Pub Date : 2020-07-06DOI: 10.1504/ijvas.2020.10030411
C. R. Munigety
Most works that exist in the field of autonomous vehicle motion planning are in the context of orderly or lane-oriented traffic. However, the traffic conditions that exist in many countries like India, China, Bangladesh, etc. are disordered where the vehicles move anywhere laterally without complying with the lane discipline rule. This characteristic makes the task of planning by an autonomous vehicle manoeuvring in disordered traffic streams highly complex and computationally rigorous. The motion planning problem of autonomous vehicles in traffic systems where lane-discipline is not necessarily followed bears a resemblance with the mobile-robot motion planning. Thus, this paper reviews various techniques available for motion planning of robots in conjunction with the issue of motion planning of autonomous vehicles in disordered traffic conditions, highlights the advantages and limitations of different approaches alongside simulation-based comparative analysis, and finally puts forth some research directions.
{"title":"Motion planning methods for autonomous vehicles in disordered traffic systems: a comparative analysis and future research directions","authors":"C. R. Munigety","doi":"10.1504/ijvas.2020.10030411","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10030411","url":null,"abstract":"Most works that exist in the field of autonomous vehicle motion planning are in the context of orderly or lane-oriented traffic. However, the traffic conditions that exist in many countries like India, China, Bangladesh, etc. are disordered where the vehicles move anywhere laterally without complying with the lane discipline rule. This characteristic makes the task of planning by an autonomous vehicle manoeuvring in disordered traffic streams highly complex and computationally rigorous. The motion planning problem of autonomous vehicles in traffic systems where lane-discipline is not necessarily followed bears a resemblance with the mobile-robot motion planning. Thus, this paper reviews various techniques available for motion planning of robots in conjunction with the issue of motion planning of autonomous vehicles in disordered traffic conditions, highlights the advantages and limitations of different approaches alongside simulation-based comparative analysis, and finally puts forth some research directions.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46986090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-06DOI: 10.1504/ijvas.2020.10030408
Guang Xia, You Zheng, Xiwen Tang, Bao-Qun Sun, Wang Shaojie
This work builds a T-S fuzzy neural network that identifies traffic congestion conditions by using average vehicle speed, average throttle opening and frequency of brake pedal actuation as evaluati...
{"title":"Shift control of vehicle automatic transmission based on traffic congestion identification","authors":"Guang Xia, You Zheng, Xiwen Tang, Bao-Qun Sun, Wang Shaojie","doi":"10.1504/ijvas.2020.10030408","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10030408","url":null,"abstract":"This work builds a T-S fuzzy neural network that identifies traffic congestion conditions by using average vehicle speed, average throttle opening and frequency of brake pedal actuation as evaluati...","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45424373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-31DOI: 10.1504/ijvas.2020.10026514
Hongyu Zheng, Mingxin Zhao
As an important part of Advanced Driver Assistance Systems (ADAS), Lane Departure Warning System (LDWS) plays a significant role in lane departure prevention and reducing traffic accidents caused by lane departure. In order to improve the warning effect of the system as well as driver acceptance, this paper describes an LDWS algorithm for personalised driving assistance. The proposed combination algorithm consists of a multi-mode Time to Lane Crossing (TLC) and a Future Offset Distance (FOD) based on driver behaviour characteristics. To detect driver's lane change intention, the steering behaviour has been developed incorporating vehicle states and road curvature. Driving simulator tests are conducted to validate the lane departure warning algorithm with multi-mode based on TLC and FOD under various driving situations. The obtained test results are consistent with the expected performance.
