智能小车外文翻译
2015届毕业设计（论文）
外文翻译
院、部：电气与信息工程学院
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职称：讲师
专业：通信工程
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2015年 6 月
车辆动态避障控制器的发展
Geraint Paul Bevan
美国俄亥俄州立大学
摘要
安全在汽车行业依然占据着越来越重要的地位，有了重要意义的研究和进展在封闭线路控制系统领域。为了防止车轮因急刹车或低摩擦转向失控,最先开始使用防抱死制动系统（ABS）。车辆动态控制进一步发展包括牵引力控制：系统即最佳分配牵引力，并防止过度车轮打滑。最近的发展已经在电子稳定控制（ESC）的区域得到应用。如今汽车技术已经发展了多年，ABS和ESC正在成为对大多数车辆的标准，不仅汽车制造商，还有各国政府和监管机构的标准有专门的程序，以确保标准和了解这些系统的局限性。其结果是，所做出的努力已经完成开发测试系统和测试机动量化动态属性。这项研究的重点是研究标准试行、开发新的战略评估和配备了现代车辆动态控制系统。
在过去十年里，另一个有重要意义的发展是自主（或无人）车辆。自主车辆的一个重要应用是自动化无人车辆测试，它代替了人类进行车辆测试。这增加可靠性和测试试行的可重复性，这是及其重要的在一些专门的试行中。大多数车辆动态测试包括精确动方向盘或刹车/油门踏板，转向控制器和制动机器人被设计努力做到这一点。SEA有限责任公司设计出这样的系统和被OSU研究人员广泛的应用，自动化无人车辆测试已经被证明可以准确地执行各种标准测试，还有适用范围广的车辆，也可用于由各种组织世界各地。车辆动态控制和自主车辆在这一研究领域结合在一起;自动化测试驱动程序开发应用于执行路径跟踪军事试行评估车辆动态控制器的性能，包括那些使用ESC的逃避驾驶状况的汽车。
在回避演练的轮胎力不再打滑的线性函数角和所述车辆的响应是非线性的和潜在不稳定的，其中一个条件活性稳定系统被设计为减轻。不足梯度的线性范围的定义不适合于非线性动态范围的分析。这项研究的另一个重点是基于估计轮胎力，以评估稳定性和可控性。车辆观察员要专为检测和测量转向不足的动态试行。该方法可用于基准不论被动或主动控制的车辆。
作为自主转向控制问题的延伸，该项目涉及研究中的应用主动转向系统的车辆稳定性控制的。控制算法开发使用信息从轮胎力估计和驾驶意图车型得到由主动转向系统线性和可预测的车辆侧向响应。
本研究汇集自动化测试驱动程序的开发，活性车辆运动控制系统和检测动态稳定性通过使用轮胎力估计。
第1简介
1.1简介与动机
自主车在汽车技术上的重大进步技术。大量的无人地面车辆研究方案已经在各级政府，研究机构以及学院展开研究。这些研究包括自动公路研究，其中自主公路主要应用于乘用车铺设道路和无人驾驶越野驾驶，如DARPA地面大挑战。自主车中另一个非常重要的应用是自动化无人驾驶测试，这是无人车代替人类进行车辆测试，无人测试得到的可靠的结果是提高了可靠性和测试试行的重复性。安全在汽车设计中占据了非常重要的地位，动态测试受到了很多人的关注。
大多数车辆动态测试都涉及到方向盘或刹车/油门踏板的动作准确性。转向系统控制器和制动机器人被设计来做到这一点。SEA有限责任公司设计出这样的系统和被OSU研究人员广泛的应用，已经被证明准确地执行各种标准测试，适用范围广的车辆，也可用于由各种组织世界各地。这项研究的重点是自动化测试驱动开发（ATD）（转向控制和制动，油门机器人（BTR）），以及延长ATD的适用性进行动态路径跟踪试行和变速测试。
1.2目的和范围
如今汽车技术已经发展了多年，ABS和ESC正在成为对大多数车辆的标准，不仅汽车制造商，还用各国政府和监管机构的标准有专门的程序，以确保标准和了解这些系统的局限性。其结果是，所做出的努力来已经完成开发测试系统和测试机动量化动态属性。这项研究的重点是研究标准试行和开发新的战略评估和配备了现代车辆动态控制系统。
该项目的目标是开发测试系统，该测试系统用于自主车辆测试。一个测试信号将被设计来评估现代汽车车辆的稳定性和车辆动态控制器的有效性。在不足转向梯度提供有用的信息对车辆方向的稳定性，在线性范围,它并没有提供一个完整的图片,因为它忽略了非线性范围。在规避机动的轮胎力量不再是线性函数滑动角和车辆非线性响应和潜在不稳定,一个条件活跃的稳定系统旨在减轻。
在避让操作的轮胎力不再滑移角的线性函数和该车辆的响应是非线性的和潜在的不稳定性，其中活性稳定系统被设计为减轻的病症。新的参数，提出了研究中定义来衡量汽车的动力不足，转向过度的状态。这项研究的另一个重点是基于估计轮胎力，以评估稳定性和可控性。车辆观测的目的是检测和测量转向不足indynamic试行。这种方法可用于基准不论被动或主动控制的车辆：性能评估将基于在轮胎开发的横向力，而不是仅在车辆的传统的可测量状态。车辆的操控性能将与支配车辆运动轮胎和路面之间的力的知识。方法将开发在试运行的基础比较力量来评估ESC的有效性。
第二章
2.1 介绍
为了响应严重的交通事故，在过去的几年里，一个新的研究重点出现了，这个研究是关于车辆动态测试的。汽车制造商、政府机构和消费群体已经计划致力于开发和评估车辆稳定性和安全性的优点。 NHTSA包括防碰撞，垃圾再利用和生物力学等领域。防撞类别涉及包括翻车测试，旋转，制动性能等。大多数测试程序都存在有有用的关车辆稳定性的信息。一些操作输入将被称为“开环”。还有一些需要刹车油门驱动纵向动力学研究测试。另一个类别的演练涉及关于路径跟随。一个ATD可以执行不仅是开环测试，也可以在预期的路径和预期的速度测试驾驶车辆。这种演练被称为闭环（相对于到位置和速度），并且是该研究的焦点。
2.1.1车辆稳定性
成千上万的互联网短语搜索结果显示“翻车”。翻车事故是被讨论的最多的在车祸报道。不需要太多的数据，一个统计是值得一提的：大约三分之一的美国交通死亡事故涉及单车翻车。侧翻事故通常是基于各种汽车开环测试；J-Turn和NHTSA鱼钩（滚动速度反馈鱼钩机动）[1]。在演练时必须严格检查车辆的两轮升降（TWL）频率。这些,以及各种ISO试行,消费者联盟的双车道改变和大量的汽车制造商具体操作分为动态测试的范畴。静态类型的翻转是指基于测量的静态稳定性因素,倾斜角度和至关重要的滑动速度可分为静态测试的范畴。一般后者不包括瞬态轮胎行为、悬架的运动效果、顺应性、稳定性控制器的影响。其他侧翻指标已经被调查在侧翻预警和防侧翻预警算法的基础上。陈等人提出了竞技场指标来预测即将发生的翻转。越野车的翻车难以从一个或一个动态试行动作去感知。
