自动驾驶背景下智能路面研发进展

 综述了自动驾驶背景下智能路面的研究进展和发展趋势。介绍了智能路面为实现与AVs协同交互所需具备的3项关键技术：自导航技术通过在路面中嵌入车辆导航标志为AVs提供位置信息；自感知技术通过对道路气象信息和交通流信息的感知和分析，为AVs推荐安全车速，减少交通事故；自充电技术在解决充电系统可行性的基础上，需研究高透波率和导热路面材料以及新型复合路面结构。总结了智能路面为保证精细化施工和嵌入式元件的使用寿命而采用的预制式路面技术、BIM和3D打印3项先进建造技术。并指出除关键技术问题，智能路面的推广还面临社会、经济、法律和环境等非技术问题。     

凉山州山羊饲养面临的挑战及应对措施

凉山州生态条件非常适合山羊的繁殖生长,存栏居全省地、市、州之首,是凉山州畜牧业的一大支柱。但是近年来随着草场退化,有毒植物紫茎泽兰不断侵占草场和国家天然林保护工程和退耕还林还草的实施,凉山山羊发展面临着严重的考验。因此,必须振兴草业,充分利用冬春轮歇地和果园加大人工种草力度,合理开发利用丰富的农副秸秆,推广山羊舍饲或半舍饲,普及科技养羊育肥技术,调整羊群结构,提高山羊生产经济效益。     

Behavioral event detection and rate estimation for autonomous vehicle evaluation

Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations typically focus on estimating the frequency of (undesirable) behavioral events. While rate estimation would be straight-forward with complete data, in the autonomous driving setting this estimation is greatly complicated by the fact that detecting these events within large driving logs is a non-trivial task that often involves human reviewers. In this article, we outline a streaming partial tiered event review configuration that ensures both high recall and high precision on the events of interest. In addition, the framework allows for valid streaming estimates at any phase of the data collection process, even when labels are incomplete, for which we develop the maximum likelihood estimate and show it is unbiased. Constructing honest and effective confidence intervals (CI) for these rate estimates, particularly for rare safety-critical events, is a novel and challenging statistical problem due to the complexity of the data likelihood. We develop and compare several CI approximations, including a novel gamma CI method that approximates the exact but intractable distribution with a weighted sum of independent Poisson random variables. There is a clear trade-off between statistical coverage and interval width across the different CI methods, and the extent of this trade-off varies depending on the specific application settings (e.g., rare vs. common events). In particular, we argue that our proposed CI method is the best-suited when estimating the rate of safety-critical events where guaranteed coverage of the true parameter value is a prerequisite to safely launching a new ADS on public roads.     

凉山州森林防火体系建设初探

凉山州是西南地区森林火灾的高发地区之一,保护和发展森林资源必须加强凉山州森林防火体系的建设.主要措施有以下几条:①加强领导,落实好森林防火责任制;②强化火源管理;③完善森林防火体系建设;④推行凉山州三条防火经验。     

开花植物延迟自交的研究进展

延迟自交是植物在单朵花开花末期主动自花授粉的一种繁殖方式。为了补充及完善植物进化和传粉生物学研究的综合数据资料,笔者概述了延迟自交的发生途径、试验研究方法、“两全其美”繁殖保障假说等方面的进展,探讨了其适应性意义,并对今后的研究方向提出了建议。目前,延迟自交现象广泛发生在43科61属74种植物中,其中,52种植物的发生途径是单一的,22种植物由两种途径共同作用。在单一途径中,柱头弯曲引起的延迟自交最为常见;不完全雌雄异熟和雌雄异位减小两种途径共同作用促进的延迟自交最为常见。对延迟自交的观察,多采用宏观传粉生物学手段,少有研究将宏观传粉生物学与遗传学手段相结合为延迟自交的发生提供最严谨的证据。延迟自交的繁殖保障假说表明,植物在优先保障异交进行的前提下,当传粉环境不可预测时,延迟自交能为植物的繁殖成功提供保障,被认为是结合了自交和异交优点的“两全其美”的交配系统。此外,对于少胚珠物种,昆虫单次授粉后即可充分授粉;为节约植物资源,还可阻止延迟自交的发生。     

自动共享电动汽车的云-边协调优化模型与控制策略

针对自动共享电动汽车(shared autonomous electric vehicles,SAEV)运行出现的车辆分配不平衡以及充电优化问题，提出了一种基于云-边协调计算的SAEV优化控制策略。首先，给出SAEV再平衡优化模型以及再平衡任务分配算法;其次，考虑使用V2G和动态电价进行SAEV车队的充放电优化，给出SAEV车队能量交换模型以及出行订单分配算法，以减少整个SAEV车队系统的充电成本；再次，利用云-边协调通信将这些优化结果信息在不同平台间进行互动传输，实现电动汽车的最优充电与迁移策略；最后，通过MATLAB使用真实的深圳出租车数据对该优化控制方法进行验证。结果表明，该框架可降低充电成本,提高交通效率，有望扩展应用到更大规模的系统中。所提云-边协调控制策略将复杂的SAEV优化问题分解成3个子问题进行求解，为SAEV的最优运行提供了一种新的方法。     

角度约束辅助测量的深空探测器自主天文测角导航方法

高精度的天文量测信息是满足深空探测器高精度自主天文测角导航的必要条件.天文测角量测信息多种多样,之间具有几何约束关系,测量误差具有不同特性且符合相应的约束条件.本文提出了一种基于角度约束辅助测量的深空探测器自主天文测角导航方法,该方法以深空探测器轨道动力学模型作为状态模型,以火星、火卫一和火卫二与探测器之间的方位角作为量测量建立量测模型,并对量测量进行角度约束建模,然后利用遗传算法-序列二次规划混合非线性规划方法对角度约束模型进行非线性规划,由于系统模型均为非线性模型,因此本文利用容积卡尔曼滤波对系统状态进行估计,减小随机误差,并分析了天文测角的量测精度对导航精度的影响.仿真结果表明,本文所提方法可有效抑制多源随机量测误差,实现深空探测器高精度自主导航.     

Connected autonomous vehicles: State of practice

Connected autonomous vehicles (CAVs) have the potential to deal with the steady increase in road traffic while solving transportation related issues such as traffic congestion, pollution, and road safety. Therefore, CAVs are becoming increasingly popular and viewed as the next generation transportation solution. Although modular advancements have been achieved in the development of CAVs, these efforts are not fully integrated to operationalize CAVs in realistic driving scenarios. This paper surveys a wide range of efforts reported in the literature about the CAV developments, summarizes the CAV impacts from a statistical perspective, explores current state of practice in the field of CAVs in terms of autonomy technologies, communication backbone, and computation needs. Furthermore, this paper provides general guidance on how transportation infrastructures need to be prepared in order to effectively operationalize CAVs. The paper also identifies challenges that need to be addressed in near future for effective and reliable adoption of CAVs.     

凉山州荞麦病虫害及天敌名录初报

本文记载了在凉山州荞麦上採集的病虫害及天敌中已鉴定出的名录,计病害4种,害虫26种,害虫天敌17种。