Precise vehicle state and the surrounding traffic information are essential for decision-making and dynamic control of intelligent connected vehicles. Tremendous research efforts have been devoted to developing state estimation techniques. This work investigates the research progress in this field over recent years. To be able to describe the state of multiple traffic elements uniformly, the concept of a vehicle neighborhood system is proposed to describe the system composed of vehicles and their surrounding traffic elements and to distinguish it from the traditional macroscopic traffic research field. In this work, the vehicle neighborhood system consists of three main traffic elements: the host vehicle, the preceding vehicle, and the road. Therefore, a review of state estimation methods for the vehicle neighborhood system is presented around the three traffic objects mentioned earlier. This article performs a comprehensive analysis of these approaches and depicts their strengths and drawbacks. In addition, future research directions on the state estimation of the vehicle neighborhood system are further discussed.
{"title":"A Review of Dynamic State Estimation for the Neighborhood System of\u0000 Connected Vehicles","authors":"Yan Wang, Henglai Wei, Lie Yang, Bin-Bin Hu, Binbin Hu, Chen Lv","doi":"10.4271/10-07-03-0023","DOIUrl":"https://doi.org/10.4271/10-07-03-0023","url":null,"abstract":"Precise vehicle state and the surrounding traffic information are essential for\u0000 decision-making and dynamic control of intelligent connected vehicles.\u0000 Tremendous research efforts have been devoted to developing state estimation\u0000 techniques. This work investigates the research progress in this field over\u0000 recent years. To be able to describe the state of multiple traffic elements\u0000 uniformly, the concept of a vehicle neighborhood system is proposed to describe\u0000 the system composed of vehicles and their surrounding traffic elements and to\u0000 distinguish it from the traditional macroscopic traffic research field. In this\u0000 work, the vehicle neighborhood system consists of three main traffic elements:\u0000 the host vehicle, the preceding vehicle, and the road. Therefore, a review of\u0000 state estimation methods for the vehicle neighborhood system is presented around\u0000 the three traffic objects mentioned earlier. This article performs a\u0000 comprehensive analysis of these approaches and depicts their strengths and\u0000 drawbacks. In addition, future research directions on the state estimation of\u0000 the vehicle neighborhood system are further discussed.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"17 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74714842","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}
The key issues of automatic emergency braking (AEB) control algorithm are when and how to brake. This article proposes an AEB control algorithm that integrates risk perception (RP) and emergency braking characteristics of professional drivers for rear-end collision avoidance. Using the formulated RP by time to collision (TTC) and time headway (THW), the brake trigger time can be determined. Based on the professional driver fitting (PDF) characteristic, the brake pattern can be developed. Through MATLAB/Simulink simulation platform, the European New Car Assessment Programme (Euro-NCAP) test scenarios are used to verify the proposed control algorithm. The simulation results show that compared with the TTC control algorithm, PDF control algorithm, and the integrated PDF and TTC control algorithm, the proposed integrated PDF and RP control algorithm has the best performance, which can not only ensure safety and brake comfort, but also improve the road resource utilization rate.
{"title":"When and How to Apply Automatic Emergency Brakes Based on Risk\u0000 Perception and Professional Driver Emergency Braking Behavior","authors":"Fei Lai, C. Huang, Chengyue Jiang","doi":"10.4271/10-07-04-0028","DOIUrl":"https://doi.org/10.4271/10-07-04-0028","url":null,"abstract":"The key issues of automatic emergency braking (AEB) control algorithm are when\u0000 and how to brake. This article proposes an AEB control algorithm that integrates\u0000 risk perception (RP) and emergency braking characteristics of professional\u0000 drivers for rear-end collision avoidance. Using the formulated RP by time to\u0000 collision (TTC) and time headway (THW), the brake trigger time can be\u0000 determined. Based on the professional driver fitting (PDF) characteristic, the\u0000 brake pattern can be developed. Through MATLAB/Simulink simulation platform, the\u0000 European New Car Assessment Programme (Euro-NCAP) test scenarios are used to\u0000 verify the proposed control algorithm. The simulation results show that compared\u0000 with the TTC control algorithm, PDF control algorithm, and the integrated PDF\u0000 and TTC control algorithm, the proposed integrated PDF and RP control algorithm\u0000 has the best performance, which can not only ensure safety and brake comfort,\u0000 but also improve the road resource utilization rate.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"49 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90289585","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}
Tianfeng Ye, Hongwei Li, Wei Lu, V. Nguyen, Yundong Mei
