse abdominal injuries for a 6-year-old human in pedestrian impact.
先前开发的6岁行人腹部有限元(FE)模型用于分析侧面碰撞试验中的内脏损伤,并结合缩放方法。将该模型应用于成人腹部尸体横向碰撞实验中,通过将模拟结果与按比例缩放的实验响应走廊进行对比,验证模型的生物保真度。仿真结果表明,在不同的冲击速度下,腹部力-变形曲线与实验走廊的比例曲线吻合较好。腹部冲击力、变形和粘性判据(VC)的最大值与冲击速度成正比。在压缩和粘性标准方面,在6.7 m/s和9.4 m/s的冲击速度下,儿童腹部发生AIS4+(简略损伤量表)腹部损伤的概率为25%。从第一主应变判断,在6.7 m/s和9.4 m/s的模拟中出现左肾、胃和脾脏的挫伤或破裂,而仅在9.4 m/s的模拟中出现肝脏破裂。预测的内脏损伤在力、变形和VC基础损伤标准中是一致的。腹部最大冲击力与冲击角度成反比,腹部变形与冲击角度成反比。因此,该模型可以进一步应用于分析6岁儿童在行人撞击下的腹部损伤。
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引用次数: 4
Road traffic accidents trends in Sharjah, United Arab Emirates during 2001-2014 2001-2014年阿拉伯联合酋长国沙迦道路交通事故趋势
Q4 Engineering Pub Date : 2016-06-22 DOI: 10.1504/IJVS.2016.077151
Khaled Hamad
This paper quantitatively describes the extent of the road traffic accidents problem in the Emirate of Sharjah, the third largest emirate in UAE, for the period 2001-2014. Several interesting findings were revealed. While Sharjah's population almost doubled during this period, the number of injury/fatality causing accidents decreased by more than half during the same period. The annual number of road accidents and injuries increased until the 2008 when the numbers sharply declined then stabilised in recent years, which could be attributed to the introduction of the new traffic law of UAE. Though both accidents and injuries per 100,000 population considerably decreased annually, the fatalities per 100,000 population only marginally decreased, indicating that the severity of accident may have increased. Overall, Sharjah enjoyed a better rate of fatalities per 100,000 population than that for the whole UAE. This paper's results should be useful to identify directions to undertake in future research, policies, and programs on highway safety in Sharjah, UAE.
本文定量描述了2001-2014年期间阿联酋第三大酋长国沙迦酋长国道路交通事故问题的程度。一些有趣的发现被揭示出来。虽然沙迦的人口在此期间几乎翻了一番,但造成事故的伤害/死亡人数在同一时期减少了一半以上。每年的交通事故和伤害数量一直在增加,直到2008年,这些数字急剧下降,然后近年来趋于稳定,这可能归因于阿联酋新交通法的引入。虽然每10万人的事故和受伤人数每年都大大减少,但每10万人的死亡人数只略微减少,这表明事故的严重程度可能有所增加。总的来说,沙迦每10万人的死亡率要高于整个阿联酋。本文的研究结果应该有助于确定阿联酋沙迦未来公路安全研究、政策和计划的方向。
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引用次数: 5
Development and validation of a head/brain FE model and investigation of influential factor on the brain response during head impact 头/脑有限元模型的建立与验证及对头部撞击时脑反应影响因素的研究
Q4 Engineering Pub Date : 2016-06-22 DOI: 10.1504/IJVS.2016.077145
Noritoshi Atsumi, Yuko Nakahira, M. Iwamoto
Higher brain dysfunction due to traumatic brain injury (TBI) caused by head rotational impact in traffic accidents is one of the most serious automotive safety problems. However, the injury mechanism still remains unclear. In this study, we developed two human head finite element (FE) models based on THUMS for further understanding of TBI mechanism. Parametric studies were performed to investigate the factors affecting brain tissue displacements and intracranial pressures during head impact by using these models. The mesh fineness, material properties of cerebrospinal fluid (CSF) and contact conditions between brain parenchyma and surrounding external organisation had little influence on validation accuracy against test data on brain responses of post mortem human subjects (PMHS). However, there were significant differences in the values of cumulative strain damage measure (CSDM) and the contours of strain distribution between these models. These findings have the potential for better understanding of TBI mechanism.