第三章
本章概述了一些重要的车辆状态和在文献中讨论他们的估计方法。这个卡尔曼滤波器将被解释和应用于估计轮胎强度。进行讨论轮胎强度评估的重要性以及它如何可以用来提供车辆操作状态有用信息。接下来的章节将讨论主动稳定控制和路径跟随算法。
闭环车辆动力学控制的有效性依靠于对车辆的状态准确的了解。一些数据关于偏航率、横向加速度、车轮速度等，可以很容易的被传感器测量。另外的状态车辆侧滑、纵向速度等，被使用其他方法估算着包括测量信号、车辆动态模型和其他复杂的工具。一些状态经常被获得经过直接测量信号的集成-过程中容易出错,对干扰高度敏感。另外的方法获得依赖状态信息包括融合不同的传感器和结合不同个体传感器获得的测量系统。最近的事态发展使用嵌入式处理器已经成为可能，结合使用使用计算密集型的卡尔曼滤波器和各种传感器等方法建立数学模型完成实时状态估计。
3.1状态和估计方法
了解车辆状态是稳定控制系统必要的工作。偏航率和横向加速度可以通过便宜的传感
器测量。其他参数例如侧滑角、横摇角和轮胎部队等，不容易通过其他方法测量。在当前稳定系统的汽车生产中各种个样的算法已经被讨论和录用。直接集成惯性传感器信号的累积误差时间是不现实的。更复杂的方法包括融合传感器的数据，GPS子系统和车辆动力学模型来更好地估计无法估量的状态。接下来是一个简明的讨论关于感兴趣的各种信号和用于估量他们的系统。
3.1.1侧滑
侧滑可以结合惯性导航系统和全球定位系统(GPS)信号进行预测。GPS提供绝对的前进方向标志和速度相对较慢的速度测量，结合惯性传感器。从惯性导航系统得到绝对的GPS 航向和速度测量消除错误反之,惯性导航系统的GPS测量传感器可以提供更高的更新的车辆的状态。无论如何，在城市驾驶环境，机械计装故障错误，可能导致GPS信号丢失，最终导致错误的估计。有一种方法研究出来预算侧滑而不需要GPS。而不是一个组合测量值， 3轴陀螺仪, 3轴加速度计和车辆数学模型用于估算侧滑。
在生产的电动助力转向系统车辆提供了另一种侧滑估算方法。转矩的绝对测量可以从车辆侧滑角估计。转向力矩直接关系到外侧轮胎强度，轮流依赖侧滑角度和车辆状态。转向角和角速度传感器都是廉价的和结合现已装备好稳定控制系统。一个观察干扰者根据转向系统模型估计轮胎调整的时刻;这个估计成为测量车辆侧滑状态的一部分观测器和偏航率。
3.1.2倾侧角和道路倾斜角度
倾侧角和道路倾斜角度作为不良干扰因素破坏于加速度测量仪器和可靠的横向加速度与横向速度(或估计侧滑角)。许多研究人员强调倾侧角和道路倾斜角度对于稳定性控制系统的重要性。基于这些研究，本文提出了一种新的识别倾侧角和汽车摇晃的方法，该方法使用扰动观测器和动态模型。首先,介绍了一个包括车辆摇晃状态和道路倾斜干扰的动态模型。这个扰动观测器的用于扰动观测，侧滑角、偏航率,滚转率和车辆倾斜角(倾侧角和道路倾斜角度的总和）。汽车的偏航率和滚转角速度的很容易使用速率陀螺仪测量。利用GPS和INS可以准确测量车辆侧滑角和倾斜角。从扰动观测器可以分别估计道路倾斜角度和车辆摇晃程度。
附件2：外文原文
Development of an Autonomous Test Driver and Strategies for Vehicle Dynamics
Testing and Lateral Motion Control
Dissertation
Presented in Partial Fulfillment of the Requirements for
the Degree Doctor of Philosophy in the
Graduate School of the Ohio State University
By
Anmol Sidhu, M.S.
Mechanical Engineering Graduate Program
The Ohio State University
2010
As safety continues to take an increasingly important place in the automobile industry, there has been significant research and development in the area of closed loop control of vehicle dynamics. It first started with antilock brake systems (ABS) thatprevented loss of steering control due to wheels locking up with hard braking or lowfriction. Vehicle dynamics control further developed to include traction control: a systemthat optimally distributes tractive forces and prevents excessive wheel slip. The most recent developments have been in the area of electronic stability control (ESC). As vehicle technology has evolved over the years and ABS and ESC are now becoming standard on most vehicles, not only automobile manufacturers but even governments and regulation bodies have programs dedicated to ensure standards and understand limitations of these systems. As a result, efforts have been made to develop testing systems and test maneuvers to quantify dynamic properties. This research focuses on studying standard maneuvers and developing new strategies to evaluate and rate the performance of modern vehicles equipped with advanced vehicle dynamic control systems.