{"title":"An investigation on coordination of lane departure warning based on driver behaviour characteristics","authors":"Hongyu Zheng, Mingxin Zhao","doi":"10.1504/ijvas.2020.10026514","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10026514","url":null,"abstract":"As an important part of Advanced Driver Assistance Systems (ADAS), Lane Departure Warning System (LDWS) plays a significant role in lane departure prevention and reducing traffic accidents caused by lane departure. In order to improve the warning effect of the system as well as driver acceptance, this paper describes an LDWS algorithm for personalised driving assistance. The proposed combination algorithm consists of a multi-mode Time to Lane Crossing (TLC) and a Future Offset Distance (FOD) based on driver behaviour characteristics. To detect driver's lane change intention, the steering behaviour has been developed incorporating vehicle states and road curvature. Driving simulator tests are conducted to validate the lane departure warning algorithm with multi-mode based on TLC and FOD under various driving situations. The obtained test results are consistent with the expected performance.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44050553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-31DOI: 10.1504/ijvas.2020.10026512
Mingya Hua, Guoying Chen, C. Zong, Lei He
Steer-by-wire (SBW) system with dual steering actuator motors is a novel and potential type of steering system by means of hardware fault tolerant redundancy to enhance the driving safety. The basic control strategy "road feel feedback and steering angle control" has been carried out. Aiming at the non-synchronous appearance of dual steering actuator motors, dual-motor synchronous control employing differential negative feedback method has been proposed to reduce the adverse influence of "servo fight" non-synchronous issue. In addition, considering the existence of unavoidable backlash impact, dual-motor anti-backlash control adopting variable bias compensation current method has been developed to abate the negative effect caused by backlash factors for SBW system, so that the precision of steering implementation for SBW system can be enhanced. The results of simulations and hardware-in-loop experiments are analysed and then the conclusion has been drawn that the proposed control strategy is effective and feasible.
{"title":"Research on synchronous control strategy of steer-by-wire system with dual steering actuator motors","authors":"Mingya Hua, Guoying Chen, C. Zong, Lei He","doi":"10.1504/ijvas.2020.10026512","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10026512","url":null,"abstract":"Steer-by-wire (SBW) system with dual steering actuator motors is a novel and potential type of steering system by means of hardware fault tolerant redundancy to enhance the driving safety. The basic control strategy \"road feel feedback and steering angle control\" has been carried out. Aiming at the non-synchronous appearance of dual steering actuator motors, dual-motor synchronous control employing differential negative feedback method has been proposed to reduce the adverse influence of \"servo fight\" non-synchronous issue. In addition, considering the existence of unavoidable backlash impact, dual-motor anti-backlash control adopting variable bias compensation current method has been developed to abate the negative effect caused by backlash factors for SBW system, so that the precision of steering implementation for SBW system can be enhanced. The results of simulations and hardware-in-loop experiments are analysed and then the conclusion has been drawn that the proposed control strategy is effective and feasible.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42583531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-31DOI: 10.1504/ijvas.2020.10026505
Wenfei Li, H. Du, Weihua Li
Vehicle Anti-lock Braking Systems (ABS) are designed to optimise vehicle braking performance but there are some challenges for their control. One of the challenges is that the optimal slip ratio is difficult to obtain in real time and it can differ under different road conditions. Another challenge is that ABS are non-linear and many of their parameters are difficult to identify in advance. To solve these problems, a new extreme seeking-based adaptive fuzzy sliding mode control strategy is proposed. The proposed Modified Sliding Mode-based Extreme Seeking (MSMES) algorithm is able to avoid the large oscillation and automatically search for the optimal slip ratio. An Adaptive Fuzzy Sliding Mode Controller (AFSMC) is designed to mimic an ideal controller. The simulation results show that the integrated control scheme MSMES-AFSMC is able not only to search for the optimal slip ratio under different road conditions but also has a better braking performance than the conventional COSR for ABS.
