Lane-changing is an important operation of an autonomous vehicle driving on the road. Safety and comfort are fully considered by excellent drivers in lane-changing operation. However, only the kinematic and dynamic constraints are taken into account in the traditional path planning methods, and the path generated by the traditional methods is very different from the actual trajectory of the vehicle driven by the excellent driver. In this paper, a path planning method for imitating the lane-changing operation of excellent drivers is proposed. Five experienced drivers are invited to do the lane-changing test, and the lane-changing trajectories data under different conditions are recorded. The excellent driver lane-changing model is established based on the genetic algorithm (GA) and back propagation (BP) neural network trained by the data of the lane-changing tests. The proposed approach can plan out an optimized lane change path according to the vehicle condition by learning the excellent drivers’ driving routes. The results of simulations verify that the path generated by the proposed algorithm is basically same as the track selected by the excellent drivers under same conditions, which can reflect the characteristics of the operations of the excellent driver. While applying safe lane-changing to autonomous vehicle, it can improve the ride comfort of the vehicle and therefore reduce the probability of motion sickness of the passengers caused by improper operation during lane change.

South tower of Taizhou bridge is located in complex hydrogeological conditions,the amount of its excavation engineering is large.Combined with the successful application of locking steel pipe pile cofferdam in the south tower project of Taizhou Yangtze Highway Bridge,from comparison and demonstration, scheme design and construction, process monitoring to introduce locking steel pipe pile cofferdam in detail,using the classical method and the M method to design and calculation for supporting structure.Construction practice shows that the design and calculation of support structure is accurate,locking steel pipe pile fully played its function of sealing,it also has great rigidity, good integrity strong bending resistance and other advantages.The successfully application of this technology,promoting the technological progress of bridge foundation constructionthe in deep water or complex geological conditions,it provides a basis for the construction of similar projects in the future.

Background Surgical treatment of Seinsheimer type V subtrochanteric fractures is extremely challenging due to the difficulty of obtaining and maintaining anatomic reduction and effective fixation. The purpose of this study was to describe a surgical technique for minimally invasive clamp-assisted reduction and long InterTAN nail fixation to manage Seinsheimer type V subtrochanteric fractures and report the clinical and radiological results. Methods A retrospective study was conducted on patients with Seinsheimer type V subtrochanteric fractures between March 2015 and June 2021. A total of 30 patients treated via minimally invasive clamp-assisted reduction, long InterTAN nail fixation and selective augmentation with a cerclage cable were included. The following data were collected and evaluated: patient demographics, operative time, blood loss, reduction quality, tip apex distance (TAD), time to bone union, Harris hip score (HHS), visual analog score (VAS), and complications. Results The mean age of the 30 patients was 64.8 years (range: 36-90 years). The mean operative time was 102.2 min (range: 70-150 min). The mean loss of blood was 318.3 ml (range: 150-600 ml). The reduction quality involved 27 cases of anatomic reduction and 3 cases of satisfactory reduction. The mean TAD was 16.3 mm (range: 8-24 mm). The mean follow-up time was 18.9 months (range: 12-48 months). The mean fracture healing time was 4.5 months (range: 3-8 months). The mean Harris score was 88.2 (range: 71-100), and the VAS score was 0.7 (range: 0-3). Delayed union of the subtrochanteric fracture site occurred in two patients. The limb length discrepancy, which was determined in 3 patients, was < 10 mm. There were no significant complications. Conclusion Our results indicate that minimally invasive clamp-assisted reduction with long InterTAN nail fixation is encouraging for Seinsheimer Type V subtrochanteric fractures, resulting in excellent reduction and fixation. Additionally, this reduction technique is simple, reliable, and effective in reducing and maintaining subtrochanteric fractures, particularly when intertrochanteric fractures are irreducible.