Hui Song

Most of the existing research in the field of autonomous vehicles (AVs) addresses decision making, planning and control as separate factors which may affect AV performance in complex driving environments. A hierarchical framework is proposed in this paper to address the problem mentioned above in environments with multiple lanes and surrounding vehicles. Firstly, high-level decision making is implemented by a finite-state machine (FSM), according to the relative relationship between the ego vehicle (EV) and the surrounding vehicles. After the decision is made, a cluster of quintic polynomial equations is established to generate the path connecting the initial position to the candidate target positions, according to the traffic states of the EV and the target vehicle. The optimal path is selected from the cluster, based on the quadratic programming (QP) framework. Then, the speed profile is generated, based on the longitudinal displacement–time graph (S–T graph), considering the vehicle motion state constraints and collision avoidance. The smoothed speed profile is created through another QP formulation, in the space created by the dynamic-programming (DP) method. Finally, the planned path and speed profile are combined and sent to the lower level control module, which consists of the linear quadratic regulator (LQR) for lateral trajectory tracking control, and a double PID controller for longitudinal control. The performance of the proposed framework was validated in a co-simulation environment using PreScan, MATLAB/Simulink and CarSim, and the results demonstrate that the proposed framework is capable of addressing most ordinary scenarios on a structured road, with reasonable decisions and controlling abilities.

In order to realize the lane-changing maneuver of Connected Autonomous Vehicles (CAV), a lateral controller based on model predictive control is developed with the three degrees of freedom vehicle dynamic model. Then the controller is synthesized to track the reference trajectory fitted by the quintic Bézier curve. The controller is validated by MATLAB/CarSim under different road adhesion conditions and driving speeds. Results show that for different road adhesion conditions and driving speeds, the controller does not need to adjust the control parameters and can continuously correct the deviation from the expected trajectory. During the tracking process, the front wheel angle, front wheel angle increment, centroid side deflection angle, and front wheel side deflection angle are kept within the limited constraint range. The established control algorithm has good control robustness and tracking driving stability. The research can provide a theoretical basis and technical support for lane-changing safety and control of CAV.

Different parameters of the circular-arc, trapezoidal and equal cross-section-shaped flow channels were analyzed, and the core volume goodness factor was used for the comparison of the three different types of flow channels. During the experiment, the Reynolds number (Re) on the air side ranged from 1200 to 5100. The results showed that the overall heat transfer performance of the three channels in this paper are circular-arc, trapezoidal and equal cross-section in order from good to bad. The overall heat transfer enhancement performance of the circular-arc flow channel is the best, which is 9–26.2% and 3.6–11.8% higher than that of the equal and trapezoidal cross-section flow channels, respectively. This showed that although the divergent flow channel structure reduces the fluid velocity in the flow process, it weakens the convective heat transfer performance in the flow channel. However, this gradually decreasing cross-sectional area improves the downstream heat transfer area and reduces the pressure drop in the flow process, thus promoting the overall heat transfer performance. With the increase in the circular radius (R), both the j and f factors increase, and the highest overall heat transfer performance is obtained at R = 300 mm. The convective heat transfer coefficient increases with the decrease in the inlet height.