易语言传奇私服外挂插件源码

智能汽车先进传感与控制

进入新世纪以来，我们对安全省时、绿色节能、环境友好以及舒适健康的交通服务需求与日俱增，汽车及其相关工业随之面临更多的挑战。也正因如此，许多新的方法、概念以及技术得以不断被研发并应用于汽车工业。　　为了更好地服务于智能汽车和先进交通技术领域的专业群体，我们撰写此书，为研究者及工程师们提供有关智能汽车运动控制以及相应传感互联技术的新应用与进展。此外，本书也旨在帮助高年级本科生和研究生对智能汽车、智能控制、车联网等技术的学习探讨。同时总结了我们对于智能汽车运动控制的当下趋势以及未来发展的理解与感悟。,-,,-,-44407-6e-ISBN0-38744409-2SBN****79e-ISBN****93Printedonacid-freepaperc2007SpringerScience+BusinessMedia,LLCAllrightsreserv易语言传奇私服外挂插件源码edThisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenpermissionofthepublisher(SpringerScience+BusinessMedia,LLC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefscholarlyanalysis.Useinconnectionwithanyformofinformationstorageandretrievaelectronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowkhereafterdevelopedisforbiddeTheuseinthispublicationoftradenames,trademarks,servicemarksandsimilartermseveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastoThethearesubjecttoproprietaryrightssponger.cotnTableofcontentsTableofcontentsPreface∴..ixIntroduction1.1IntelligentVehiclesforIntelligentTransportationSystems1.2IssuesinIntelligentVehiclesResearchandDevelopment3B0kOrganization…1591.4BeyondCurrentDiscussion....135References19AdvancedTirefrictionModelingandmonitoring…………332.1Introduction2.2LongitudinalTire/RoadFrictionModeling2.2.1LongitudinalTire/RoadfrictionCharacteristics352.2.2RepresentativeLongitudinalTire/RoadFrictionModels2.3Lateraltire/roadfrictionmodeli4623.1LateralTire/RoadFrictionModels2.3.2BicycleModel2.4IntegratedTire/RoadfrictionModelig532.4.1IntegratedTire/RoadFrictionCharacteristics2.4.2EmpiricalandSemi-EmpiricalIntegratedModels2.4.3AnalyticalIntegratedmodels562.5Tire/RoadFrictionmonitors2.5.2IdentificationofEmpiricalLongitudinalFrictionMod"..58forTire/RoadFrictionmonitors2.4.3ObserversofAnalyticalLongitudinalFrictionModels.622.4.4IdentificationofEmpiricalLateralFrictionModels2.6Summary672.7ReferenceAdvancedVehicleLateralMotionControl.3.1Introduction.….77ⅤiTableofcontents3.2Steer-By-WireSystems783.3VehicleLateralMotionModelingandControlStrategies……….843.4Vehiclelateralmotionmonitors863.5VehicleSteeringControllerDesign.………3.5.1VehicleLateralMotionControlObjectives...,s.....933.52RobustVehicleSteeringControllers……943.5.3SlidingModesteeringControllers133.5.3AdaptivesteeringControllers甲甲专非,垂。g4163.5.4FuzzySteeringControllers……,17ummary1203.7ReferenceAdvancedVehicleLongitudinalMotionControl..........1354.1Introduction1354.2AdvancedVehiclepowertraincontrol1374.2.1Advancedenginecontrol甲甲中中1374.2.2AdvancedVehicleTransmissionControl..........1474.3Vehicleaerodynamics..;1514.4AdvancedVehicleTrackingandBrakingControl………….134.4.1AdvancedVehicleTrackingandBrakingControl…………1544.4.2Anti-LockBrakingSystemDesign......,.......1624.5AdaptiveCruiseContro1704.6S4.7Reference174AdvancedvehicleverticalmotionControlmags.1Introduction1855.2RoadroughnessModeling1875.3AdvancedVehicleSuspensionSystems1903.1LTISuspensionControllers1905.3.2RobustSuspensionControllers1975.3.3FuzzysuspensionControllers2005.4ParameterEstimationandFaultDetectionofSuspensionSystems2055.5Rolloveravoidance2135.6Summary……2165.7References.216AdvancedIndividualvehiclemotionControlsssmmmsmms.2236.1Introduction236.2VehiclePath/TrajectoryPlanning2266.3VehicleParkingProblems...................2416.4Longitudinal