车路协同技术是解决自动驾驶中单车智能现存缺陷的关键技术。而智能网联高速公路的出现为车路协同技术真正应用于实际提供了良好的平台。其中,路侧单元(Road Side Unit,RSU)如何将路侧传感器信息或交通监控中心发布消息传递给路上车辆....车路协同技术是解决自动驾驶中单车智能现存缺陷的关键技术。而智能网联高速公路的出现为车路协同技术真正应用于实际提供了良好的平台。其中,路侧单元(Road Side Unit,RSU)如何将路侧传感器信息或交通监控中心发布消息传递给路上车辆.是车路协同技术的一个关键环节。为此,提出一种基于 V2V( Vehicle to Vehicle)和 V2I( Vehicle to Infrastructure)融合的自适应数据分发协议(Adaptive Network and Road Traffic Data Dissemination for V2X,NRT-V2X)。NRTV2X协议在影响通行效率事件的车流上游为RSU定义了一段服务区域(ROI,Region of Interest)。 RSU通过感知服务区域中车辆的无线通信网络状况和路面交通状况来自适应调整其信息发送间隔,从而在保证ROI中车辆信息全覆盖的前提下,降低RSU发送信息开销,抑制ROI内车辆的接收信息冗余。基于创建的2个场景和2个车路协同应用,利用双向耦合车联网仿真平台进行性能评估。试验结果表明:采用NRT-V2X协议的车路协同技术可使高速公路的通行效率提高28%以上;与RSU固定发送间隔协议和典型V2X协议ATB相比,NRT-V2X的信息覆盖率稳定在100%,发送信息开销降低了至少30%.接收信息冗余下降了 20%以上;NRT-V2X能够将智能网联高速公路通行效率相关信息高效地由RSU分发到其定义的ROI中的所有车辆.从而保证所有车辆预先接收到相关信息.选择最优行车路线.提高通行效率。展开更多
In the conventional absolute nodal coordinate formulation(ANCF), the model is pre-meshed, the number,distribution and type of elements are unchangeable during the simulation. In addition, the deformations of a flexibl...In the conventional absolute nodal coordinate formulation(ANCF), the model is pre-meshed, the number,distribution and type of elements are unchangeable during the simulation. In addition, the deformations of a flexible body are space-varying and time-varying, one cannot predict when, where, and how the deformations will occur. Therefore, in order to obtain a satisfactory accuracy during the whole simulation, the model is usually densely meshed, but it will result in a loss of computational efficiency. In this study,an adaptive absolute nodal coordinate formulation(AANCF)is proposed to optimize the accuracy and efficiency of flexible dynamics. The movement features of flexible bodies are analyzed, and the conventional and adaptive ANCF methods are compared. Then the adaptive computation strategy is presented. The discretization errors come from the inability of interpolation functions of individual elements to capture the complexity of the exact solution, so the mesh can be adaptively optimized by changing the element sizes or the orders of interpolation functions during dynamic computation. Important issues of AANCF, including error estimation,mesh updating, and performance of the AANCF model, are analyzed and discussed in detail. A theoretical model of a planar AANCF cable is presented, where the strategies of dividing and merging elements are discussed. Moreover, the continuity of dynamic variables is deduced, and the mean factors that affect the continuity are obtained, which is very important for the subsequent continuity optimization. Thesimulation results indicate that the distribution of elements varies with time and space, and the elements are denser in large-deformed domains. The AANCF model improved the computational accuracy and efficiency, but the system energy is discontinuous when the elements are merged. Therefore,a continuity-optimized AANCF model is given based on the previous continuity analysis, the results show that the accuracy and continuity of energy are further improved by the continuity-o展开更多
文摘车路协同技术是解决自动驾驶中单车智能现存缺陷的关键技术。而智能网联高速公路的出现为车路协同技术真正应用于实际提供了良好的平台。其中,路侧单元(Road Side Unit,RSU)如何将路侧传感器信息或交通监控中心发布消息传递给路上车辆.是车路协同技术的一个关键环节。为此,提出一种基于 V2V( Vehicle to Vehicle)和 V2I( Vehicle to Infrastructure)融合的自适应数据分发协议(Adaptive Network and Road Traffic Data Dissemination for V2X,NRT-V2X)。NRTV2X协议在影响通行效率事件的车流上游为RSU定义了一段服务区域(ROI,Region of Interest)。 RSU通过感知服务区域中车辆的无线通信网络状况和路面交通状况来自适应调整其信息发送间隔,从而在保证ROI中车辆信息全覆盖的前提下,降低RSU发送信息开销,抑制ROI内车辆的接收信息冗余。基于创建的2个场景和2个车路协同应用,利用双向耦合车联网仿真平台进行性能评估。试验结果表明:采用NRT-V2X协议的车路协同技术可使高速公路的通行效率提高28%以上;与RSU固定发送间隔协议和典型V2X协议ATB相比,NRT-V2X的信息覆盖率稳定在100%,发送信息开销降低了至少30%.接收信息冗余下降了 20%以上;NRT-V2X能够将智能网联高速公路通行效率相关信息高效地由RSU分发到其定义的ROI中的所有车辆.从而保证所有车辆预先接收到相关信息.选择最优行车路线.提高通行效率。
基金supported by the National Basic Research Program of China (Grant 2013CB733004)
文摘In the conventional absolute nodal coordinate formulation(ANCF), the model is pre-meshed, the number,distribution and type of elements are unchangeable during the simulation. In addition, the deformations of a flexible body are space-varying and time-varying, one cannot predict when, where, and how the deformations will occur. Therefore, in order to obtain a satisfactory accuracy during the whole simulation, the model is usually densely meshed, but it will result in a loss of computational efficiency. In this study,an adaptive absolute nodal coordinate formulation(AANCF)is proposed to optimize the accuracy and efficiency of flexible dynamics. The movement features of flexible bodies are analyzed, and the conventional and adaptive ANCF methods are compared. Then the adaptive computation strategy is presented. The discretization errors come from the inability of interpolation functions of individual elements to capture the complexity of the exact solution, so the mesh can be adaptively optimized by changing the element sizes or the orders of interpolation functions during dynamic computation. Important issues of AANCF, including error estimation,mesh updating, and performance of the AANCF model, are analyzed and discussed in detail. A theoretical model of a planar AANCF cable is presented, where the strategies of dividing and merging elements are discussed. Moreover, the continuity of dynamic variables is deduced, and the mean factors that affect the continuity are obtained, which is very important for the subsequent continuity optimization. Thesimulation results indicate that the distribution of elements varies with time and space, and the elements are denser in large-deformed domains. The AANCF model improved the computational accuracy and efficiency, but the system energy is discontinuous when the elements are merged. Therefore,a continuity-optimized AANCF model is given based on the previous continuity analysis, the results show that the accuracy and continuity of energy are further improved by the continuity-o
