Curve is the traffic accident-prone area in the traffic system of the structural road. How to effectively detect the lane-line and timely give the traffic information ahead for drivers is a difficult point for the assisted safe driving. The traditional lane detection technology is not very applicable in the curved road conditions. Thus, a curve detection algorithm which is based on straight-curve model is proposed in this paper and this method has good applicability for most curve road conditions. First, the method divides the road image into the region of interest and the road background region by analyzing the basic characteristics of the road image. The region of interest is further divided into the straight region and the curve region. At the same time, the straight-curve mathematical model is established. The mathematical equation of the straight model is obtained by using the improved Hough transform. The polynomial curve model is established according to the continuity of the road lane-line and the tangent relationship between the straight model and the curve model. Then, the parameters of the curve model equation are solved by the curve fitting method. Finally, the detection and identification of the straight and the curve are realized respectively and the road lane-line is reconstructed. Experiments show that this method can accurately identify the curve lane-line, provide effective traffic information, make early warning and it also has a certain universality.

Vehicle detection is essential for driverless systems. However, the current single sensor detection mode is no longer sufficient in complex and changing traffic environments. Therefore, this paper combines camera and light detection and ranging (LiDAR) to build a vehicle-detection framework that has the characteristics of multi adaptability, high real-time capacity, and robustness. First, a multi-adaptive high-precision depth-completion method was proposed to convert the 2D LiDAR sparse depth map into a dense depth map, so that the two sensors are aligned with each other at the data level. Then, the You Only Look Once Version 3 (YOLOv3) real-time object detection model was used to detect the color image and the dense depth map. Finally, a decision-level fusion method based on bounding box fusion and improved Dempster–Shafer (D–S) evidence theory was proposed to merge the two results of the previous step and obtain the final vehicle position and distance information, which not only improves the detection accuracy but also improves the robustness of the whole framework. We evaluated our method using the KITTI dataset and the Waymo Open Dataset, and the results show the effectiveness of the proposed depth completion method and multi-sensor fusion strategy.

The autonomous navigation and environment exploration of mobile robots are carried out on the premise of the ability of environment sensing. Simultaneous localisation and mapping (SLAM) is the key algorithm in perceiving and mapping an environment in real time. FastSLAM has played an increasingly significant role in the SLAM problem. In order to enhance the performance of FastSLAM, a novel framework called IFastSLAM is proposed, based on particle swarm optimisation (PSO). In this framework, an adaptive resampling strategy is proposed that uses the genetic algorithm to increase the diversity of particles, and the principles of fractional differential theory and chaotic optimisation are combined into the algorithm to improve the conventional PSO approach. We observe that the fractional differential approach speeds up the iteration of the algorithm and chaotic optimisation prevents premature convergence. A new idea of a virtual particle is put forward as the global optimisation target for the improved PSO scheme. This approach is more accurate in terms of determining the optimisation target based on the geometric position of the particle, compared to an approach based on the maximum weight value of the particle. The proposed IFastSLAM method is compared with conventional FastSLAM, PSO-FastSLAM, and an adaptive generic FastSLAM algorithm (AGA-FastSLAM). The superiority of IFastSLAM is verified by simulations, experiments with a real-world dataset, and field experiments.

The battery state of charge (SOC) and state of power (SOP) are two essential parameters in the battery management system. For power lithium-ion batteries, temperature variation and the hysteresis effect are two of the main negative contributions to the accuracy of model-based SOC and SOP estimation. Thereby, a reliable circuit model is established herein to accurately estimate the working state of batteries. Considering the effect that temperature and hysteresis have on the electrical system, a unique fully-coupled temperature–hysteresis model is proposed to describe the interrelationship among capacity, hysteresis voltage, and temperature comprehensively. The key parameters of the proposed model are identified by experiments operated on lithium-ion batteries under varying ambient temperatures. Then we build a multi-state joint estimator to calculate the SOC and SOP on the basis of the temperature–hysteresis model. The effectiveness of the advanced model is verified by experiments at different temperatures. Moreover, the proposed joint estimator is verified by the improved dynamic stress test. The experimental results indicate that the proposed estimator making use of the temperature–hysteresis model can estimate SOC and SOP accurately and robustly. Our results also prove invaluable in terms of the construction of a flexible battery management system for applications in the actual industrial field.

By analyzing all kinds of application situation about speed and sideslip test-bed, a multi-function intelligent instrument of speed and sideslip detection based on embedded system was designed. Its operation principle, hardware constitution and design method of system software was described. It has such functions as data acquisition, data processing, fault diagnosis and etc. This instrument suits to three kinds of sensor. It is fit for different applications, and the application results indicate that it is not only a low cost and highly universal detection instrument of speed and sideslip, but also the only kind of small-scale multi-function instrument up until now

Diverse lane preferences of left-turn drivers lead to unbalanced traffic distribution on multiple left-turn lanes. The preferences can be measured in terms of lane usage at macroscopic level and individual lane choice at microscopic level. The data of lane volume and individual lane choices are collected at eight dual or triple left-turn lanes equipped in signalized intersections in China. Linear regression model with dummy variables and discrete choice model were applied to analyse drivers’ lane choosing patterns at macroscopic and microscopic levels, respectively, and results of the two studies are mutually verified and complemented. The drivers’ lane preferences are found to vary with approach configurations, traffic control, and the number of lanes available. Static influential factors, such as turning radius inside the intersection, the design of shadowed lane, and intersection skewedness, as well as dynamic influential factors, including queue length, heavy vehicle in queue back and subject vehicle type, could affect the drivers’ lane preferences. The findings of this study have important implications for intersection design and traffic control in practice.