作者： Zhao, Xuanhu¹; Han, Lijin¹; Liu, Hui¹; Nie, Shida¹; Yang, Haiyang¹; Xie, Jingshuo¹

出处： 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023 Changsha, China 2023

作者： Hong, Liang¹; Han, Lijin^{1, 2}; Liu, Hui^{1, 3}

出处： 5th International Conference on Communications, Information System and Computer Engineering, CISCE 2023 Guangzhou, China 2023

会议录： 322-325

作者： 刘辉^1,2;，刘宝帅¹;，廖登廷¹;，韩立金^1,2;，崔山²; （¹北京理工大学机械与车辆学院；²北京理工大学前沿技术研究院(济南)）

出处： 兵工学报 2023 第44卷 第9期 P2756-2767

关键词： 轮腿式机动平台；前馈补偿；轮-地接触；实时估计；姿态控制

摘要： 在通过复杂路面障碍时，轮腿式机动平台的轮端负载较大，且地面对轮胎的外力会突然变化，会显著降低机身姿态的控制精度，并容易导致轮胎脱离地面失稳等问题。为提高平台的地形适应能力和稳定性，提出一种基于前馈补偿的平台姿态自适应控制策略。构建平台的逆运动学模型和动力学模型，考虑轮-地接触点垂向支撑力和纵向驱动力 ...

作者： 刘辉^1,2;，刘聪¹;，韩立金^1,2;，何鹏¹;，聂士达¹; （¹北京理工大学机械与车辆学院；²北京理工大学前沿技术研究院）

出处： 北京理工大学学报 2023 第43卷 第8期 P783-791

关键词： 越野环境；路面类型识别；多传感器信息融合；迁移学习；可通行区域检测

摘要： 为实现精准的越野环境路面信息识别，文中提出了一种基于多传感器信息融合的路面信息识别方法.首先，针对车辆簧下振动加速度信号设计了特征提取算法，通过双线性池化方法融合加速度特征与图像+深度特征，以实现对越野路面类型的多维度特征融合与识别.然后，为提高越野路面可通行区域检测效果，引入迁移学习方法，将越野场 ...

作者： Zhao,Huipeng¹;Zhou,Junjie¹²;Ma,Sanxi¹;Du,Shanxiao¹;Liu,Hui¹;Han,Lijin¹; （¹School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China;²Institute of Advanced Technology, Beijing Institute of Technology, Jinan, 250300, China）

出处： Machines 2023 Vol.11 No.7

摘要： The wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed and high passability. However, the limited performance ...

作者： Liu, Rui¹;Liu, Hui¹;Han, Lijin¹;Nie, Shida¹;Ruan, Shumin¹;Yang, Ningkang¹ （¹Beijing Institute of Technology; Beijing Institute of Technology; Beijing Institute of Technology）

出处： APPLIED ENERGY 2023 Vol.350

关键词： ENERGY MANAGEMENT STRATEGY; POWER MANAGEMENT; MINIMIZATION; OPTIMIZATION; CONSUMPTION; SYSTEM

摘要： Road vehicles can obtain traffic information via Intelligent Transportation System (ITS), which yields more potential in improving driving performance ...

作者： Liu, Rui¹;Liu, Hui^1,2,3;Nie, Shida^1,2,3;Han, Lijin^1,2,3;Yang, Ningkang¹ （¹Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China.;²Beijing Inst Technol, Natl Key Lab Vehicular Transmiss, Beijing 100081, Peoples R China.;³Beijing Inst Technol, Adv Technol Res Inst, Jinan 250300, Peoples R China.）

出处： ENERGY 2023 Vol.281

关键词： OPTIMAL ENERGY MANAGEMENT; OPTIMIZATION

摘要： The emergence of the intelligent transportation system and cloud computing technology has brought the available traffic information and increasing com ...

作者： Liu, Hui^{1, 2}; Liu, Baoshuai¹; Liao, Dengting¹; Han, Lijin^{1, 2}; Cui, Shan² （¹School of Mechanical Engineering, Beijing Institute of Technology, Beijing; 100081, China;²Advanced Technology Research Institute (Jinan), Beijing Institute of Technology, Shandong, Jinan; 250300, China）

出处： Binggong Xuebao/Acta Armamentarii 2023 Vol.44 No.9 P2756-2767

作者： Liu,Hui¹²;Liu,Cong¹;Han,Lijin¹²;He,Peng;Nie,Shida （¹School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China;²Institute of advanced Technology, Beijing Institute of Technology, Ji’nan, Shandong, 250307, China）

出处： Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2023 Vol.43 No.8 P783-791

摘要： In order to achieve road information recognition in off-road environment accurately, a road information recognition method was proposed based on multi ...

作者： Liu, Baoshuai¹;Liu, Hui^1,2,3;Han, Ziyong³;Qin, Yechen^1,2,3;Han, Lijin^1,2,3;Ren, Xiaolei¹; （¹School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China;²National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing, China;³Institute of Advanced Technology, Beijing Institute of Technology, Jinan, China）

出处： JVC/Journal of Vibration and Control 2023

摘要： The paper proposes a motion control framework for the unmanned wheel-legged hybrid vehicle to track the motion trajectory considering uncertain distur ...