车载移动测量激光点云与线阵影像融合

提出一种线阵影像数据与激光点云数据融合方法:利用组合导航数据解算点云绝对坐标的同时,也获取线阵相机的外方位元素,进而能够从线阵影像中计算查找到与点云对应的RGB值,实现点云数据与影像数据的融合。经试验证明,该技术方法在数据处理过程中无需进行同名点匹配,实现了数据融合的自动化处理,融合精度高,能够满足各种复杂情况下的移动测量要求。     

电动轮汽车再生制动系统控制策略

运用汽车制动稳定性理论对电动轮汽车的机电复合制动系统进行了分析,参考已有的再生制动控制策略,提出了适用于电动轮汽车的再生制动系统控制策略。使用NEDC工况,分别对电动轮汽车和普通电动汽车进行仿真分析,结果表明:所提出的再生制动系统控制策略适用于电动轮汽车,并且能使电动轮汽车在制动稳定性、能量回收能力上明显优于普通电动汽车。     

基于视觉及多特征的前方车辆检测算法

针对现有视频车辆检测算法受光照、噪声等环境因素影响大,漏检和误检率高,难以同时满足鲁棒性及实时性的问题,提出了一种完整的前方车辆检测算法.该算法在改进的Hough变换提取车道线的基础上,首先对图像进行自适应二值化处理,通过腐蚀、膨胀法滤除干扰点;使用简洁有效的方法进行阴影线的合并及ROI区域的提取;算法利用目标区域内的信息熵、车尾对称性特征对感兴趣区域(region of interest,ROI)进行筛选和判别,降低了算法的漏检和误检率;使用改进的Robinson方向检测算子提取车辆边界,取得了较好的效果.结果表明:在处理分辨率为640×480的视频时,检测正确率89%,运算速度平均为17.6帧/s.     

智能电网中电动汽车充电的自适应电价控制方法

针对电动汽车的充电提出一种电价控制策略。聚合管理者集中管理电动汽车的电池,并且考虑用电高峰时电网的电能供给有限,通过电价控制调整充电的需求量。采用自适应动态规划,通过在线网络训练,得到最优的电价策略。仿真结果表明,该自适应电价控制方法能够通过学习电动汽车的移动性和充电过程,从而调整实际充电需求量至期望水平,保证智能电网的稳定运行。     

Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

A new method based on adaptive Hessian matrix threshold of finding key SRUF( speeded up robust features) features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First,the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then,the standard local invariant feature extraction algorithm SRUF is analyzed,the Hessian Metrix is especially discussed,and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last,different dynamic object recognition experiments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for unmanned vehicle systems.     

Rigid-Flexible Coupling Dynamic Analysis of Sub-Launched Vehicle During the Vertical Tube-Exit Stage

During the launching stage,hydrodynamic pressure and adapters’ reaction loads can influence the vehicle’s rigid motion as well as cause its structural vibration,which is a typical rigid-flexible coupling dynamic problem. This paper presents a 2-D rigid-flexible coupling model to calculate the vehicle’s dynamic responses in that period.The vehicle was equivalent to a flexure beam with axial deformation. Hybrid coordinate and modal superposition methods were used to describe its large rigid displacement and small deformation. By the second Lagrange equation,the vehicle centroid’s displacements,rotational angle and modal coordinates were chosen as generalized coordinates and then the vehicle ’s rigid-flexible coupling dynamic equations were obtained. By numerical simulation,the results of vehicle’s motion parameters and transverse internal loads were acquired.The calculation results showed that differences of the vehicle’s motion parameters between the rigid-flexible coupling model and the rigid body assumption are noticeable and the peak magnitude of the vehicle’s transverse internal loads in the rigid-flexible coupling model is higher remarkably than that in the rigid body assumption.     

Research and Application of Dynamic Equation for Full Frontal Impact

Full frontal impact theory needs researching and exploring to satisfy the primary safety design of occupant restraint system,avoiding the increasingly "engineering"trend in order to develop and design safety vehicle. After occupant restraint system is simulated by using linear elastic stiffness k,the occupant-vehicle frontal rigid barrier impact model is established. Dynamic equation of dummy chest coupling vehicle is built for full frontal impact based on ordinary vehicle deceleration by Hooke law,and the equation is solved by comparing coefficient and satisfying boundary qualifications. While relative vehicle characteristic parameters are kept unchanging,the actual vehicle deceleration is fitted to the simplified equivalent square wave( ESW),tipped equivalent square wave( TESW) and equivalent dual trapezoids wave( EDTW). Phase angle  and amplitude A of dynamic equations based on ESW,TESW and EDTW are calculated and deduced. The results show that: the dynamic equation of dummy chest coupling vehicle can be well utilized to instruct the primary safety design of full frontal impact for objective vehicle to satisfy chest deceleration demands and the equation based on TESW is best for this design.     

电动汽车跨区域充换电计量计费清分结算研究

为确保电动汽车跨区域充换电顺利完成电费结算,研究了跨区域充换电的交易流程,并提出一种成本清分和收入清分的方法,并建立了运营商运营成本模型和客户支付充换电的费用单价模型.在此基础上,设计开发了一套清分结算系统,并对上述两个模型的实用性加以论证,为实施跨区域充换电提供参考.     

基于GA的两轮自平衡小车LQR最优控制器设计

针对传统LQR最优控制器权重矩阵确定困难以及由此导致的响应速度慢等问题,以具有多变量、强耦合、非线性特点的两轮自平衡小车为被控对象,提出了一种通过遗传算法实现LQR控制器参数寻优的方法。选择线性二次型性能指标为目标函数,利用遗传算法的全局优化搜索能力,获取权阵Q的最优解,从而设计状态反馈控制率K,搭建系统动力学模型进行仿真实验。实验结果表明:该方法设计的最优控制器相对于传统的极点配置和LQR方法具有更好的控制效果,系统响应速度更快,超调更小。     

仿蝙蝠折叠扑翼机构设计与分析

基于对蝙蝠飞行方式的研究,提出了一种仿蝙蝠扑翼飞行器设计方案,并且通过单一原动件驱动,既实现了拍动和折叠的耦合协调运动,又提高了系统的单位质量功率系数.设计的对称双翼拍动机构能保证左右翅膀同步运动,为飞行器的平稳飞行提供了保证.采用凸轮机构来控制翅翼的伸展和收缩,通过调整凸轮外轮廓线和初始相位角可以控制蝙蝠翅翼的折叠状况.拍动机构和翅翼折叠机构的协调耦合,可以实现翅翼空间运行轨迹的规划.建立了翅膀拍动和折叠的数学模型,在此基础上编写了仿真程序,仿真结果达到了预期的目标.