/Lateral/VerticalVehicleMotionControlSynthesis2536.5Reference262AdvancedMultiplevehiclesMotionControl……………………………2697.IIntroduction2697.2Inter-VehicleCommunication.2707.3VehiclePlatoonControl2727.4LaneChangingandLanemergingContro2777.4.1VehicleLaneChangingControl…2777.4.2VehicleLaneMergingControl2897.5CooperativeDrivingatIntersections2947.5.1UncooperativeDrivingatIntersections2947.5.2CooperativeDrivingatIntersections2987.6Summary3107.7Reference312IntelligentVehicleVisionSystems……………………3238.1Introduction3238.2AdvancesinVisionBasedLane/RoadDetection.........................3258.2.1Lane/RoadDetectionUsingCMOS/CCDCamera/Radars.3258.2.2Lane/RoadDetectionUsingLiDARandLaserSensors..3368.2.3IntegrationofLane/DepartureDetectionandLocalization..3408.3AdvancesinVisionBasedVehicledetection3418.3.1VehicleDetectionUsingCMOS/CCDCameras3418.3.2VehicleDetectionUsingFMCWRadars3508.3.3VehicleDetectionUsingLiDARorLaserSensors578.4AdvancesinVisionBasedPedestrianDetection3588.4.1PedestrianDetectionUsingCCD/CMOSCameras....3588.4.2PedestrianDetectionUsingInfraredCameras.......3628.5AdvancesinVisionBasedTrafficSigndetection8.6AdvancesinVisionBasedDrivermonitors8.6.1Driver/PassengerPosition/GestureDetection3678.6.2DriverFatigueAnalysis……3698.6.3DrivingActionsAnalysis3708.7FurtherDiscussionsonIntelligentVisionSystems3718.7.1Multiplevisionsensorfusion3718.7.2VisionSharing3728.7.3TrafficInfrastructuresandVehiclevisionSystems3748.7.4VisionSensordesign,CalibrationandFaultDetection,.,3758.7.5VisionbasedEnvironmentDetectionandAdoption3778.8Reference378IntelligentVehicleTireInspectionandmonitoring……………401viiiTableofcontents9.1Introduction409.2AdvancesinOfflineTireInspection4039.2.1TireSurfaceInspection4039.2.2TirePly/BeltInspection9.2.3TireBearingInspection……9.3AdvancesinOnlineTiremonitorin4109.3.1SAWTiresensors9.3.2TireRolling/RotationAnalysisandPressureMonitoring..4229.3.3OtherTireDeformation/PressureMonitoringSensors4259.4Furtherdiscussions4279.5Reference∴,429n437Prefaceasweenteranewmillennium.automotiveandassociatedindustriesarefacingmorechallengesthaneverduetotherapidlygrowingrequirementsforsafe,time/energy-efficient,environmentfriendly,andcomfortabletraf-ficservice.Asaresult,novelconceptsandtechnologieshavebeencon-tinuouslydevelopedandappliedintotheautomotiveindustry.Inordertobetterservethepressingneedsoftheprofessionalcommunitiesinterestedinintelligentautomotivesandadvancedtransportationsystems,wepreparethisbooktoprovidethelatestinformationforengineersandresearcherswithaspecialfocusonintelligentvehiclemotioncontrolandcorrespondingsensingtechnologies.Moreover,itintendstohelpseniorundergraduateandbeginninggraduatestudentslearnseveralcutting-edgedevelopmentsofautomotives/vehiclesandtransportationsystems.Thisbookalsosum-marizesourunderstandingofthecurrenttrendandthelikelyfutureofin-telligentvehiclemotioncontrolOurresearchonintelligentvehiclesgoesbacktoalmost20yearsagowhenIwasaresearcherinaprojectthatbuiltamobilerobotattheRPI/NASACenterofIntelligentroboticSystemsforSpaceexplorationSincethen,researchanddevelopmentofintelligentvehicleshaveexperiencedtremendousgrowthandenjoyednumeroussuccessfulapplicationsinlandsea,andair,forscientific,civilian,ormilitarymissions.Ourworkonintelligentvehiclesevolvesfromspecific-applicationroboticvehiclestogeneral-purposeintelligentvehiclestoo.In1994,incollaborationwiththeNationalInstituteofStandardsandTechnology(NIST),weconstructedtheSPIDER(StewartPlatformInstrumentedDriveEnvironmentalrobot)VehicularSystemforinsituMartian/LunarresourceutilizationandforaworkingprototypeofaplantforproducingoxygenfromtheMartianat-mosphereattheUA/NASACenterforSpaceEngineeringResearchCenterforUtilizationofLocalPlanetaryResources.From1996to1999,wemodifiedaCaterpillar98Twheelloaderforautonomousdiggingandload-ingoperationsthatcanexcavateefficientlybothsoilsandrocks.In2000wecompletedourfirstfullyautonomousdrivingpassengervehicleVISTA(VehicleswithIntelligentSystemsforTransportAutomation)anddemon-strateditsfunctionstothepublicinHighway51inPhoenix,Arizona.In2002,wefinishedourdesignofautomatedprovinggroundsbasedonPrefaceautonomousdrivingandwirelesscommunication.In2005.workingto-getherwithXi,anJiaotongUniversityandShangdongAcademyofSci-ences,wedevelopedtheCasiCMobilePlatformforvASOS(vehicularApplicationSpecificOperatingSystems)thatiscapableoftestingandevaluatingvariousembeddedelectronicandsoftwaresystemsfordrivingsafety,efficiencyandcomfortThisbookdrawsfromourrecentworksonintelligentvehicleresearchAlthoughmanystudentsandresearchershavebeeninvolvedinthedevelopmentofthisbook,itismainlybasedonDr.LiLisPh.D.dissertationundermysupervisionfrom2001to2005.Itconsistsofninechapterswhichcanbedividedintothreeparts:introduction(Chapter1),intelligentvehiclemotioncontrol(Chapter2-7),andrelatedvehiclesensingtech-niques(Chapter8-9)Chapter1mainlydiscussestheresearchobjectives,tasksandbackgroundsofintelligentvehicletechnology.Itaimstoprovideasummaryofcurrentachievementsandtrends.Therelationshipsamongintelligentvehi-cle,advancedtransportation(highway)systemanddriverassistancearealsodiscussedChapter2carefullyexaminesthetire/roadfrictionphenomenaandreviewssomefrequentlyusedtire/roadfrictionmodels.ThesetopicsprovideimportantbackgroundfortheindividualvehiclemotioncontrolstudiedinChapter3-5,asunderstandingtheinteractionbetweenthevehicleandthegroundisessentialtothestudyofvehicledrivingperformanceThesubjectofChapter3isvehiclelateraldynamicsandsteeringcontrol.Severalsteeringcontrollerdesignapproachesareanalyzedinthischapter.Chapter4investigatestheinternalandexternalvehiclelongitudinaldynamicsandemphasizesvehicletracking/breakingcontrol.Thedecompositionandsyn-thesisofvehiclelateralandlongitudinalmotioncontrolareaddressedinChapter5.Chapter6primarilystudiesvehicleverticaldynamicsandexaminesvehiclesuspensioncontrollers.Finally.multiple-vehiclemotioncontrolisstudiedinChapter7,whichpresentsadditionaltechnicalchallengesespeciallyincommunicationandcoordinationChapters8and9reviewtheexistingapproachesandseveralnoveltechniquesappliedinvehiclevisualsensoryandtireconditionchecking,respectively.Someresearchresultsinrelevantresearchareas,i.e.materialanddevicedevelopments,arealsooutlinedThegoalofthisbookistoprovidethestateoftheartsurveyofresearchinvehiclemotioncontrolandsensing,andtoofferamultidisciplinaryper-spectiveforresearcherswhoworkinginthisfield.Consideringthebroadsetofthereaderswhomwewouldliketoreach.wehaveomittedinseveralplacesthefulltechnicaldetails,althoughtherelatedreferenceshavebprovided.However,thekeyresearchfindingsandtrendsareaddresseeen