Another significant development of the last decade is autonomous (or unmanned) vehicles. An important application of autonomous vehicles is automated test drivers, which are systems that replace human drivers in vehicle dynamic testing. This increases the reliability and repeatability of test maneuvers, which is imperative for dependable results in some specialized maneuvers. Most vehicle dynamic tests involve precise actuation of steering wheel or brake/throttle pedals. Steering controllers and braking robots are designed to do just that. One such system designed by SEA, Ltd and used extensively by OSU researchers, has been demonstrated to perform various standard tests accurately for a wide range of vehicles and is also used by various organizations worldwide. In this research the areas of vehicle dynamics control and autonomous vehicles come together; the automated test driver is developed to execute path-following maneuvers to evaluate the performance of vehicle dynamics controllers, including those used in ESC, in evasive driving situations.
During evasive maneuvers the tire forces are no longer a linear function of slip angles and
the vehicle response is nonlinear and potentially unstable, a condition which the active stability systems are designed to mitigate. The definition of understeer gradient in the linear-range does not lend itself to analysis of nonlinear-range dynamics. Another focus of this research is to assess stability and controllability based on estimation of tire forces. A vehicle observer is designed for the purpose of detecting and measuring understeer and oversteer in dynamic maneuvers. The method can be used to benchmark a vehicle regardless of passive or active control.
As an extension of the autonomous steering control problem, this project involves the study of application of active steering for vehicle stability control. Control algorithms are developed that use the information from tire force estimator and driver intent models to yield linearized and predictable vehicle lateral response by an active steering system.
This research brings together the development of an automated test driver, active vehicle
motion control systems and testing for dynamic stability by using tire force estimation.