Three suspension structures including the parallel vertical suspension (PVS), the horizontal parallel suspension (HPS), and the negative stiffness element added into suspension (NSES) of the driver’s seat are proposed to improve the driver’s ride comfort of off-road vehicles. Based on the dynamic models of the PVS, HPS, and NSES established and simulated under the same random excitations of the cab floor, the effect of the design parameters of the proposed models is analyzed, and the design parameters are then optimized to evaluate their isolation performance. The indexes of the root-mean-square (r.m.s) accelerations of the vertical seat direction, pitching seat angle, and rolling seat angle are used as the objective functions. The study results indicate that the dynamic parameters of the PVS, HPS, and NSES greatly affect the driver’s ride comfort while their geometrical dimensions insignificantly affect the driver’s ride comfort. With the dynamic parameters of the PVS, HPS, and NSES optimized, the r.m.s seat acceleration in the vertical direction with the NSES is strongly reduced by 74.0% in comparison with the HPS; while the r.m.s accelerations of the pitching seat angle and rolling seat angle with the PVS are greatly decreased by 99.1% and 99.8% compared to the NSES. Therefore, the ride comfort of the driver’s seat is remarkably improved by using the NSES while the driver’s seat shaking is obviously ameliorated by using the PVS. To enhance the ride comfort and reduce the shaking of the driver’s seat, a combination of the PVS and NSES should be applied to the seat suspension of off-road vehicles.
{"title":"Evaluating the Isolation Performance of Three Seat Suspension Models\u0000 of Off-Road Vehicles","authors":"Tianfeng Ye, Hongwei Li, Wei Lu, V. Nguyen, Yundong Mei","doi":"10.4271/10-07-04-0029","DOIUrl":"https://doi.org/10.4271/10-07-04-0029","url":null,"abstract":"Three suspension structures including the parallel vertical suspension (PVS), the\u0000 horizontal parallel suspension (HPS), and the negative stiffness element added\u0000 into suspension (NSES) of the driver’s seat are proposed to improve the driver’s\u0000 ride comfort of off-road vehicles. Based on the dynamic models of the PVS, HPS,\u0000 and NSES established and simulated under the same random excitations of the cab\u0000 floor, the effect of the design parameters of the proposed models is analyzed,\u0000 and the design parameters are then optimized to evaluate their isolation\u0000 performance. The indexes of the root-mean-square (r.m.s) accelerations of the\u0000 vertical seat direction, pitching seat angle, and rolling seat angle are used as\u0000 the objective functions. The study results indicate that the dynamic parameters\u0000 of the PVS, HPS, and NSES greatly affect the driver’s ride comfort while their\u0000 geometrical dimensions insignificantly affect the driver’s ride comfort. With\u0000 the dynamic parameters of the PVS, HPS, and NSES optimized, the r.m.s seat\u0000 acceleration in the vertical direction with the NSES is strongly reduced by\u0000 74.0% in comparison with the HPS; while the r.m.s accelerations of the pitching\u0000 seat angle and rolling seat angle with the PVS are greatly decreased by 99.1%\u0000 and 99.8% compared to the NSES. Therefore, the ride comfort of the driver’s seat\u0000 is remarkably improved by using the NSES while the driver’s seat shaking is\u0000 obviously ameliorated by using the PVS. To enhance the ride comfort and reduce\u0000 the shaking of the driver’s seat, a combination of the PVS and NSES should be\u0000 applied to the seat suspension of off-road vehicles.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"90 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86706051","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}
H. Fuse, G. Yu, H. Fujimoto, K. Sawase, N. Takahashi, Ryota Takahashi, Y. Okamura, Ryosuke Koga
To improve the cornering performance, a torque vectoring differential (TVD) that generates a torque difference between the left and right wheels has been developed. Particularly, the use of multiple electric traction motors can easily achieve this. A TVD with a two-motor-torque difference amplification mechanism (TDA-TVD), which employs a unique alignment of planetary gears, has been studied and it can generate a larger torque difference compared to an individual-wheel-drive (IWD) system in the case of using the equal torque output from the traction motors. However, due to the mechanically complicated driving force transmission system including driveshafts and planetary gears, TDA-TVD is prone to cause torsional vibrations of the driveshaft, and the yaw rate of the vehicle body while differential torque is generated. A previous study derived a dynamic model TDA-TVD and designed a vibration suppression feedforward controller. While the study demonstrated a certain vibration suppression performance, it did not strictly consider the load side characteristics during the yaw motion. In addition, there was no frequency-domain analysis either. On the other hand, this study will analyze TDA-TVD in the frequency domain and propose a novel modeling method to construct vibration suppression controllers that deal with both longitudinal motion and yaw motion simultaneously. First, this article shows a theoretical frequency-domain analysis using matrices and obtains resonance frequencies of TDA-TVD. Second, TDA-TVD is modeled based on a summation-differential mode transformation (SDMT). Third, simulations and experimental evaluations of vibration suppression controls using a real vehicle equipped with the TDA-TVD are demonstrated.
