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Optimal Cooperative Path Planning Considering Driving Intention for Shared Control

Hunan University-Mingjun Li, Xiao-lin Song, Haotian Cao
University of Waterloo-Dongpu Cao
  • Technical Paper
  • 2020-01-0111
To be published on 2020-04-14 by SAE International in United States
This paper presents an optimal cooperative path planning method considering driver’s driving intention for shared control to address target path conflicts during the driver-automation interaction by using the convex optimization technique based on the natural cubic spline. The optimal path criteria (e.g. the optimal curvature, the optimal heading angle) are formulated as quadratic forms using the natural cubic spline, and the initial cooperative path profiles of the cooperative path in the Frenet-based coordinate system are induced by considering the driver’s lane-changing intention recognized by the Support Vector Machine (SVM) method. Then, the optimal cooperative path could be obtained by the convex optimization techniques. The noncooperative game theory is adopted to model the driver-automation interaction in this shared control framework, where the Nash equilibrium solution is derived by the model predictive control (MPC) approach. Finally, the proposed framework is tested with different driver’s driving intentions to avoid obstacles on a straight road and a curvy road. As a result, the planned path could continuously adapt to the driving intention and various road shapes, and the path…
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BOLT, MACHINE - SPLINE DRIVE HD, CLOSE TOL FULL SHANK, UNS N07001, METRIC

E-25 General Standards for Aerospace and Propulsion Systems
  • Aerospace Standard
  • MA3512A
  • Current
Published 2020-03-18 by SAE International in United States
No Abstract Available.
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A Real-Time Obstacle-Avoidance Trajectory Planner for On-Road Autonomous Vehicle

School of Automotive Studies, Tongji University, China; Clea-Li Yishan, Xiong Lu, Xu Puhang, Li Zhuoren
School of Automotive Studies, Wuhan Women and Children Medic-Zeng Dequan
  • Technical Paper
  • 2020-01-5018
Published 2020-02-24 by SAE International in United States
A real-time obstacle-avoidance trajectory planner for on-road autonomous vehicle is proposed in this paper. A cubic B spline core is parametric to generate path with continuous curvature as well as taking the extreme curvature limited by steer system into account. By sampling the target sets via offsetting along the reference path, lots path sets are produced with same heading. As embedded with collision checker and path evaluator, a path selector could pick out the best one to planning speed profile for coupling trajectory to track. Finally, according to the change of path curvature, the speed profile scheduler addresses the conflict of curvature and deceleration. Referencing to the ISO3888-2:2011, a collision avoidance scenario was design to validate the planner. The test results of ten cycles test illustrate that the planner has high enough real-time performance as mean plan time less than 100ms with success rate about 100%.
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Inspection of Worn Involute Splines

EG-1 Aerospace Propulsion Systems Support Equipment
  • Aerospace Standard
  • ARP1111A
  • Current
Published 2020-02-03 by SAE International in United States
This concept for measuring worn splines provides a direct wear depth dimension by utilizing the unworn involute surface as a contact point from which to measure the depth of wear on the spline tooth at the pitch diameter. Fig. 1 shows spline wear patterns and pitch diameter gaging points.
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Definition and Measurement of Torque Biasing Differentials

Drivetrain Standards Committee
  • Ground Vehicle Standard
  • J2817_201908
  • Current
Published 2019-08-26 by SAE International in United States
This SAE Recommended Practice covers passive torque biasing axle and center differentials used in passenger car and light truck applications. Differentials are of the bevel gear, helical gear, and planetary types, although other configurations are possible.
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Wrenches, Twelve Spline, Metric

EG-1B Hand Tools Committee
  • Aerospace Standard
  • MA1547A
  • Current
Published 2019-05-10 by SAE International in United States
This standard covers the design, performance, and test requirements for high strength, thin wall, commercial sockets, universal sockets, and box wrenches used for the attachment and detachment of metric spline drive, high strength, and high temperature aircraft fasteners. Inclusion of dimensional data in this standard is not intended to imply that all of the products described herein are stock production sizes. Consumers are requested to consult with manufacturers concerning lists of stock production sizes. This standard is based on, but not limited to, the following external spline wrenching system:
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Study of Wrenching Engagement on AS870C Double Hexagon (12 Point) Fasteners

EG-1B Hand Tools Committee
  • Aerospace Standard
  • AIR1936A
  • Current
Published 2019-05-10 by SAE International in United States
This study addresses the adequacy of sockets, wrenches, and torque adapters conforming to AS954 to wrench 12 point fasteners with wrenching configurations conforming to AS870C. Reported wrenching problems with smaller sizes are investigated through examining the combined tolerances on the fasteners and wrenches, conducting torque testing on typical high strength lock nuts. Possible solutions to correct these wrenching problems are presented.
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Wrench Configuration, 12 Spline Drive, Metric

EG-1B Hand Tools Committee
  • Aerospace Standard
  • MA1586A
  • Current
Published 2019-05-10 by SAE International in United States
No Abstract Available.
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Bolts, Screws, and Nuts - External Wrenching, Metric Threads - Design Parameters for

E-25 General Standards for Aerospace and Propulsion Systems
  • Aerospace Standard
  • MA1518C
  • Current
Published 2019-05-03 by SAE International in United States
To fully define the following requirements for bolts with spline and hexagon heads of strength class up to but not including 1250 MPa: a Head dimensions (see 3.1) b Shank dimensions (see 3.2) c Geometric control (see 3.3) d Surface texture (see 3.4) This document is based on one class of thread after all processing, including coating or plating, has been completed as follows: tolerance class 4h6h. For particulars of thread, see AS1370. For thread runout and lead threads, see AS3062. To fully define the following requirements for nuts with spline, plain hexagon and castellated configurations of strength class up to and including 1100 MPa: a Nut dimensions (see 4.1) b Geometric control (see 4.2) c Surface texture (see 4.3) For particulars of threads, see AS1370. This document is based on the following classes of internal threads after all processing, including coating or plating, has been completed: Tolerance class 4H6H for sizes up to and including 5 mm Tolerance class 4H5H for size 6 mm and larger For particulars of thread, see AS1370.
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Carburizing and Heat Treatment of Carburizing Grade Steel Parts

AMS B Finishes Processes and Fluids Committee
  • Aerospace Material Specification
  • AMS2759/7D
  • Current
Published 2019-04-15 by SAE International in United States
This specification, in conjunction with the general requirements for steel heat treatment covered in AMS2759, establishes the requirements and procedures for three classes of gas, vacuum, liquid, and low pressure (LPC) carburizing and related heat treatment of parts fabricated from carburizing grade steels. Parts made from steels other than those specified in the detail specifications may be heat treated in accordance with the applicable requirements using processing temperatures, times, and other parameters recommended by the material producer unless otherwise specified by the purchaser. This specification does not cover pack carburizing.
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