Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase...Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass center.To improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is proposed.In the paper,time to lane crossing(TLC)is introduced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source.The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory.In addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field function.The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably.Finally,the proposed control strategy is verified by the HiL test.It provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.展开更多
Michoacán has a deforested area of 525,260 ha, representing 52,526 ha per year, mainly caused by anthropogenic disturbances such as agricultural burning and forest fires (50%), change of use of land for extensive...Michoacán has a deforested area of 525,260 ha, representing 52,526 ha per year, mainly caused by anthropogenic disturbances such as agricultural burning and forest fires (50%), change of use of land for extensive livestock farming (28%), agriculture (17%) and illegal logging (5%). The establishment of forest plantations is an alternative for reducing the pressure on natural forests and creating options for sustainable development and diversification of production and conversion of land for agricultural and livestock fragmented for forestry purposes. The aim of this study was to determine the potential areas for commercial forest plantations of Enterolobium cyclocarpum (Jacq.) Griseb. in the State of Michoacán, México, through the use of Geographic information systems (GIS). Areas were identified using IDRISI 32, and ArcView software. Screening variables include annual temperature, annual precipitation, land use, soil type, elevation and slope. Products obtained were field verified. Two maps where potential areas for the establishment of commercial forest plantations of E. cyclocarpum shown were obtained. Potential areas for commercial forest plantation establishment are (0% - 15% slope) for commercial forest plantations mechanized was 57,227 ha and (15% - 30% slope) for manual plantations was 6273 ha. The total area in the state with potential for the establishment of the species in the study was 63,500 ha.展开更多
This article brings forward the conception of potential and filed potential in bank's competition under the inspiration of law of electric current in electrodynamics. It discusses the impact of potential shifting ...This article brings forward the conception of potential and filed potential in bank's competition under the inspiration of law of electric current in electrodynamics. It discusses the impact of potential shifting on commercial bank's credit scale and builds up a model for commercial bank to control the scale by credit pricing and risk policy in a dynamic way, and also gives some advice to domestic commercial bank for improving loan business, aiming to settle down the existing credit management problems.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51605199,U20A20333,52225212)Six Talent Peak Funding Projects in Jiangsu Province of China(Grant No.2019-GDZB-084)Key Science and Technology Support Program in Taizhou City of China(Grant No.TG202307).
文摘Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass center.To improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is proposed.In the paper,time to lane crossing(TLC)is introduced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source.The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory.In addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field function.The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably.Finally,the proposed control strategy is verified by the HiL test.It provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.
文摘Michoacán has a deforested area of 525,260 ha, representing 52,526 ha per year, mainly caused by anthropogenic disturbances such as agricultural burning and forest fires (50%), change of use of land for extensive livestock farming (28%), agriculture (17%) and illegal logging (5%). The establishment of forest plantations is an alternative for reducing the pressure on natural forests and creating options for sustainable development and diversification of production and conversion of land for agricultural and livestock fragmented for forestry purposes. The aim of this study was to determine the potential areas for commercial forest plantations of Enterolobium cyclocarpum (Jacq.) Griseb. in the State of Michoacán, México, through the use of Geographic information systems (GIS). Areas were identified using IDRISI 32, and ArcView software. Screening variables include annual temperature, annual precipitation, land use, soil type, elevation and slope. Products obtained were field verified. Two maps where potential areas for the establishment of commercial forest plantations of E. cyclocarpum shown were obtained. Potential areas for commercial forest plantation establishment are (0% - 15% slope) for commercial forest plantations mechanized was 57,227 ha and (15% - 30% slope) for manual plantations was 6273 ha. The total area in the state with potential for the establishment of the species in the study was 63,500 ha.
文摘This article brings forward the conception of potential and filed potential in bank's competition under the inspiration of law of electric current in electrodynamics. It discusses the impact of potential shifting on commercial bank's credit scale and builds up a model for commercial bank to control the scale by credit pricing and risk policy in a dynamic way, and also gives some advice to domestic commercial bank for improving loan business, aiming to settle down the existing credit management problems.