{"title":"Frequency-Domain Analysis and Joint Torque Vibration Suppression\u0000 Control on Two-Input-Two-Output Torque Difference Amplification Motor Drive\u0000 System of Electrified Vehicles","authors":"H. Fuse, G. Yu, H. Fujimoto, K. Sawase, N. Takahashi, Ryota Takahashi, Y. Okamura, Ryosuke Koga","doi":"10.4271/10-07-03-0020","DOIUrl":"https://doi.org/10.4271/10-07-03-0020","url":null,"abstract":"To improve the cornering performance, a torque vectoring differential (TVD) that\u0000 generates a torque difference between the left and right wheels has been\u0000 developed. Particularly, the use of multiple electric traction motors can easily\u0000 achieve this. A TVD with a two-motor-torque difference amplification mechanism\u0000 (TDA-TVD), which employs a unique alignment of planetary gears, has been studied\u0000 and it can generate a larger torque difference compared to an\u0000 individual-wheel-drive (IWD) system in the case of using the equal torque output\u0000 from the traction motors. However, due to the mechanically complicated driving\u0000 force transmission system including driveshafts and planetary gears, TDA-TVD is\u0000 prone to cause torsional vibrations of the driveshaft, and the yaw rate of the\u0000 vehicle body while differential torque is generated. A previous study derived a\u0000 dynamic model TDA-TVD and designed a vibration suppression feedforward\u0000 controller. While the study demonstrated a certain vibration suppression\u0000 performance, it did not strictly consider the load side characteristics during\u0000 the yaw motion. In addition, there was no frequency-domain analysis either. On\u0000 the other hand, this study will analyze TDA-TVD in the frequency domain and\u0000 propose a novel modeling method to construct vibration suppression controllers\u0000 that deal with both longitudinal motion and yaw motion simultaneously. First,\u0000 this article shows a theoretical frequency-domain analysis using matrices and\u0000 obtains resonance frequencies of TDA-TVD. Second, TDA-TVD is modeled based on a\u0000 summation-differential mode transformation (SDMT). Third, simulations and\u0000 experimental evaluations of vibration suppression controls using a real vehicle\u0000 equipped with the TDA-TVD are demonstrated.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"96 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76987467","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}
Brake-by-wire (BbW) systems are one key technology in modern vehicles. Due to their great potential in the areas of energy efficiency and automated driving, they receive more and more attention nowadays. However, increased complexity and reliance on electric and electrical components in BbW systems bring about new challenges. This applies in particular to the fault tolerance of the brake system. Since drivers cannot form a fallback layer of braking functions due to the mechanical decoupling of the brake pedal, known BbW concepts provide a redundant system layer. However, driving is significantly limited in the event of a failure in the BbW system and is only possible under certain restrictions. The reason for that is a further possible failure (double point of failure scenario), which can result in a significant loss of braking performance. To improve the availability level of the braking functions, a principally new redundancy concept for the double point of failure scenario is presented. This allows for a less restricted driving operation when the BbW system is subject to failures. For this purpose, a central electric motor (CEM) and modified electronic parking brake (EPB) actuators are used on the front axle of a vehicle to form a separate redundancy layer. Strategies for deceleration and wheel slip control are developed for the individual actuators as well as for their simultaneous operation. The performance of the different brake modes is evaluated in road tests. The analysis shows that especially the combined operating mode of the CEM and EPB leads to high deceleration levels and robust operation in low road friction conditions.
