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Visual Place Recognition (VPR) excels at providing a good location prior for autonomous vehicles to initialize the map-based visual SLAM system, especially when the environment changes after a long term. Condition change and viewpoint change, which influences features extracted from images, are two of the major challenges in recognizing a visited place. Existing VPR methods focus on developing the robustness of global feature to address them but ignore the benefits that local feature can auxiliarily offer. Therefore, we introduce a novel hierarchical place recognition method with both global and local features deriving from homologous VLAD to improve the VPR performance. Our model is weak supervised by GPS label and we design a fine-tuning strategy with a coupled triplet loss to make the model more suitable for extracting local features.

With the development of economic globalization, the speed of development of container terminals is also very rapid. Under the pressure brought by the surge in throughput, the unmanned and intelligent terminals will become the future development direction of terminals. As the cornerstone of the unmanned terminal, the positioning technology provides the most basic position information for system scheduling, path planning, real-time correction, and loading and unloading. Therefore, this paper is aimed to design a low-cost, high-precision, and easy-to-maintain unmanned dock positioning system in order to better solve the problem of unmanned dock positioning. The main research content of this paper is to design a positioning algorithm for unmanned terminal Automated Guided Vehicle (AGV) based on single-line lidar, including point cloud data acquisition, background filtering, point cloud clustering, vehicle position extraction, and result optimization.

Rotating flow inside an internal combustion engine cylinder is deliberately engineered for improved fuel-air mixing and combustion. The details of the rotating flow structure vary temporally over an engine cycle as well as cyclically at the same engine phase. Algorithms in the literature to identify these structural details of the rotating flow invariably focus on locating its center and, on occasion, measuring its rotational strength and spatial extent. In this paper, these flow structure parameters are evaluated by means of complex moments, which have been adapted from image (scalar field) recognition applications to two-dimensional flow pattern (vector field) analysis. Several additional detailed characteristics of the rotating flow pattern - the type and extent of its deviation from the ideal circular pattern, its rotational and reflectional symmetry (if exists), and thus its orientation - are also shown to be related to the first few low-order complex moments of the flow pattern.

The vehicle chassis integrated control system can improve the stability of vehicles under extreme conditions using tire force allocation algorithm, in which, the nonlinearity and uncertainty of tire-road contact condition need to be taken into consideration. Thus, An MPC (Model Predictive Control) controller is designed to obtain the additional steering angle and the additional yaw moment. By using a robust optimal allocation algorithm, the additional yaw moment is allocated to the slip ratios of four wheels. An SMC (Sliding-Mode Control) controller is designed to maintain the desired slip ratio of each wheel. Finally, the control performance is verified in MATLAB-CarSim co-simulation environment with open-loop manoeuvers.

Flash boiling spray has been proven to be a useful method in providing finer fuel droplet and stronger evaporation in favor of creating a homogeneous fuel-air mixture. Combustion characteristics of flash boiling spray are thus valuable to be investigated systematically for aiding the development of efficient internal combustion system. An experimental study of flash boiling spray combustion in a SIDI optical engine under early injection has been conducted. The fuel, Iso-octane, was used across all tests. Three fuel spray conditions experimented in the study: normal liquid, transitional flash boiling and flare flash boiling sprays, within each case that Pa/Ps ratio was set in (>1), (0.3~1), and (<0.3) respectively. A small quartz insert on the piston enables optical access for observing combustion process; non-intrusive measurements on flame radicals has been carried out using a high-speed color camera.

Lift-off length is defined as the distance from injector hole to the location where flame stabilized on a high injection pressure direct injection (DI) diesel spray. In this paper we used the high-speed (40 kHz) Schlieren and time-averaged OH chemiluminescence imaging technique to simultaneously measure the flame lift-off locations on a DI diesel spray in an optically accessible and constant-volume combustion vessel. The time-resolved development of the diesel spray acquired from the high-speed Schlieren imaging system enabled us to observe the instantaneous spray structure details of the spray flames. The OH chemiluminescence image obtained from a gated, intensified CCD video camera with different delay and width settings was used to determine the quiescent lift-off length. Experiments were conducted under various ambient temperatures, ambient gas densities, injection pressures and oxygen concentrations.

In order to meet increasingly stringent emission regulations, it is significance to establish a control- oriented transient NOx and PM emission prediction model and improve the accuracy and real-time performance. In this study, the prediction model of transient PM emissions based on Transformer is established. In terms of model accuracy and real-time performance, Transformer emission prediction model is compared with Multilayer perceptron (MLP) neural network and Long-Short Term Memory (LSTM) emission prediction model. The results show that the performance of Transformer transient emission prediction model is superior to other model structures, it can be used for real-time prediction.