交通事故中头部旋转碰撞引起的创伤性脑损伤(TBI)导致的高级脑功能障碍是最严重的汽车安全问题之一。然而,损伤机制仍不清楚。在这项研究中,我们建立了两个基于THUMS的人体头部有限元模型,以进一步了解TBI机制。使用这些模型进行参数化研究,探讨影响头部撞击时脑组织移位和颅内压的因素。网状物的细度、脑脊液(CSF)的材料特性以及脑实质与周围外部组织的接触条件对死后人类受试者(PMHS)脑反应测试数据验证的准确性影响不大。但两种模型的累积应变损伤测量值(CSDM)和应变分布轮廓存在显著差异。这些发现有可能更好地了解TBI的机制。
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引用次数: 24
Comparison of driving performance during the blood alcohol concentration ascending period and descending period under alcohol influence in a driving simulator 驾驶模拟器中酒精影响下血液酒精浓度上升和下降期间驾驶性能的比较
Q4 Engineering Pub Date : 2016-06-22 DOI: 10.1504/IJVS.2016.077154
Hui-qin Chen, Guanjun Zhang, Ren-peng Chen, Lei Chen, Xiexing Feng
The objective of this research was to study the performance of young novice male drivers in a driving simulator after they were administered different doses of alcohol (placebo: 0 g/kg; medium dose: 0.75 g/kg; high dose: 1 g/kg) during the blood alcohol concentration (BAC) ascending and descending periods. The high dose of alcohol produced an average peak BAC of 74±5.477 mg/100 ml at 30 min after administration, and the medium dose produced an average peak BAC of 47.714±17.68 mg/100 ml at 10 min after administration. Compared with the placebo, the drivers' performance under the high dose of alcohol was characterised by more abrupt steering manoeuvres, a greater average speed, and a greater offset from the lane centre. The drivers were more timid under the medium dose administration. The study on driver behaviour plays an important role on constructing the early warning model, so as to put forward the corresponding intervention measures of unsafe driving behaviour and improve vehicle safety in reducing accidents due to drinking and/or drunk driving on public roads.
本研究的目的是研究年轻男性新手驾驶员在驾驶模拟器中被给予不同剂量的酒精后的表现(安慰剂:0 g/kg;中剂量:0.75 g/kg;高剂量:1 g/kg)在血液酒精浓度(BAC)上升和下降期间。高剂量酒精在给药后30 min产生的平均峰值BAC为74±5.477 mg/100 ml,中剂量酒精在给药后10 min产生的平均峰值BAC为47.714±17.68 mg/100 ml。与服用安慰剂的司机相比,高剂量酒精下的司机表现出更突然的转向动作、更高的平均速度和更大的偏离车道中心的程度。中剂量组小鼠胆子更小。驾驶员行为研究对于构建预警模型,提出相应的不安全驾驶行为干预措施,提高车辆安全性,减少公共道路上酒后驾驶事故具有重要作用。
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引用次数: 1
Optimisation study of occupant restraint system concerning variations in occupant size and crash severity in frontal collisions 考虑乘员体型变化和正面碰撞严重程度的乘员约束系统优化研究
Q4 Engineering Pub Date : 2016-01-27 DOI: 10.1504/IJVS.2015.074373
Yi Huang, Qing Zhou, Xiaowei Zhang, Cong Wang
Restraint system parameter configurations encouraged by the current legislative or consumer crash tests cannot provide tailored protection to occupants with different statures under various crash severities. The restraint system parameters should be adapted to different circumstances. In this study, a restraint system optimisation framework was built to explore optimal configurations for five different sizes of occupants in two crash severities. Seat position was treated as a variable in the design space. The optimisation results showed that optimal seat positions had clear patterns for the two crash severities. In high crash severity, dummies tended to sit closer to the knee bolster to achieve better contacts of airbag and knee bolster. In low crash severity, optimal seat positions were farther from knee bolster. With aggressively tuned pretensioner and stature dependent load limiting values, the dummies were efficiently restrained by the seat belt. Tailored protections to the ten cases were achieved after the optimisation, compared to the fixed parameter restraint system. Language: en
当前立法或消费者碰撞试验所鼓励的约束系统参数配置,无法在不同碰撞严重程度下为不同身高的乘员提供量身定制的保护。约束系统参数应适应不同的情况。在本研究中,建立了一个约束系统优化框架,以探索两种碰撞严重程度下五种不同体型的乘员的最优配置。座椅位置在设计空间中被视为一个变量。优化结果表明,两种碰撞严重程度下的最优座椅位置具有明显的规律。在碰撞严重程度较高的情况下,假人倾向于坐得离膝盖靠得更近,以更好地接触安全气囊和膝盖靠得更近。在较低的碰撞严重程度下,最佳的座位位置离膝盖较远。通过积极调整预紧器和身高相关的负载限制值,假人被安全带有效地约束。与固定参数约束系统相比,优化后实现了针对十种情况的定制保护。语言:在
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引用次数: 4
Development and validation of a 6-year-old pedestrian thorax and abdomen finite element model and impact injury analysis 6岁行人胸腹部有限元模型的建立与验证及碰撞损伤分析
Q4 Engineering Pub Date : 2016-01-27 DOI: 10.1504/IJVS.2015.074378
Wenle Lv, Shijie Ruan, Haiyan Li, Shihai Cui, Lijuan He