{"title":"Brake-by-Wire System Redundancy Concept for the Double Point of\u0000 Failure Scenario","authors":"Hauke Christian Schlimme, R. Henze","doi":"10.4271/10-07-03-0021","DOIUrl":"https://doi.org/10.4271/10-07-03-0021","url":null,"abstract":"Brake-by-wire (BbW) systems are one key technology in modern vehicles. Due to\u0000 their great potential in the areas of energy efficiency and automated driving,\u0000 they receive more and more attention nowadays. However, increased complexity and\u0000 reliance on electric and electrical components in BbW systems bring about new\u0000 challenges. This applies in particular to the fault tolerance of the brake\u0000 system. Since drivers cannot form a fallback layer of braking functions due to\u0000 the mechanical decoupling of the brake pedal, known BbW concepts provide a\u0000 redundant system layer. However, driving is significantly limited in the event\u0000 of a failure in the BbW system and is only possible under certain restrictions.\u0000 The reason for that is a further possible failure (double point of failure\u0000 scenario), which can result in a significant loss of braking performance.\u0000\u0000 \u0000To improve the availability level of the braking functions, a principally new\u0000 redundancy concept for the double point of failure scenario is presented. This\u0000 allows for a less restricted driving operation when the BbW system is subject to\u0000 failures. For this purpose, a central electric motor (CEM) and modified\u0000 electronic parking brake (EPB) actuators are used on the front axle of a vehicle\u0000 to form a separate redundancy layer. Strategies for deceleration and wheel slip\u0000 control are developed for the individual actuators as well as for their\u0000 simultaneous operation. The performance of the different brake modes is\u0000 evaluated in road tests. The analysis shows that especially the combined\u0000 operating mode of the CEM and EPB leads to high deceleration levels and robust\u0000 operation in low road friction conditions.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"1 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89970672","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}
Advances made in advanced driver assistance systems such as antilock braking systems (ABS) have significantly improved the safety of road vehicles. ABS enhances the braking and steerability of a vehicle under severe braking conditions. However, ABS performance degrades on rough roads. This is largely due to noisy measurements, the type of ABS control algorithm used, and the excitation of complex dynamics such as higher-order tire mode shapes that are neglected in the control strategy. This study proposes a model-free intelligent control technique with no modelling constraints that can overcome these unmodelled dynamics and parametric uncertainties. The double deep Q-learning network (DDQN) algorithm with the temporal convolutional network is presented as the intelligent control algorithm. The model is initially trained with a simplified single-wheel model. The initial training data are transferred to and then enhanced using a validated full-vehicle model including a physics-based tire model, and a three-dimensional (3D) rough road profile with added stochasticity. The performance of the newly developed ABS controller is compared to a baseline algorithm tuned for rough road use. Simulation results show a generalizable and robust control algorithm that can prevent wheel lockup over rough roads without significantly deteriorating the vehicle stopping distance on smooth roads.
{"title":"Model-Free Intelligent Control for Antilock Braking Systems on Rough\u0000 Roads","authors":"Ricardo Simões de Abreu, T. Botha, H. Hamersma","doi":"10.4271/10-07-03-0017","DOIUrl":"https://doi.org/10.4271/10-07-03-0017","url":null,"abstract":"Advances made in advanced driver assistance systems such as antilock braking\u0000 systems (ABS) have significantly improved the safety of road vehicles. ABS\u0000 enhances the braking and steerability of a vehicle under severe braking\u0000 conditions. However, ABS performance degrades on rough roads. This is largely\u0000 due to noisy measurements, the type of ABS control algorithm used, and the\u0000 excitation of complex dynamics such as higher-order tire mode shapes that are\u0000 neglected in the control strategy. This study proposes a model-free intelligent\u0000 control technique with no modelling constraints that can overcome these\u0000 unmodelled dynamics and parametric uncertainties. The double deep Q-learning\u0000 network (DDQN) algorithm with the temporal convolutional network is presented as\u0000 the intelligent control algorithm. The model is initially trained with a\u0000 simplified single-wheel model. The initial training data are transferred to and\u0000 then enhanced using a validated full-vehicle model including a physics-based\u0000 tire model, and a three-dimensional (3D) rough road profile with added\u0000 stochasticity. The performance of the newly developed ABS controller is compared\u0000 to a baseline algorithm tuned for rough road use. Simulation results show a\u0000 generalizable and robust control algorithm that can prevent wheel lockup over\u0000 rough roads without significantly deteriorating the vehicle stopping distance on\u0000 smooth roads.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"28 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76471618","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}
The vehicle dynamic state is essential for stability control and decision-making of intelligent vehicles. However, these states cannot usually be measured directly and need to be obtained indirectly using additional estimation algorithms. Unfortunately, most of the existing estimation methods ignore the effect of data loss on estimation accuracy. Furthermore, high-order filters have been proven that can significantly improve estimation performance. Therefore, a second-order fault-tolerant extended Kalman filter (SOFTEKF) is designed to predict the vehicle state in the case of data loss. The loss of sensor data is described by a random discrete distribution. Then, an estimator of minimum estimation error covariance is derived based on the extended Kalman filter (EKF) framework. Finally, experimental tests demonstrate that the SOFTEKF can reduce the effect of data loss and improve estimation accuracy by at least 10.6% compared to the traditional EKF and fault-tolerant EKF.
