作者:王玮琛,李军求,孙逢春,宋健,吴永华 (北京理工大学电动车辆国家工程研究中心)
出处:汽车工程 2022
关键词:五轴重型车辆;Tube;MPC;全轮转向;路径跟踪;最小鲁棒正不变集
摘要:本文中为具有智能驾驶功能的五轴重型车辆提出一种基于鲁棒不变集的模型预测控制(Tube MPC的全轮转向路径跟踪策略。首先提出了基于第1桥和第5桥转角控制的全轮转向路径跟踪策略,使多轴车的控制更灵活,侧向力响应可实现同步且能得到充分利用。接着控制模型考虑轮胎参数不确定和侧向风产生的有界干扰,采用Tub ...
作者:Wang, Weichen1;Li, Junqiu1;Sun, Fengchun1; (1National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China)
出处:Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 2022
关键词:SHARED-CONTROL;DRIVER;SYSTEM;AUTOMATION;FRAMEWORK;SAFETY
摘要:Based on the artificial potential field theory, a hierarchical obstacle avoidance assisted driving framework is proposed in this paper, in order to so ...
作者:Qiao Xue;Junqiu Li;Yansheng Xiao;Zhixiong Chai;Ziming Liu;Jianwen Chen (1Collaborative Innovation Center of Electric Vehicles in Beijing, Beijing Institute of Technology, No. 5 South Zhongguancun Street, Haidian District, Beijing, 100081, China;2Department of Vehicle Engineering, School of Mechanical Engineering, Beijing Institute of Technology, No. 5 South Zhongguancun Street, Haidian District, Beijing, 100081, China;3JIANGLU Machinery & Electronics Group Co., Ltd, Xiangtan, 411199, China)
出处:Journal of Cleaner Production 2023
关键词:PROCESS REGRESSION-MODEL;OF-HEALTH ESTIMATION;MANAGEMENT-SYSTEM;STATE;PREDICTION
摘要:Machine learning-based methods have shown great application prospects on the capacity estimation of lithium-ion battery. However, most of extant appro ...
作者:Qiao Xue;Junqiu Li;Peipei Xu (1National Engineering Research Center of Electric Vehicles, Beijing Institute of Technology, No. 5 South Zhongguancun Street, Haidian District, Beijing, 100081, China)
出处:Energy 2022
关键词:Lithium-ion battery;Swift capacity prediction;Machine learning;Charging voltage segment
摘要:The machine learning (ML) based methods show great promise for the online battery capacity prediction. However, the feasibility and simplicity of indi ...
作者:Zhichao Li;Junqiu Li;Weichen Wang (1National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China)
出处:IEEE Transactions on Vehicular Technology 2023
关键词:Vehicle dynamics;Collision avoidance;Path planning;Splines (mathematics);Safety;Predictive models;Optimization
摘要:Obstacle avoidance problem for the autonomous vehicle has received more and more attention these years, especially for the autonomous heavy vehicle, w ...
发明人:柴志雄,李军求,刘子鸣,刘正楠
申请日期:2022.11.17
摘要:本发明提供了一种基于热失控蔓延仿真的锂离子电池防护设计方法,通过所提出的检测、建模与仿真过程对热失控防护设计实现了改进,能够有效避免电池热失控的蔓延,保护电池系统、车辆甚至人身安全。方法中以仿真结果作为热失控防护设计的参考依据,相比较依赖于实验的现有技术大大减少了人力与物力的消耗,明显提高了效率,同 ...
发明人:孙逢春,李志超,李军求
申请日期:2022.11.17
摘要:本发明提供了一种基于AMPC的多轴分布式驱动车辆转向辅助轨迹跟踪方法,基于线性二自由度的单轨模型建立预测模型,能使车辆在轮胎力处于线性区时实现较高的预测精度;驾驶员模型采用了线性二次型调节器,能够尽可能模拟熟练驾驶员跟踪预想轨迹的条件;方法中考虑干预辅助量、参考轨迹跟踪误差、前轮转角及其变化率等多方 ...
发明人:李军求,高琢,刘增成
申请日期:2022.11.18
摘要:本发明提供了一种适用于极寒环境快速冷启动的混合动力车辆驱动系统,能够在低温条件下利用锂电池组所提供的少量电能,通过六相发电机绕组结合双三相可控整流模块的桥臂选通控制,使锂电池组实现交流内部加热。在此基础上,该系统还提供了利用外部加热模块及外部循环系统加热的功能,可根据实际需要与交流内部加热灵活组合叠 ...
发明人:李军求,吴永华,陈佳慧
申请日期:2022.11.17
摘要:本发明提供了一种驾驶员意图预测与意图轨迹更新方法,其首先基于CTRV模型的轨迹预测,以当前时刻的车辆状态作为初始条件,在短时间范围内能够对驾驶员的操作意图及车辆的未来轨迹预测有较高的准确性,再基于结构化道路设计的五次多项式轨迹,根据驾驶员意图得到符合乘坐舒适性的长期意图轨迹。通过两者的结合,可以较为 ...
发明人:李莹,李军求,孙逢春
申请日期:2022.11.17
摘要:本发明提供了一种多轴分布式车辆辅助转向安全约束计算方法,针对碰撞风险设定了适合的前向障碍、车道的安全边界,且针对车辆的失稳风险提供了稳定性安全边界,从而对车辆安全约束计算方法实现了有效改进。该方法执行过程中能够持续自适应更新,因此有效保证了车辆辅助转向过程中的安全性,避免了碰撞、车道偏离和失稳的风险 ...