An energy-regenerative vehicle suspension is proposed. Permanent-magnet direct-current motors are utilized as the active actuators in automotive suspension. The significant characteristic of the suspension is that vibration energy from the road excitation can be regenerated and transformed into electric energy while good suspension performance can be maintained. The modeling of electrical suspension system has been completed and simulated in Matlab/Simulink. The motor actuator working as a generator is proved to maintain the performance of vibration control and energy-regeneration. The prototype of motor actuator is designed and made. The vibration absorption and regeneration performances are verified by full-vehicle experiments.

Vehicle lateral states such as lateral distance at a preview point and heading angle are indispensable for lane keeping control systems, and such states are normally estimated by fusing signals from an onboard vision system and inertial sensors. However, the sampling rates and measurement delays are different between the two kinds of sensing devices. Most of the conventional methods simply neglect measurement delay and reduce sampling rate of the estimator to adapt to the slow sensors/devices. However, the estimation accuracy is deteriorated, especially considering the delay of visual signals may not be constant. In case of electric vehicles, the actuators for steering and traction are motors that have high control frequency. Therefore, the frequency of vehicle state feedback may not match the control frequency if the estimator is infrequently updated. In this paper, a multi-rate estimation algorithm based on Kalman filter is proposed to provide lateral states with high frequency.

With the rapid development of series-parallel hybrid electric vehicles (SPHEVs), mode transition from pure electrical drive to hybrid drive has attracted considerable attention. The presence of time delay due to response capacity of actuators and signal transmission of communication may cause decrease of speed tracking accuracy, even instable dynamics. Consequently, drivability of the SPHEV is unacceptable, and durability of the components is reduced. So far, plenty of control strategies have been proposed for mode transition, however, no previous research has been reported to deal with the time delay during mode transition. In this paper, a dynamic model with time delay of hybrid electric system is established. Next, a mode transition time-delay controller is proposed based on a two degree of freedom internal model controller (2-DOF-IMC).

Ignition performance is critical for the implementation of diluted combustion for spark-ignition engines. The short circuit and restrike phenomena can influence the initial ignition volume and discharge duration which are important for the stable ignition processes. In this study, the short circuits and restrikes of spark channels are studied with various flow velocities, spark plug gaps and discharge energies. The development of the spark channels is captured by using the direct imaging technique with a CMOS camera equipped with an image intensifier. A multi-coil ignition system is designed to enable flexible control of discharge energies. The results show that the spark plug gap size is a critical parameter to suppress the phenomena of short circuits and restrikes. With the enlargement of spark plug gap, the maximum and average lengths of the spark channel effectively increase.

In this paper an estimation method on location of peak pressure (LPP) employing flame ionization measurement, with the spark plug as a sensor, was discussed to achieve combustion parameters estimation at quick start of HEV engines. Through the cycle-based ion signal analysis, the location of peak pressure can be extracted in individual cylinder for the optimization of engine quick start control of HEV engine. A series of quick start processes with different cranking speed and engine coolant temperature are tested for establishing the relationship between the ion signals and the combustion parameters. An Artificial Neural Network (ANN) algorithm is used in this study for estimating these two combustion parameters. The experiment results show that the location of peak pressure can be well established by this method.

Flash boiling is considered a useful method in enhancing the liquid fuel jet break-up and spray atomization process for internal combustion engine applications. Spray atomization efficiency plays a vital role in the combustion process. Although some researches have demonstrated that flash boiling has the potential to improve the combustion efficiency and optimize emission-related issues, the effect of flash boiling spray characteristics on the combustion process has not been fully investigated. In this paper, spray characteristics and its related combustion process were studied via various non-intrusive diagnostics methods. The spray and combustion process under different test conditions were studied using an optical engine. It was found that by using flash boiling atomization, the combustion duration was reduced and IMEP enhanced significantly. Experimental results have built the relationship between flash boiling spray characteristics and the combustion performance in the engine.

Injection pressure plays a vital role in spray break-up and atomization. High spray injection pressure is usually adopted to optimize the spray atomization in gasoline direct injection fuel system. However, higher injection pressure also leads to engine emission problem related to wall wetting. To solve this problem, researchers are trying to use flash boiling method to control the spray atomization process under lower injection test conditions. However, the effect of injection pressure on the spray atomization under flash boiling test condition has not been adequately investigated yet. In this study, quantitative study of internal flow and near nozzle spray breakup were carried out based on a two-dimensional transparent nozzle via microscopic imaging and phase Doppler interferometery. N-hexane was chosen as test fluid with different injection pressure conditions. Fuel temperature varied from 112°C to 148°C, which covered a wide range of superheated conditions.