{"title":"Robust Estimation of Vehicle Dynamic State Using a Novel Second-Order\u0000 Fault-Tolerant Extended Kalman Filter","authors":"Yan Wang, Henglai Wei, B. Hu, Chen Lv","doi":"10.4271/10-07-03-0019","DOIUrl":"https://doi.org/10.4271/10-07-03-0019","url":null,"abstract":"The vehicle dynamic state is essential for stability control and decision-making\u0000 of intelligent vehicles. However, these states cannot usually be measured\u0000 directly and need to be obtained indirectly using additional estimation\u0000 algorithms. Unfortunately, most of the existing estimation methods ignore the\u0000 effect of data loss on estimation accuracy. Furthermore, high-order filters have\u0000 been proven that can significantly improve estimation performance. Therefore, a\u0000 second-order fault-tolerant extended Kalman filter (SOFTEKF) is designed to\u0000 predict the vehicle state in the case of data loss. The loss of sensor data is\u0000 described by a random discrete distribution. Then, an estimator of minimum\u0000 estimation error covariance is derived based on the extended Kalman filter (EKF)\u0000 framework. Finally, experimental tests demonstrate that the SOFTEKF can reduce\u0000 the effect of data loss and improve estimation accuracy by at least 10.6%\u0000 compared to the traditional EKF and fault-tolerant EKF.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"37 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91329861","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}
Yunfei Zha, Jianxian Deng, Yinyuan Qiu, Kun Zhang, Yanyan Wang
Trajectory tracking control, as one of the core technologies of intelligent driving vehicles, determines the driving performance and safety of intelligent driving vehicles and has received extensive attention and research. In recent years, most of the research results of trajectory tracking control are only applicable to conventional working conditions; however, the actual operating conditions of intelligent driving vehicles are complex and variable, so the research of trajectory tracking control algorithm should be extended to the high-speed low-adhesion coefficient, large curvature, variable curvature, and other compound limit working conditions. This requires more consideration of the vehicle dynamics in the controller design. In this article, a comprehensive review of trajectory tracking control under extreme operating conditions is conducted from three levels: vehicle dynamics model, vehicle speed tracking (longitudinal motion control), and path tracking (transverse motion control), and the existing research results are analyzed and summarized to obtain the research trends and pain points and difficulties in each field. On this basis, the future outlook of trajectory tracking control is proposed, which is expected to provide some help and inspiration to the research workers in this field.