1.1 Introduction and Motivation
Autonomous vehicles are a major technological advancement in automobiletechnology. Numerous research programs have been undertaken by various governments,research organizations and institutes towards development of unmanned ground vehicles.These include Automated highway research where autonomy is applied to passenger carsto drive on paved roads and unmanned off road driving such as the DARPA grand challenge. Another very important application of autonomy in vehicles is automated test drivers which are systems that replace human drivers in vehicle dynamic testing. This increases the reliability and repeatability of test maneuvers which is imperative for dependable results. As safety takes an important place in vehicle design, testing for dynamic response has gained significant attention. Most vehicle dynamic tests involve precise actuation of steering wheel or brake/throttle pedals. Steering controllers and braking robots are designed to do just that. One such system designed by SEA, Ltd and used extensively by OSU researchers, has been demonstrated to perform various standard tests accurately for a range of vehicles and is also used by various organizations worldwide. This research is focused on development of the Automated Test Driver (ATD) (steering control and brake-throttle robot (BTR)) as well as extending the applicability of the ATD for dynamic path following maneuvers and variable speed tests.
1.2 Purpose and Scope
Vehicle technology has evolved over the years and ABS and ESC are now becoming standard on most vehicles. Furthermore, not only automobile manufacturers but even governments and regulation
bodies have programs dedicated to ensure standards and understand limitations of these systems. As a result, efforts have been made to develop test maneuvers to quantify dynamic properties. This research focuses on studying standard maneuvers and developing new strategies to evaluate and rate the performance of modern vehicles equipped with advanced vehicle dynamic control systems. The goal of this project is to develop testing methodologies to test vehicle dynamics using an automated test driver. A test signal will be designed to evaluate vehicle stability and effectiveness of vehicle dynamic controllers of modern vehicles.Where understeer gradient provides useful information about vehicle directional stability in the linear range, it does not provide a complete picture because it ignores the nonlinearrange. During evasive maneuvers the tire forces are no longer a linear function of slip angles and the vehicle response is nonlinear and potentially unstable, a condition which the active stability systems are designed to mitigate. New parameters are proposed in this study defined to measure a vehicle’s dynamic understeer-oversteer state. Another focus of this research is to assess stability and controllability based on estimation of tire forces. A vehicle observer is designed to detect and measure understeer and oversteer in dynamic maneuvers. This method can be used to benchmark a vehicle regardless of passive or active control: evaluation of performance will be based on the lateral forcesdeveloped at the tires and not only on traditional measurable states of the vehicle. Vehicle handling characteristics will be related to the knowledge of forces between the tires and road that govern vehicle motion. Methodology will be developed to evaluate effectiveness of ESC by comparing the forces in a test run to the baseline.
CHAPTER 2
VEHICLE DYNAMICS TESTING
2.1 Introduction
In response to statistics of severe vehicle crashes, a new focus on vehicle dynamic testing has emerged in the past few years. Auto manufacturers, government agencies and consumer groups, have programs dedicated to developing maneuvers to evaluate vehicle stability and safety merits. NHTSA covers the areas of crash avoidance, crash worthiness,and biomechanics. The category of crash avoidance involves testing for roll-over, spin outs, braking performance, etc. Numerous test procedures exist, which yield useful information about vehicle stability. Some involve steering inputs and will be referred to as “Open loop”. There are a lso tests that require brake-throttle actuation to study longitudinal dynamics. Another category of maneuvers is the one involving pathfollowing. An ATD can perform not only open-loop tests but can drive a vehicle on a desired path at desired speed. Such maneuvers are referred to as closed-loop (with
respect to position and speed) and are the focus of this research.
2.1.1 Vehicle Roll Stability
Hundreds of thousands of results show up on the Internet from the search phrase,“Vehicle rollover”. Rollover a ccidents are the most discussed in vehicle crash reports.Without getting into much detail, one statistic is worth mentioning; roughly one-third oftraffic fatalities in the US involve single-vehicle rollovers. Rollover propensity of vehicles is typically rated based on various open loop tests namely; J-Turn and NHTSA Fishhook (Roll rate feedback fishhook maneuver) [1]. Severity and frequency of vehicle Two-Wheel-Lift (TWL) is examined under these maneuvers. These, as well as various ISO maneuvers, Consumer U nion’s double lane change and a host of auto manufacturers specific maneuvers fall into the category of dynamic testing. The static type of rollover metrics based on measurements of static stability factor, tilt table angle and critical sliding velocity fall into the category of static testing. The latter in general do not incorporate the effects of transient tire behavior, effects of suspension motions and compliances, effects of stability controllers and so forth. Other rollover metrics have been investigated to form the basis of rollover warning and anti-rollover warning algorithms. Chen et. al. [2, 3] proposed a Time-To-Rollover (TTR) metric to predict an impending rollover. Susceptibility of SUVs to rollovers is difficult to be concluded from one or ahandful of dynamic maneuvers.
