As the number of connected vehicles increases, the intelligence levels become more and more uneven, so the problem how to determine the dynamic safety of autonomous driving behavior in the mixed-flow traffic system is significantly increased. To solve many difficult problems related to human-vehicle-road perception, decision, control coordination, and reliability evaluation in the intelligent networked scenario, this study establishes a dynamic Game model with multi-source information in the intelligent networked environment, to carry out the measurements and control evaluations for autonomous vehicle dynamics models, forward and backward active safety control, and mixed traffic trajectory optimization planning based on the optimal solution strategy. A digital twin test verification platform with semi-physical environment and hardware-in-the-loop (HIL) simulation to control the accuracy for making dynamic safety decision for the intelligent networked vehicle is developed by combining with the V2X real intelligent transportation system and smart laboratory virtual simulation test technology, which realizes the complex and dynamic safety decision goals for autonomous vehicle in different connected levels of the mixed-flow traffic environments, such as multi-agent perception, multi-source information transmission, vehicle control, vehicle-to-vehicle communication, and vehicle-to-road coordination. The study is conducive to improving the test efficiency and index evaluation integrity of the intelligent networked system, reducing the test costs, proving the behaviors of Game interaction and stress safety response under vehicle-to-road environment, enhancing the robustness and applicability of automatic driving technology, and improving the traffic efficiency and safety of mixed-flow traffic in the intelligent network.

Abstract. The planetary gear system consists of several concentric single stage face gears symmetrically meshing with multiple cylindrical gears that as the core component of planetary multistage face gears transmission device (PMFGTD), which is the key to realizing shifting and principle innovation that able to flexibly extend the speed ratio region of single stage face gear. The speed ratio distribution mechanism is directly related to the feasibility of the design scheme. The stability, reliability and loading capacity of each power split branch affect the performance of the whole system directly. For the requirements of maximizing drive efficiency and optimizing drive performance under different conditions, this study analyzes the gear matching relationship and driving characteristics by using numerical calculation method basing on the PMFGTD structural characteristics, and calculates the corresponding transmission ratio value. According to the torque equilibrium equation, the torque relation and power ratio relation of each component are established, and then the power distribution relation between system components is calculated. The flow characteristics of system input power and each branch output power under the condition with or without meshing power loss are analyzed. The influence relationship model of power split coefficient on drive efficiency is established to calculate the corresponding rules, thus the dynamic characteristics of PMFGTD on power split under various working conditions are proved by experiments. The result provides reference for the transmission ratio distribution and structure design of planetary multistage face gears transmission.

This paper presents a new transmission mechanism with multistage face gears as the core components for realizing variable speeds with differential meshing. To improve face gear transmission smoothness, suppress meshing resonance, reduce noise, and optimize power transmission performance during the gear shifting process, load distribution between meshing teeth during the transmission process and impact loads during various shifting stages must be determined. Herein, we present a gear impact model considering double crown gear meshing configuration, contact deformation, variable working conditions, and jump impact at meshing points. A single-stage face gear pair is considered as object that the impact characteristics are comparatively studied under four conditions: with/without load and constant/variable speed. The results were used to analyze transient characteristics of the crown gear under contact deformation or frequent shifting impact. Based on this, the impact characteristics of multistage face gear pairs between ratio switching were extendedly investigated under four input conditions: constant/variable torque or constant/variable speed. The results were used to determine the meshing force and impact force fluctuation characteristics of multistage face gear pairs while adapting to various loads and continuous acceleration/deceleration. The proposed model can be beneficial to evaluate the feasibility of multistage gear structures with crown configuration and to obtain boundary conditions for transmission systems.