Vehicle-to-grid means that electric vehicles are charged when electricity is plentiful and discharged when it is scarce. New battery-electric vehicles have an energy capacity above 60 kWh installed and practically always have a DC connector. With over 1 million of such vehicles in Germany alone already, the flexibility potential to balance out fluctuating renewable generation or compensate for grid constraints is large. While many actors are working to enable this market, the readiness of hardware and regulations as well as the potential volume are hard to grasp. This paper provides an overview of these factors for Europe with a special focus on Germany. We find that some countries started to implement regulatory frameworks but none are ready yet. Issues include taxation, the fulfillment of grid codes, and the lack of smart meters. In terms of vehicles, 25 manufacturers with bidirectional charging ability were identified, but most vehicles were only used in field tests or operate in island mode. In terms of charging infrastructure, the picture is brighter with at least 20 manufacturers that offer DC bidirectional charging stations and 2 offering an AC variant.
{"title":"Vehicle-to-Grid Market Readiness in Europe with a Special Focus on Germany","authors":"Christopher Hecht, Jan Figgener, Dirk Uwe Sauer","doi":"10.3390/vehicles5040079","DOIUrl":"https://doi.org/10.3390/vehicles5040079","url":null,"abstract":"Vehicle-to-grid means that electric vehicles are charged when electricity is plentiful and discharged when it is scarce. New battery-electric vehicles have an energy capacity above 60 kWh installed and practically always have a DC connector. With over 1 million of such vehicles in Germany alone already, the flexibility potential to balance out fluctuating renewable generation or compensate for grid constraints is large. While many actors are working to enable this market, the readiness of hardware and regulations as well as the potential volume are hard to grasp. This paper provides an overview of these factors for Europe with a special focus on Germany. We find that some countries started to implement regulatory frameworks but none are ready yet. Issues include taxation, the fulfillment of grid codes, and the lack of smart meters. In terms of vehicles, 25 manufacturers with bidirectional charging ability were identified, but most vehicles were only used in field tests or operate in island mode. In terms of charging infrastructure, the picture is brighter with at least 20 manufacturers that offer DC bidirectional charging stations and 2 offering an AC variant.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135617863","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}
Mohamed-Lamine Benzagouta, Hasnaâ Aniss, Hacène Fouchal, Nour-Eddin El Faouzi
Actors of the Cooperative Intelligent Transport Systems (C-ITS) generate various amounts of data. Useful information on various issues such as anomalies, failures, road profiles, etc., could be revealed from the analysis of these data. The analysis, could be managed by operators and vehicles, and its output could be very helpful for future decision making. In this study, we collected real data extracted from road operators. We analyzed these streams in order to verify whether abnormal behaviors could be observed in the data. Our main target was a very sensitive C-ITS failure, which is when a road-side unit (RSU) experiences transmission failure. The detection of such failure is to be achieved by end users (vehicles), which in turn would inform road operators which would then recover the failure. The data we analyzed were collected from various roads in Europe (France, Germany, and Italy) with the aim of studying the RSUs’ behavior. Our mechanism offers compelling results regarding the early detection of RSU failures. We also proposed a new C-ITS message dedicated to raise alerts to road operators when required.
{"title":"Road-Side Unit Anomaly Detection","authors":"Mohamed-Lamine Benzagouta, Hasnaâ Aniss, Hacène Fouchal, Nour-Eddin El Faouzi","doi":"10.3390/vehicles5040080","DOIUrl":"https://doi.org/10.3390/vehicles5040080","url":null,"abstract":"Actors of the Cooperative Intelligent Transport Systems (C-ITS) generate various amounts of data. Useful information on various issues such as anomalies, failures, road profiles, etc., could be revealed from the analysis of these data. The analysis, could be managed by operators and vehicles, and its output could be very helpful for future decision making. In this study, we collected real data extracted from road operators. We analyzed these streams in order to verify whether abnormal behaviors could be observed in the data. Our main target was a very sensitive C-ITS failure, which is when a road-side unit (RSU) experiences transmission failure. The detection of such failure is to be achieved by end users (vehicles), which in turn would inform road operators which would then recover the failure. The data we analyzed were collected from various roads in Europe (France, Germany, and Italy) with the aim of studying the RSUs’ behavior. Our mechanism offers compelling results regarding the early detection of RSU failures. We also proposed a new C-ITS message dedicated to raise alerts to road operators when required.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135616768","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}
Although research has shown that through the additional rigidity introduced in the secondary suspension, traction rods can affect the vertical dynamic performance of railway vehicles, this topic has been less studied by researchers in the field. In this paper, the effect of a traction rod on the vertical vibration behavior of a carbody of a railway vehicle is analyzed, using the results obtained through numerical simulations. Numerical simulation applications are developed based on a vehicle model, where the vehicle carbody is modeled using a free-free equivalent beam Euler–Bernoulli, and the bogie chassis and wheelsets are represented by rigid bodies linked together by Kelvin-Voigt systems that model the secondary suspension and the primary suspension. The novelty element of this paper is found in the model of the traction rod. This includes traction rod damping, which has been neglected in previous research. The stiffness and damping of the traction rod are represented by a longitudinal Kelvin–Voigt system integrated into a secondary suspension model. The effect of the traction rod on the vertical vibration behavior of the vehicle carbody is analyzed based on the power spectral density of the acceleration, the root mean square of acceleration, and the ride comfort index, for three cases for analysis: a ‘without traction rod’ case, a ‘with traction rod—with damping’ case, and a ‘with traction rod—without damping’ case. The conclusions of the paper highlight the influence of the stiffness and damping of the traction rod on the vibration level of the carbody, especially in its middle. Depending on the stiffness of the traction rod, significant increases in the ride comfort index are obtained, which at high velocities can exceed 300%. Damping of the traction rod reduces the ride comfort index by up to 10%.