CHAPTER 3
APPLICATIONS OF OBSERVERS AND ESTIMATORS
This chapter outlines some of the important vehicle states and their estimation methods discussed in literature. The Kalman filter method is explained and applied to estimate tire forces. Importance of tire force estimation and how it can be used to supply useful information of vehicle operating conditions is discussed. The use of this knowledge is discussed in later chapters about active stability control and path-following algorithms.
The effectiveness of closed loop vehicle dynamics control is dependent onaccurate knowledge of vehicle states. Some of the states like yaw rate, lateral acceleration, wheel speeds, etc can be easily measured using inexpensive sensors. Other states like vehicle side-slip, longitudinal speed, etc have to be estimated using other means involving measured signals,
vehicle dynamic models and other sophisticated tools. ome of the states are often obtained by direct integration of measured signals – a process which is prone to errors and highly sensitive to disturbances. Other ways to obtain reliable state information include fusion of different sensors and redundancy in measurement systems combining various properties of individual sensors to obtain reliable state estimation. Recent developments in embedded processors has made possible the use of computationally intensive methods like Kalman filters to be used to combine various sensor data and mathematical models in real time for state estimation.
3.1 States and Estimation Methods
Knowledge of vehicle states is necessary for stability control systems to work. Yaw rate and lateral acceleration are easily measured by inexpensive sensors. Other parameters like sideslip angle, roll angle and tire forces, etc. are not readily measured and must be estimated by other methods. Various estimators have been discussed in the literature and are employed by current stability systems available on production cars that use different methods. Direct integration of inertial sensor signals accumulates error over time and is unpractical to implement. More sophisticated methods involve sensor fusion in which data is combined from inertial sensors, GPS, subsystems on board and vehicle dynamics models to better estimate immeasurable states. The following is a brief discussion of various signals of interest and the method and systems used in theirestimation.
3.1.1 Sideslip
Side slip can be estimated by a method combining inertial navigation system (INS) and Global Positioning Systems (GPS) signals. GPS provides absolute heading and velocity measurements at a relatively slow rate which complements the faster updates of inertial sensors. Absolute GPS heading and velocity measurements eliminate the errors from INS integration; conversely, INS sensors complement the GPS measurements by providing higher update rate estimates of the vehicle states. However, during periods of GPS signal loss, which frequently occur in urban driving environments, integration errors can still accumulate and lead to faulty estimates. There are methods developed for sideslip estimation without the use of GPS. Instead a combination of measurements from 3 axis rate gyros, 3 axis accelerometers and vehicle math models is used to estimate the sideslip.
Presence of electric power steering systems in production vehicles offers another sideslip estimation method as discussed in [24, 25]. Absolute measurement of steering torque is available from which vehicle sideslip angle can be estimated. Steering torque is directly related to the lateral front tire forces, which in turn relate to the tire slip angles and therefore the vehicle states.
Steering angle and yaw rate sensors are both inexpensive and common to vehicles already equipped with stability control systems. A disturbance observer based on the steering system model estimates the tire aligning moment; this estimate becomes the measurement part of a vehicle state observer for sideslip and yaw rate.
3.1.2 Roll Angle and Road Bank Angle
Roll angle and road bank angle act as undesirable disturbances to accelerometermeasurem ents and reliable estimation of lateral acceleration and lateral velocity (or sideslip angle) is compromised. Many researchers have emphasized the importance of roll angle and road bank angle estimation for robust performance of stability control systems. Based on these results, this paper presents a new method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. First, a dynamic model, which includes vehicle roll as a state and road bank as a disturbance, is introduced. The disturbance observer is then implemented using the measurements of the sideslip angle, yaw rate, roll rate, and vehicle tilt angle (the sum of road bank and vehicle roll angles). The yaw rate and roll rate of the vehicle can be easily measured using rate gyros. The sideslip angle and vehicle tilt angle can be accurately determined using GPS and INS as demonstrated in previous work [26]. From the disturbance observer, road bank angle and vehicle roll can be separately estimated.