{"title":"A modified extreme seeking-based adaptive fuzzy sliding mode control scheme for vehicle anti-lock braking","authors":"Wenfei Li, H. Du, Weihua Li","doi":"10.1504/ijvas.2020.10026505","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10026505","url":null,"abstract":"Vehicle Anti-lock Braking Systems (ABS) are designed to optimise vehicle braking performance but there are some challenges for their control. One of the challenges is that the optimal slip ratio is difficult to obtain in real time and it can differ under different road conditions. Another challenge is that ABS are non-linear and many of their parameters are difficult to identify in advance. To solve these problems, a new extreme seeking-based adaptive fuzzy sliding mode control strategy is proposed. The proposed Modified Sliding Mode-based Extreme Seeking (MSMES) algorithm is able to avoid the large oscillation and automatically search for the optimal slip ratio. An Adaptive Fuzzy Sliding Mode Controller (AFSMC) is designed to mimic an ideal controller. The simulation results show that the integrated control scheme MSMES-AFSMC is able not only to search for the optimal slip ratio under different road conditions but also has a better braking performance than the conventional COSR for ABS.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41844150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-31DOI: 10.1504/ijvas.2020.10026511
J. Joseph, T. Victoire, F. T. Josh, M. Joseph
High speed can be achieved by choosing compact size of propulsion system in an electric vehicle (EV). The cost of the propulsion system is one of the major design considerations which fall on the type of motor and controller. The choice of pancake shape Axial Flux Permanent Magnet Brushless DC Motor (AFPM BLDC) reduces the size of the propulsion system and improves the on board space of the EV. The intermittent periodic duty class has been considered to choose the power rating of the AFPM. A new type of Zeta converter is proposed here to regulate the input side DC voltage. The dynamic performance of the EV has been compared with and without Zeta converter which will be useful for the researchers in future.
{"title":"Dynamic performance analysis of electrified propulsion system in electric vehicle","authors":"J. Joseph, T. Victoire, F. T. Josh, M. Joseph","doi":"10.1504/ijvas.2020.10026511","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10026511","url":null,"abstract":"High speed can be achieved by choosing compact size of propulsion system in an electric vehicle (EV). The cost of the propulsion system is one of the major design considerations which fall on the type of motor and controller. The choice of pancake shape Axial Flux Permanent Magnet Brushless DC Motor (AFPM BLDC) reduces the size of the propulsion system and improves the on board space of the EV. The intermittent periodic duty class has been considered to choose the power rating of the AFPM. A new type of Zeta converter is proposed here to regulate the input side DC voltage. The dynamic performance of the EV has been compared with and without Zeta converter which will be useful for the researchers in future.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45779499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvas.2020.10039655
Ravpati Srikanth, M. Venkatesan
Design and modelling of a hybrid electric vehicle using two different energy sources (fuel cell and PV) are presented in this paper. In this proposed model, a High Gain Interleaved Boost Converter (HGIBC) is used to extract the maximum power from the PV array and fuel cell. To optimise the maximum power, a single MPPT system has been applied to both the fuel cell stack and solar panel. A Brushless DC Motor (BLDC) is used in this work to evaluate the performance of the electric vehicle. A BLDC motor has been designed to coerce the hybrid electric vehicle using a three phase inverter. The performance characteristics of the system have been analysed in terms of rise time, peak overshoot and efficiency. Finally, the simulation results are verified through MATLAB/Simulink.
{"title":"Design and modelling of hybrid fuel cell and solar-based electric vehicle","authors":"Ravpati Srikanth, M. Venkatesan","doi":"10.1504/ijvas.2020.10039655","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10039655","url":null,"abstract":"Design and modelling of a hybrid electric vehicle using two different energy sources (fuel cell and PV) are presented in this paper. In this proposed model, a High Gain Interleaved Boost Converter (HGIBC) is used to extract the maximum power from the PV array and fuel cell. To optimise the maximum power, a single MPPT system has been applied to both the fuel cell stack and solar panel. A Brushless DC Motor (BLDC) is used in this work to evaluate the performance of the electric vehicle. A BLDC motor has been designed to coerce the hybrid electric vehicle using a three phase inverter. The performance characteristics of the system have been analysed in terms of rise time, peak overshoot and efficiency. Finally, the simulation results are verified through MATLAB/Simulink.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvas.2020.10039654
Satendra Kumar, Raj Kumar, Mohit Mittal
Software Product Line (SPL) is a popular research area in software engineering which deals with many products generated simultaneously. There is a requirement for a tool or framework that can test all the products. SPL implies Test Case Prioritisation (TCP) and Test Case Reduction (TCR) techniques to alleviate the problem of testing. This paper proposes a hybrid approach which combines K-Means and Principal Component Analysis (PCA) approaches to perform SPL testing. The experimental results show that the hybrid approach-based order provides better results than the random, similarity, ICPL algorithm-based order using APFD metric. Our proposed approach reduces the test cases to the minimum amount and is also used to perform efficient SPL testing that not only improves the effectiveness and efficiency of fault detection but also improves the effectiveness of Test Suite Reduction (TSR).