A detailed anatomy structure finite element (FE) model of the paediatric thorax and abdomen of a 6-year-old was constructed and validated. The thoracoabdominal geometrical model, extracted from computed tomography (CT) scan images of a 6-year-old child, was divided into finite element models with different types of elements. The validity of the model was verified by reconstructing impact experiments of paediatric cadaver thorax and abdomen and comparing impact force-deformation curves, maximum viscous criterion (VC) values and tissue injuries between simulations and experiments. The simulation results showed that the thoracoabdominal impact force-deformation curves located in the experimental corridors, and the trend of the curves, was well consistent with the experimental corridors. The maximum viscous criterion values in simulations were also located in the range of experimental results. Injuries to ribs and internal organs predicted in simulations were consistent with the autopsy results. Therefore, the model can be used to study the mechanism of child pedestrians' thoracic and abdominal injury in traffic accidents. Language: en
建立了6岁儿童胸腹细部解剖结构有限元模型并进行了验证。从6岁儿童的CT扫描图像中提取胸腹几何模型,将其划分为不同单元类型的有限元模型。通过重建儿童尸体胸腔和腹部的冲击实验,比较模拟与实验的冲击力变形曲线、最大粘性判据(VC)值和组织损伤,验证了模型的有效性。仿真结果表明,胸腹碰撞力-变形曲线位于实验廊道内,其变化趋势与实验廊道吻合较好。模拟的最大粘性判据值也位于实验结果的范围内。模拟预测的肋骨和内脏损伤与尸检结果一致。因此,该模型可用于研究交通事故中儿童行人胸腹损伤的发生机制。语言:在
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引用次数: 5
Define occupant restraint system characteristics by using two-step trapezoid method based on ride-down rate control in frontal impact 采用两步梯形法定义正面碰撞下的乘员约束系统特性
Q4 Engineering Pub Date : 2016-01-27 DOI: 10.1504/IJVS.2015.074377
Jian Zhou, Shao Qiu, Junyuan Zhang, Yue Ma
This paper presents a trapezoid method for occupant restraint system design analysis based on occupant ride-down energy control theory. The sub-system characteristic determination of an occupant restraint system could be simplified and analysed by a two-step trapezoid energy curve which is generated from ride-down energy control method. The parameter definitions resulted from the target two-step residual energy trapezoid analysis for some case studies were put into a numerical model for validation. Occupant responses showed very good agreements between the outcomes both from trapezoid analysis and the numerical simulation. In the concept design phase, this method could be used to give rapid assessments for restraint system parameters based on occupant injury target, available vehicle crush space and interior survival space design, and provide reliable inputs for sub-restraint system design and a good reference point for the initial restraint system layout.
提出了一种基于乘员下车能量控制理论的乘员约束系统设计分析的梯形方法。乘员约束系统子系统特性的确定可以用两步梯形能量曲线进行简化和分析。将目标两步剩余能量梯形分析所得到的参数定义转化为数值模型进行验证。梯形分析结果与数值模拟结果吻合较好。在概念设计阶段,该方法可对基于乘员伤害目标、车辆可用挤压空间和车内生存空间设计的约束系统参数进行快速评估,为子约束系统设计提供可靠的输入,为初始约束系统布局提供良好的参考点。
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引用次数: 4
Abdominal impact study on paediatric cadaveric subjects 小儿尸体的腹部影响研究
Q4 Engineering Pub Date : 2016-01-27 DOI: 10.1504/IJVS.2015.074369
J. Ouyang, Qingan Zhu, S. Zhong, Zeyu Li, Chang Liu
The purpose of this study was to provide structural response of front abdominal impact in children. Nine unembalmed cadavers were divided into two groups. A young cohort aged 2-4 years (four cadavers) and an older cohort aged 5-12 years (five cadavers) were impacted. An autopsy was performed after the impact. The average velocity of the cadaveric tests was 6.3 m/s (±0.25 m/s). Mean peak V*C values were 2.53±0.59 m/s and 1.98±0.41 m/s in old cadaveric cohort and young cadaveric cohort respectively (p > 0.05). The maximum deformation and mean peak forces were 9.27±0.21 cm, 530.30±102.62 N and 9.88±1.50 cm, 929.16±133.24 N in young cohort and old cohort separately (p < 0.05). Eight cadavers were found with various injuries. Good force-deformation data may be derived from the cadaveric response data, and force/deformation corridors have been derived for both subject populations.
本研究的目的是提供儿童前腹部撞击的结构反应。九具未经防腐处理的尸体被分成两组。2-4岁的年轻队列(4具尸体)和5-12岁的老年队列(5具尸体)受到影响。撞击后进行了尸检。尸体试验的平均速度为6.3 m/s(±0.25 m/s)。老年组和青年组的平均峰值V*C值分别为2.53±0.59 m/s和1.98±0.41 m/s (p < 0.05)。青年组最大变形量为9.27±0.21 cm,平均峰值力为530.30±102.62 N,老年组最大变形量为9.88±1.50 cm,平均峰值力为929.16±133.24 N (p < 0.05)。八具尸体被发现,身上有不同的伤痕。良好的力-变形数据可以从尸体反应数据中得到,并且力/变形走廊已经为两个受试者群体得到。
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引用次数: 5
期刊
International Journal of Vehicle Safety
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