汽车专业毕业设计外文翻译
On the vehicle sideslip angle estimation through neural networks: Numerical and experimental results. S. Melzi,E. Sabbioni Mechanical Systems and Signal Processing 25 (2011)：14~28 电脑估计车辆侧滑角的数值和实验结果 S.梅尔兹,E.赛博毕宁 机械系统和信号处理2011年第25期：14~28
摘要 将稳定控制系统应用于差动制动内/外轮胎是现在对客车车辆的标准（电子稳定系统ESP、直接偏航力矩控制DYC）。这些系统假设将两个偏航率(通常是衡量板)和侧滑角作为控制变量。不幸的是后者的具体数值只有通过非常昂贵却不适合用于普通车辆的设备才可以实现直接被测量,因此只能估计其数值。几个州的观察家最终将适应参数的参考车辆模型作为开发的目的。然而侧滑角的估计还是一个悬而未决的问题。为了避免有关参考模型参数识别/适应的问题,本文提出了分层神经网络方法估算侧滑角。横向加速度、偏航角速率、速度和引导角,都可以作为普通传感器的输入值。人脑中的神经网络的设计和定义的策略构成训练集通过数值模拟与七分布式光纤传感器的车辆模型都已经获得了。在各种路面上神经网络性能和稳定已经通过处理实验数据获得和相应的车辆和提到几个处理演习(一步引导、电源、双车道变化等)得以证实。结果通常显示估计和测量的侧滑角之间有良好的一致性。 1 介绍 稳定控制系统可以防止车辆的旋转和漂移。实际上，在轮胎和道路之间的物理极限的附着力下驾驶汽车是一个极其困难的任务。通常大部分司机不能处理这种情况和失去控制的车辆。最近,为了提高车辆安全，稳定控制系统(ESP[1,2]; DYC[3,4])介绍了通过将差动制动/驱动扭矩应用到内/外轮胎来试图控制偏航力矩的方法。 横摆力矩控制系统（DYC）是基于偏航角速率反馈进行控制的。在这种情况下,控制系统使车辆处于由司机转向输入和车辆速度控制的期望的偏航率[3,4]。然而为了确保稳定，防止特别是在低摩擦路面上的车辆侧滑角变得太大是必要的[1,2]。事实上由于非线性回旋力和轮胎滑移角之间的关系，转向角的变化几乎不改变偏航力矩。因此两个偏航率和侧滑角的实现需要一个有效的稳定控制系统[1,2]。不幸的是,能直接测量的侧滑角只能用特殊设备(光学传感器或GPS惯性传感器的组合)，现在这种设备非常昂贵,不适合在普通汽车上实现。因此, 必须在实时测量的基础上进行侧滑角估计，具体是测量横向/纵向加速度、角速度、引导角度和车轮角速度来估计车辆速度。 在主要是基于状态观测器/卡尔曼滤波器(5、6)的文学资料里, 提出了几个侧滑角估计策略。因为国家观察员都基于一个参考车辆模型,他们只有准确已知模型参数的情况下，才可以提供一个令人满意的估计。根据这种观点,轮胎特性尤其关键取决于附着条件、温度、磨损等特点。 轮胎转弯刚度的提出就是为了克服这些困难,适应观察员能够提供一个同步估计的侧滑角和附着条件[7,8]。这种方法的弊端是一个更复杂的布局的估计量导致需要很高的计算工作量。 另一种方法可由代表神经网络由于其承受能力模型非线性系统，这样不需要一个参
智能车中英文外文翻译
中英文对照资料外文翻译文献 自治智能车在模拟车辆列队中的设计 摘要 自治智能车是基于考虑车辆和道路在内的车辆编队的物理仿真的基础。本文在车辆道路综合的情况下，分析了车辆编队系统的架构，并提出了自制智能车控制系统的构造和结构。在分析了自治智能车的功能要求之后，本文设计了自治智能车关键的硬件和软件。它把芯片作为控制器，以及用摄像头和超声波传感器作为行车导航。同时，它应用直流电机实现智能车的驱动和转向，以及采用Zigbee技术来设计无线通信模块。我们提出的关于识别导航线和运动控制的关键算法，这其中包括路径提取和控制算法。试验表明自治智能车有一个良好的稳定性能，满足了车辆编队系统的功能要求，这款车将提供测试平台和车辆编队系统的进一步研究的技术基础。 1.简介 近年来，随着横向和纵向的智能车辆控制技术等智能交通技术的发展，车辆列队研究已成为在智能交通领域的热点，它融合了一些技术，这其中包括车辆间相互通信，公路通信技术，智能控制技术等。在车辆道路综合的基础上的车辆队列控制系统可以通过提高单个车辆的智能化水平，提高与交通环境交互信息的能力，以及增加车辆密度来提高道路通行能力。与此同时，它减少了控制对象，简化了交通控制复杂性，增加了运输可控性，有效地缓解了交通堵塞，并最终提高了行车安全性。此外，它可以在一定程度上减少车辆阻力和车辆油耗。 图1显示了基于车辆道路行驶的车辆队列架构系统，这表明智能车辆控制，车路信息交互技术，车辆队列和控制方式和其他关键技术是系统的重要组成部分。然而，目前汽车队列的结构，行为特征和智能化行程控制算法尚未完善。因此，有必要研究一些基础东西，这包括车辆队列，车辆队列模型，及车辆小队控制方法的行为特征，这些研究需要在建设有硬件循环仿真的车辆队列系统中进行。
机器人外文翻译
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration,
关于现代工业机械手外文文献翻译@中英文翻译@外文翻译
附录 About Modenr Industrial Manipulayor Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized
外文文献翻译：汽车的发展
The development of automobile As the world energy crisis and the war and the energy consumption of oil -- and are full of energy in one day someday it will disappear without a trace. Oil is not inresources. So in oil consumption must be clean before finding a replacement. With the development of science and technology the progress of the society people invented the electric car. Electric cars will become the most ideal of transportation. In the development of world each aspect is fruitful especially with the automobile electronic technology and computer and rapid development of the information age. The electronic control technology in the car on a wide range of applications the application of the electronic device cars and electronic technology not only to improve and enhance the quality and the traditional automobile electrical performance but also improve the automobile fuel economy performance reliability and emission spurification. Widely used in automobile electronic products not only reduces the cost and reduce the complexity of the maintenance. From the fuel injection engine ignition devices air control and emission control and fault diagnosis to the body auxiliary devices are generally used in electronic control technology auto development mainly electromechanical integration. Widely used in automotive electronic control ignition system mainly electronic control fuel injection system electronic control ignition system electronic control automatic transmission electronic control ABS/ASR control system electronic control suspension system electronic control power steering system vehicle dynamic control system the airbag systems active belt system electronic control system and the automatic air-conditioning and GPS navigation system etc. With the system response the use function of quick car high reliability guarantees of engine power and reduce fuel consumption and emission regulations meet standards. The car is essential to modern traffic tools. And electric cars bring us infinite joy will give us the physical and mental relaxation. Take for example automatic transmission in road can not on the clutch can achieve automatic shift and engine flameout not so effective improve the driving convenience lighten the fatigue strength. Automatic transmission consists mainly of hydraulic torque converter gear transmission pump hydraulic control system electronic control system and oil cooling system etc. The electronic control of suspension is mainly used to cushion the impact of the body and the road to reduce vibration that car getting smooth-going and stability. When the vehicle in the car when the road uneven road can according to automatically adjust the height. When the car ratio of height low set to gas or oil cylinder filling or oil. If is opposite gas or diarrhea. To ensure and improve the level of driving cars driving stability. Variable force power steering system can significantly change the driver for the work efficiency and the state so widely used in electric cars. VDC to vehicle performance has important function it can according to the need of active braking to change the wheels of the car car motions of state and optimum control performance and increased automobile adhesion controlling and stability. Besides these appear beyond 4WS 4WD electric cars can greatly improve the performance of the value and ascending simultaneously. ABS braking distance is reduced and can keep turning skills effectively improve the stability of the directions simultaneously reduce tyre wear. The airbag appear in large programs protected the driver and passengers safety and greatly reduce automobile in collision of drivers and passengers in the buffer to protect the safety of life. Intelligent electronic technology in the bus to promote safe driving and that the other functions. The realization of automatic driving through various sensors. Except some smart cars equipped with multiple outside sensors can fully perception of information and traffic facilities
智能汽车中英文对照外文翻译文献
智能汽车中英文对照外文翻译文献 (文档含英文原文和中文翻译) 翻译： 基于智能汽车的智能控制研究 摘要：本文使用一个叫做“智能汽车”的平台进行智能控制研究，该小车采用飞思卡尔半导体公司制造的MC9S12DG128芯片作为主要的控制单元，同时介绍了最小的智能控制系统的设计和实现智能车的自我追踪驾驶使用路径识别算法。智能控制智能车的研究包括:提取路径信息,自我跟踪算法实现和方向和速度控制。下文介绍了系统中不同模块的各自实现功能，最重要部分是智能车的过程智能控制：开环控制和闭环控制的应用程序包括增量式PID控制算法和鲁棒控制算法。最后一步是
基于智能控制系统的智能测试。 关键词：MC9S12DG128；智能控制;开环控制；PID；鲁棒； 1.背景介绍 随着控制理论的提高以及信息技术的快速发展,智能控制在我们的社会中发挥着越来越重要的作用。由于嵌入式设备有小尺寸、低功耗、功能强大等优点，相信在这个领域将会有一个相对广泛的应用,如汽车电子、航空航天、智能家居。如果这些技术一起工作，它将会蔓延到其他领域。为了研究嵌入式智能控制技术，“智能汽车”被选为研究平台,并把MC9S12DG128芯片作为主控单元。通过智能控制,智能汽车可以自主移动,同时跟踪的路径。 首先,本文给读者一个总体介绍智能车辆系统的[2、3]。然后,根据智能车辆的智能控制:提取路径信息,自我跟踪算法实现中,舵机的方向和速度的控制。它提供包括了上述四个方面的细节的智能车系统信息。此外,本文强调了智能车的控制过程应用程序包括开环控制、闭环增量PID算法和鲁棒算法。 2.智能车系统的总体设计 该系统采用MC9S12DG128[4]作为主芯片，以及一个CCD传感器作为交通信息收集的传感器。速度传感器是基于无线电型光电管的原理开发。路径可以CCD传感器后绘制收集的数据，并且系统计算出相应的处理。在同时，用由电动马达速度测试模块测量的智能汽车的当前速度进行响应的系统。最后，路径识别系统利用所述路径信息和当前的速度，以使智能汽车在不同的道路条件的最高速度运行。图1示出了智能车辆系统的框图。
机器人结构论文中英文对照资料外文翻译文献
中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
人工智能专业外文翻译-机器人
译文资料： 机器人 首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。 机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。 下面我简单介绍一下我国机器人发展的基本概况。由于我们国家存在很多其
