Obstacle avoidance systems for autonomous driving vehicles have significant effects on driving safety. The performance of an obstacle avoidance system is affected by the obstacle avoidance path planning approach. To design an obstacle avoidance path planning method, firstly, by analyzing the obstacle avoidance behavior of a human driver, a safety model of obstacle avoidance is constructed. Then, based on the safety model, the artificial potential field method is improved and the repulsive field range of obstacles are rebuilt. Finally, based on the improved artificial potential field, a collision-free path for autonomous driving vehicles is generated. To verify the performance of the proposed algorithm, co-simulation and real vehicle tests are carried out. Results show that the generated path satisfies the constraints of roads, dynamics, and kinematics. The real time performance, effectiveness, and feasibility of the proposed path planning approach for obstacle avoidance scenarios are also verified.

It is very important for the gas engine to improve its fuel economy, low emission and power performance. To solve this problem, the air fuel ratio should be controlled accurately. In order to keep the air fuel ratio around 16.7, an air-fuel ratio parallel control method, which is based on CMAC neural network and PID, is adopted and its arithmetic is elaborated in this paper. The parallel control method is also compared with the one using PID only. The simulation result shows that air fuel ratio could be controlled at the range of 16.7 by the parallel control method.

In Section III-A of the above article [1] , reference [43] should be reference [47] , because the reference number was mistyped.

Based on small bus YTK6605Q, this paper analyzes the performance index requirements of the power train assembly components of series hybrid city bus, and probes into the design principles and methods of the power train parameters of the series hybrid city bus, and completed the power train components' selecting and parameter matching of YTK6605Q series hybrid city bus. ADVISOR software was used to simulate the designed prototype under certain drive cycle. The simulation result is compared with that from conventional bus prototype, from which it can be concluded that as for the newly designed prototype, the parameter selecting is reasonable and hybrid power is superior. Therefore, this paper guides theoretically the development of hybrid electric bus.