{"title":"A hybrid approach to perform test case prioritisation and reduction for software product line testing","authors":"Satendra Kumar, Raj Kumar, Mohit Mittal","doi":"10.1504/ijvas.2020.10039654","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10039654","url":null,"abstract":"Software Product Line (SPL) is a popular research area in software engineering which deals with many products generated simultaneously. There is a requirement for a tool or framework that can test all the products. SPL implies Test Case Prioritisation (TCP) and Test Case Reduction (TCR) techniques to alleviate the problem of testing. This paper proposes a hybrid approach which combines K-Means and Principal Component Analysis (PCA) approaches to perform SPL testing. The experimental results show that the hybrid approach-based order provides better results than the random, similarity, ICPL algorithm-based order using APFD metric. Our proposed approach reduces the test cases to the minimum amount and is also used to perform efficient SPL testing that not only improves the effectiveness and efficiency of fault detection but also improves the effectiveness of Test Suite Reduction (TSR).","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"79 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvas.2019.10024836
Amit Pundir, Sangeeta Yadav, D. Mahato, Rajshekhar Mukherjee, G. Saxena
{"title":"Towards an immersive and safer driving experience using computer vision integrated with encoded vibro-tactile feedback","authors":"Amit Pundir, Sangeeta Yadav, D. Mahato, Rajshekhar Mukherjee, G. Saxena","doi":"10.1504/ijvas.2019.10024836","DOIUrl":"https://doi.org/10.1504/ijvas.2019.10024836","url":null,"abstract":"","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821340","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvas.2020.10039663
Virender Kadyan, Shashi Bala, Puneet Bawa, Mohit Mittal
Processing of children's speech is always challenging due to data scarcity and inefficient modelling input feature vectors. Accuracy of the modelling phase is always dependent upon extracted input features. In this paper, posterior probabilities are estimated over a phone set using first discriminatively trained model through neural-net pre-processor. This Neural Network (NN) classifier is first trained on original speech and then context-independent phone posterior probabilities are estimated on Tandem-NN system. The output vectors are employed as default features which are processed on Deep Neural Network-Hidden Markov Model (DNN-HMM) models. The original data-based system performance is improved by extending it using data augmentation. To see the robustness of the augmented speech various in-vehicle data are investigated and found that it is superior to that of other systems. Finally, we combine all augmented data to overcome data scarcity challenges to enhance system performance. It gives a relative improvement of 23.77% over the baseline system.
{"title":"Developing in-vehicular noise robust children ASR system using Tandem-NN-based acoustic modelling","authors":"Virender Kadyan, Shashi Bala, Puneet Bawa, Mohit Mittal","doi":"10.1504/ijvas.2020.10039663","DOIUrl":"https://doi.org/10.1504/ijvas.2020.10039663","url":null,"abstract":"Processing of children's speech is always challenging due to data scarcity and inefficient modelling input feature vectors. Accuracy of the modelling phase is always dependent upon extracted input features. In this paper, posterior probabilities are estimated over a phone set using first discriminatively trained model through neural-net pre-processor. This Neural Network (NN) classifier is first trained on original speech and then context-independent phone posterior probabilities are estimated on Tandem-NN system. The output vectors are employed as default features which are processed on Deep Neural Network-Hidden Markov Model (DNN-HMM) models. The original data-based system performance is improved by extending it using data augmentation. To see the robustness of the augmented speech various in-vehicle data are investigated and found that it is superior to that of other systems. Finally, we combine all augmented data to overcome data scarcity challenges to enhance system performance. It gives a relative improvement of 23.77% over the baseline system.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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