外文翻译---汽车车身总布置的方法
附录 Modern car’s design always stresses people-oriented, so safety, comfort, Environmental protection and energy saving have been the design theme And target in car design. Ergonomics layout design is not only relate to the effective use of internal space and improve car’s comfort and safety Performance, but it will also impact internal and external modeling results, and further affects the vehicle's overall performance and marketability.Soergonomics’application and research during car design and development process occupy an important position.After more than 50 years of construction and development, China’s Automobile industry has become the leading power of automobile production and consumption in the world. In particular, with the rise and rapid de velopment of independent brand’s vehicles, we pay more attention To the development processes and the technical requirements of hard Points’ layout. Through the three typical processes such as modern vehicle developing Process, body development process and using ergonomic to progress Inner auto-body layout, describe ergonomic layoationship between design, Aunt design in which stage of the process of vehicle development, the red The importance of working steps. The automobile body total arrangement is the automobile design most initial is also the most essential step, is other design stage premise and the foundation, to a great extent is deciding the body design success or failure. Picks generally in the actual design process With by forward and reverse two design method (1) to design (from inside to outside law) to design method namely "humanist", is coming based on the human body arrangement tool to define the pilot and the crew member gradually rides the space and the vehicle comes to pay tribute each article the arrangement, take satisfies the human body to ride with the driving comfortableness as the premise, said simply is determined first satisfies the human body to ride under the comfortable premise, carries on the indoor arrangement first, then carries on the complete bikes external styling design again. The concrete method and the step are as follows: ①Determine 5% and 95% manikin H position and the chair by the SAE recommendation's enjoyable line or the region law adjustment traveling schedule, seat
汽车保险中英文对照外文翻译文献
汽车保险中英文对照外文翻译文献(文档含英文原文和中文翻译)
汽车保险 汽车保险是在事故后保证自己的财产安全合同。尽管联邦法律没有强制要求，但是在大多数州（新罕布什和威斯康星州除外）都要求必须购买汽车保险；在各个州都有最低的保险要求。在鼻腔只购买汽车保险的两个州，如果没有足够的证据表明车主财力满足财务责任法的要求，那么他就必须买一份汽车保险。就算没有法律规定，买一份合适的汽车保险对司机避免惹上官和承担过多维修费用来说都是非常实用的。 依据美国保险咨询中心的资料显示，一份基本的保险单应由6个险种组成。这其中有些是有州法律规定，有些是可以选择的，具体如下： 1.身体伤害责任险 2.财产损失责任险 3.医疗险或个人伤害保护险 4.车辆碰撞险 5.综合损失险 6.无保险驾驶人或保额不足驾驶人险 责任保险 责任险的投保险额一般用三个数字表示。不如，你的保险经纪人说你的保险单责任限额是20/40/10，这就代表每个人的人身伤害责任险赔偿限额是2万美元，每起事故的热身上海责任险赔偿限额是4万美元，每起事故的财产损失责任险的赔偿限额是1万美元。 人身伤害和财产损失责任险是大多数汽车保险单的基础。要求汽车保险的每个州都强令必须投保财产损失责任险，佛罗里达是唯一要求汽车保险但不要求投保人身伤害责任险的州。如果由于你的过错造成了事故，你的责任险会承担人身伤害、财产损失和法律规定的其他费用。人身伤害责任险将赔偿医疗费和误工工资；财产损失责任险将支付车辆的维修及零件更换费用。财产损失责任险通常承担对其他车辆的维修费用，但是也可以对你的车撞坏的灯杆、护栏、建筑物等其他物品的损坏进行赔偿。另一方当事人也可以决定起诉你赔偿精神损失。
智能避障机器人设计外文翻译
INTELLIGENT VEHICLE Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines. One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles 1.2 million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. In fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion. When hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system(ITS). Starting in the late 1990s, ITS systems were developed and deployed. In developed countries, travelers today have access to signifi-cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems. As the world energy crisis, and the war and the energy