{"title":"A Survey of Intelligent Driving Vehicle Trajectory Tracking Based on\u0000 Vehicle Dynamics","authors":"Yunfei Zha, Jianxian Deng, Yinyuan Qiu, Kun Zhang, Yanyan Wang","doi":"10.4271/10-07-02-0014","DOIUrl":"https://doi.org/10.4271/10-07-02-0014","url":null,"abstract":"Trajectory tracking control, as one of the core technologies of intelligent\u0000 driving vehicles, determines the driving performance and safety of intelligent\u0000 driving vehicles and has received extensive attention and research. In recent\u0000 years, most of the research results of trajectory tracking control are only\u0000 applicable to conventional working conditions; however, the actual operating\u0000 conditions of intelligent driving vehicles are complex and variable, so the\u0000 research of trajectory tracking control algorithm should be extended to the\u0000 high-speed low-adhesion coefficient, large curvature, variable curvature, and\u0000 other compound limit working conditions. This requires more consideration of the\u0000 vehicle dynamics in the controller design. In this article, a comprehensive\u0000 review of trajectory tracking control under extreme operating conditions is\u0000 conducted from three levels: vehicle dynamics model, vehicle speed tracking\u0000 (longitudinal motion control), and path tracking (transverse motion control),\u0000 and the existing research results are analyzed and summarized to obtain the\u0000 research trends and pain points and difficulties in each field. On this basis,\u0000 the future outlook of trajectory tracking control is proposed, which is expected\u0000 to provide some help and inspiration to the research workers in this field.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"2 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88350602","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}
Yu Xiu, Anding Li, V. Nguyen, Yundong Mei, Qian Li, Jianwei Li
The operating parameters of the asphalt-paver vibration-screed system (AP-VSS) including the excitation frequencies of the tampers and vibratory screed (ft and fs ) and the angular deviations of the tampers (α 1 and α 2) affect not only the pavement quality but also compaction efficiency. Based on the dynamic model of the AP-VSS and the interaction model of the tamper and hot-mixed asphalt, the experimental and numerical simulation studies of AP-VSS are performed to analyze in detail the influence of operating parameters of the AP-VSS on AP-VSS pavement quality and compaction efficiency. The maximum value of the root-mean-square acceleration (ar.m.s ) of the AP-VSS and the maximum value of the root-mean-square compaction force (Fr.m.s ) of the tampers are selected as the objective functions. The experimental and simulation results indicate that by using the AP-VSS design parameters, the pavement quality and compaction efficiency of the AP-VSS are quite low. To enhance the AP-VSS performance, the operation parameters are then optimized by the multi-objective optimization algorithm. The optimal result shows that the compression energy of the tampers and hot-mixed asphalt interaction is greatly increased by 36.2% in comparison without the optimization. Concurrently, both the values of ar.m.s and Fr.m.s are also increased and uniformly distributed over the length of the screed floor and surface of the hot-mixed asphalt in comparison without the optimization. Therefore, the pavement quality and compaction efficiency of the AP-VSS are remarkably improved.
{"title":"Optimization of Operating Parameters of the Asphalt-Paver\u0000 Vibration-Screed System in Improving Compaction Efficiency and Pavement Quality\u0000 for Driving Vehicle Performance","authors":"Yu Xiu, Anding Li, V. Nguyen, Yundong Mei, Qian Li, Jianwei Li","doi":"10.4271/10-07-02-0015","DOIUrl":"https://doi.org/10.4271/10-07-02-0015","url":null,"abstract":"The operating parameters of the asphalt-paver vibration-screed system (AP-VSS)\u0000 including the excitation frequencies of the tampers and vibratory screed\u0000 (ft\u0000 and fs\u0000 ) and the angular deviations of the tampers (α\u0000 1 and α\u0000 2) affect not only the pavement quality but also compaction\u0000 efficiency. Based on the dynamic model of the AP-VSS and the interaction model\u0000 of the tamper and hot-mixed asphalt, the experimental and numerical simulation\u0000 studies of AP-VSS are performed to analyze in detail the influence of operating\u0000 parameters of the AP-VSS on AP-VSS pavement quality and compaction efficiency.\u0000 The maximum value of the root-mean-square acceleration\u0000 (ar.m.s\u0000 ) of the AP-VSS and the maximum value of the root-mean-square\u0000 compaction force (Fr.m.s\u0000 ) of the tampers are selected as the objective functions. The\u0000 experimental and simulation results indicate that by using the AP-VSS design\u0000 parameters, the pavement quality and compaction efficiency of the AP-VSS are\u0000 quite low. To enhance the AP-VSS performance, the operation parameters are then\u0000 optimized by the multi-objective optimization algorithm. The optimal result\u0000 shows that the compression energy of the tampers and hot-mixed asphalt\u0000 interaction is greatly increased by 36.2% in comparison without the\u0000 optimization. Concurrently, both the values of ar.m.s\u0000 and Fr.m.s\u0000 are also increased and uniformly distributed over the length of the\u0000 screed floor and surface of the hot-mixed asphalt in comparison without the\u0000 optimization. Therefore, the pavement quality and compaction efficiency of the\u0000 AP-VSS are remarkably improved.","PeriodicalId":42978,"journal":{"name":"SAE International Journal of Vehicle Dynamics Stability and NVH","volume":"6 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2023-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75115357","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 : 2023-05-01DOI: 10.12968/s1479-7747(23)50035-0
Accelerating vehicle development with simulation tools: how Tenneco is staying ahead of the curve
借助仿真工具加速汽车开发:天纳克如何保持领先地位
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