Combustion efficiency of internal combustion engine is closely influenced by the air flow pattern in the engine cylinder. Some researchers use high-speed particle image velocimetry to visualize and measure the temporally and spatially resolved in-cylinder velocity flow fields in the optically assessable engine. However, the transparent cylindrical liner makes it difficult to accurately determine the particle displacements inside the cylinder due to the optically distorted path of scattering light from seeding particles through the curved liner. To correct for the distortion-induced error in the seeding particle positions through the optical liner, the distortion mapping function is modeled using the Gaussian optics theory. Two artificial flow patterns with 5 by 5 vectors were made to illustrate the mapping correction. Distortion-induced error of velocity vectors was precisely mapped in six different planes inside the cylinder.

High fuel injection pressure has been regarded as a key controlling factor for internal combustion engines to achieve good combustion performance with reduced emissions and improved fuel efficiency. For common-rail injection system (CRS) used in advanced diesel engines, fuel injection pressure can often be raised to beyond 200 MPa. Although characteristics of diesel spray has been thoroughly studied, little work has been done at ultra-high injection pressures. In this work, the characteristics of CRS diesel spray under ultra-high injection pressure up to 250 MPa was investigated. The experiments were conducted in an optically accessible high-pressure and high-temperature constant volume chamber. The injection pressure varied from 50 MPa to up to 250 MPa. Both non-evaporating condition and evaporating condition were studied. A single-hole injector was specially designed for this investigation.

In partially automated and conditionally automated vehicles, a part of the work of human drivers is replaced by the system, and the main source of safety risks is no longer system failures, but non-failure risks caused by insufficient system function design. The absence of unreasonable risk due to hazards resulting from functional insufficiencies of the intended functionality or by reasonably foreseeable misuse by persons, is referred to as the Safety Of The Intended Functionality. Drivers have the responsibility to supervise the automated driving system. When they don't agree with the operation behavior of the system, they will interfere with the instructions. However, this may lead to potential risks.

Nozzle length has been proven influencing fuel spray characteristics, and subsequently fuel-air mixing and combustion processes. However, almost all existing related studies are conducted when fuel is subcooled, of which fuel evaporation is extremely weak, especially at the near nozzle region. In addition, injector tip can be heated to very high temperature in SIDI engines, which would trigger flash boiling fuel spray. Therefore, in this study, effect of nozzle length on spray characteristics is investigated under superheated conditions. Three single-hole injectors with different nozzle length were studied. High speed backlit imaging technique was applied to acquire magnified near nozzle spray images based on an optical accessible constant volume chamber. Fuel pressure was maintained at 15 MPa, and n-hexane was chosen as test fuel.

The continuous improvement of spark-ignition direct-injection (SIDI) engines is largely attributed to the enhanced understanding of air-fuel mixing and combustion processes. The intricate interaction between transient spray behavior and the ambient flow field is important to unveil the airflow dynamics during the spray injection process. This study investigates the fuel-spray boundary interactions under different superheated conditions by analyzing the ambient flow field pattern with constraint-based modeling (CBM). In the experimental setup, superheated conditions are facilitated by adjusting different fuel temperatures and ambient pressures. By adding the tracer particles containing Rhodamine 6G to the ambient air, the combined diagnostic of fluorescent particle image velocimetry (FPIV) and Mie-scattering is implemented to measure the velocity distribution and flow trajectory of the air surrounding the spray formation and propagation.

To alleviate the shortage of petroleum resources and the air pollution caused by the burning of fossil fuels, the development of renewable fuels has attracted widespread attention. Among the various renewable fuels, ethanol can be produced from biomass and does not require much modification when applied to practical engines, so it has been widely used. However, ethanol fuel has a higher heat of vaporization than gasoline, it is difficult to evaporate and atomize under cold start conditions. Besides, the catalyst has not reached the conversion temperature at this time, resulting in lower conversion efficiency. These factors all lead to higher pollutant emission levels in ethanol-gasoline blends. To solve the above problems, this research used visualization techniques to compare the effects of flash boiling and high-energy ignition technologies on the in-cylinder combustion process and pollutant emission of ethanol-gasoline blends fuel.