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BP,,130025:,,,BPPID,,:;;BP;:U461:1004132(2005)03027206VehicleLaneKeepingSystemControlwithBPNeuralNetworkGaoZhenhaiJiangLiyongJilinUniversity,Changchun,130025Abstract:Accordingtothenonlinearandparametertime-varyingcharacteristicsofvehiclelater2aldynamics,anovelvehiclelanekeepingsystemsadaptivePIDcontrolalgorithmwithBPneuralnet2workwasproposed,basedontheabilitythatBPneuralnetworkcanapproachanynonlinearfunctionanddriverhandlingbehavior.Thesimulationresultsunderdifferentvelocitiesandroadsituationsshowthisalgorithmcaneffectivelycontrolvehicletorunaccordingtothepre-giventrajectory,andhavegoodrobustnessandadaptabilityforthechangeofvelocityandroadcurvature.Keywords:vehicle;lanekeeping;BPneuralnetwork;adaptive:20040113:(GG-580-10183-1995)0,(),,,(),,,,,,,,,,,[1],BPPID,1CCD,,,,,11272163200522090,,Look-downLook-ahead[2,3],[46],:,;,,,,,,,2,,2.1,21.v=60km/h2.v=80km/h3.v=100km/h4.v=120km/h2,3,,,,,32.2BPPID,,PIDPID,,,PID,PID,[1,7],BPPID[1],,,BP2.3BP,,BPPID42.3.1,[8],,,372BP4BPPID,,(),,,,[8],,,;,(,),,;2.3.2,[9],OxyOXY,5(X(t),Y(t)),(x(t),y(t)),,Y=Y(X),y=yr[x(t)](x,y)(X,Y)5X=xcos-ysinY=ycos+xsin(1),,t0P:xP(t+t0)=x(t)+t0vcos(2)Py=yr[x(t)],yP=yr[xP(t+t0)](3),t,y(t)y(t),y3:y3=2t20[yP-y(t)-t0y(t)](4),,,2.3.3,,,,:PID(),PID,;BPPID,PID,BP,PID47216320052,BP,BP,,66BP,,BP,343,4,wIH(k)wHO(k)(0,1),=012=0105k,k=1,PID,,f1()Sigmoid,f2Sigmoid,63,(34),[9]78v=40km/hv=100km/h910v=40km/hv=100km/h:572BP,,,,PID,7v=40km/h8v=100km/h9v=40km/h10v=100km/h,,BP,,11v=80km/h,PID,PID(11v=80km/h)BP,,,,,,,,,,,BP,BP,,,4BPPID,,BPPID,,:,,:[1]..:,2003[2]ShladoverSE,DesoerCA,HedrickKJ,etal.AutomaticVehicleControlDevelopmentsinthePathProgram.IEEETransactionsonVehicularTechnology,1991,40(1):11413067216320052[3]ChoiSB.TheDesignofaLook-DownFeedbackAdaptiveControllerfortheLateralControlofFront-Wheel-SteeringAutonomousHighwayVehi2cles.IEEETransactionsonVehicularTechnology,2000,49(6):22572269[4],,,..,2002,19(2):131133[5]HatipogluC,UmitOzguner,RedmillKA.Auto2matedLaneChangeControllerDesign.IEEETrans2actionsonIntelligentTransportationSystems,2003,4(1):1322[6],,..,2003,25(5):428433[7].PID.:,2002[8],,..,2003,25(3):227231[9]..:,1991():,,197328,,197611121.,,2100962.,,221006:XAD250,;ADAMS,:,;,,:;;;;ADAMS:U461.1:1004132(2005)03027705DynamicModelingandAnalysisofRubberSuspensionSystemofArticulatedDumpTruckXuZhihua1SunBeibei1SunQinghong1MaZhu21.SoutheastUniversity,Nanjing,2100962.XuzhouConstructionMachineryGroupCo.Ltd.,Xuzhou,221006Abstract:NonlinearvirtualprototypingofXAD250hasbeenbuiltbasedontopologicalanalysesofsus2pensionofXAD250articulateddumptruck,andthemethodofsimulatinggraderoadinADAMShasbeende2scribed.Multi-bodydynamicsanalysesoftheridecomforthavebeenperformedwithdifferentvelocitiesanddifferentloads.Resultsindicatethatthegoodandconstantridecomfortofcabcanbesatisfiedunderdifferentloadsbecauseofthenonlinearpropertiesofrubberspringsoffrontsuspension.Rearsuspensionsystemunderlightloadhashighersupportingfrequencythanthatunderdeadweight,whichmayresultininstableridecom2fort.Basedonanalysisresults,optimizationofrearsuspensionparameterhasbeencarriedout.Optimalre2sultsindicatethatusingrubberspringwithoptimumnonlinearelasticitycharacteristicsresultsingoodandconstantridecomfortofAD250.Theresultsprovideabasisfortheparameteroptimizationofsuspensionofar2ticulateddumptrucks.Keywords:articulateddumptruck;suspension;nonlinear;multi-bodydynamics;ADAMS0:20031202:863(2001AA422013);(BK200302),3602060,,[1],(Volvo)(Terex)(Caterpillar)772