{"title":"The Effect of the Traction Rod on the Vertical Vibration Behavior of the Railway Vehicle Carbody","authors":"Mădălina Dumitriu, Ioana Izabela Apostol","doi":"10.3390/vehicles5040081","DOIUrl":"https://doi.org/10.3390/vehicles5040081","url":null,"abstract":"Although research has shown that through the additional rigidity introduced in the secondary suspension, traction rods can affect the vertical dynamic performance of railway vehicles, this topic has been less studied by researchers in the field. In this paper, the effect of a traction rod on the vertical vibration behavior of a carbody of a railway vehicle is analyzed, using the results obtained through numerical simulations. Numerical simulation applications are developed based on a vehicle model, where the vehicle carbody is modeled using a free-free equivalent beam Euler–Bernoulli, and the bogie chassis and wheelsets are represented by rigid bodies linked together by Kelvin-Voigt systems that model the secondary suspension and the primary suspension. The novelty element of this paper is found in the model of the traction rod. This includes traction rod damping, which has been neglected in previous research. The stiffness and damping of the traction rod are represented by a longitudinal Kelvin–Voigt system integrated into a secondary suspension model. The effect of the traction rod on the vertical vibration behavior of the vehicle carbody is analyzed based on the power spectral density of the acceleration, the root mean square of acceleration, and the ride comfort index, for three cases for analysis: a ‘without traction rod’ case, a ‘with traction rod—with damping’ case, and a ‘with traction rod—without damping’ case. The conclusions of the paper highlight the influence of the stiffness and damping of the traction rod on the vibration level of the carbody, especially in its middle. Depending on the stiffness of the traction rod, significant increases in the ride comfort index are obtained, which at high velocities can exceed 300%. Damping of the traction rod reduces the ride comfort index by up to 10%.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135616771","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}
Path planning is the most fundamental necessity for autonomous mobile robots. Traditionally, the path planning problem was solved using analytical methods, but these methods need perfect localization in the environment, a fully developed map to plan the path, and cannot deal with complex environments and emergencies. Recently, deep neural networks have been applied to solve this complex problem. This review paper discusses path-planning methods that use neural networks, including deep reinforcement learning, and its different types, such as model-free and model-based, Q-value function-based, policy-based, and actor-critic-based methods. Additionally, a dedicated section delves into the nuances and methods of robot interactions with pedestrians, exploring these dynamics in diverse environments such as sidewalks, road crossings, and indoor spaces, underscoring the importance of social compliance in robot navigation. In the end, the common challenges faced by these methods and applied solutions such as reward shaping, transfer learning, parallel simulations, etc. to optimize the solutions are discussed.
{"title":"A Review of Deep Reinforcement Learning Algorithms for Mobile Robot Path Planning","authors":"Ramanjeet Singh, Jing Ren, Xianke Lin","doi":"10.3390/vehicles5040078","DOIUrl":"https://doi.org/10.3390/vehicles5040078","url":null,"abstract":"Path planning is the most fundamental necessity for autonomous mobile robots. Traditionally, the path planning problem was solved using analytical methods, but these methods need perfect localization in the environment, a fully developed map to plan the path, and cannot deal with complex environments and emergencies. Recently, deep neural networks have been applied to solve this complex problem. This review paper discusses path-planning methods that use neural networks, including deep reinforcement learning, and its different types, such as model-free and model-based, Q-value function-based, policy-based, and actor-critic-based methods. Additionally, a dedicated section delves into the nuances and methods of robot interactions with pedestrians, exploring these dynamics in diverse environments such as sidewalks, road crossings, and indoor spaces, underscoring the importance of social compliance in robot navigation. In the end, the common challenges faced by these methods and applied solutions such as reward shaping, transfer learning, parallel simulations, etc. to optimize the solutions are discussed.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135993438","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}
Giuseppe DeRose, Austin Ramsey, Justin Dombecki, Nicholas Paul, Chan-Jin Chung
The vast majority of autonomous driving systems are limited to applications on roads with clear lane markings and are implemented using commercial-grade sensing systems coupled with specialized graphic accelerator hardware. This research reviews an alternative approach for autonomously steering vehicles that eliminates the dependency on road markings and specialized hardware. A combination of machine vision, machine learning, and artificial intelligence based on popular pre-trained Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs) was used to drive a vehicle along roads lacking lane markings (unmarked roads). The team developed and tested this approach on the Autonomous Campus Transport (ACTor) vehicle—an autonomous vehicle development and research platform coupled with a low-cost webcam-based sensing system and minimal computational resources. The proposed solution was evaluated on real-world roads and varying environmental conditions. It was found that this solution may be used to successfully navigate unmarked roads autonomously with acceptable road-following behavior.
{"title":"Autonomously Steering Vehicles along Unmarked Roads Using Low-Cost Sensing and Computational Systems","authors":"Giuseppe DeRose, Austin Ramsey, Justin Dombecki, Nicholas Paul, Chan-Jin Chung","doi":"10.3390/vehicles5040077","DOIUrl":"https://doi.org/10.3390/vehicles5040077","url":null,"abstract":"The vast majority of autonomous driving systems are limited to applications on roads with clear lane markings and are implemented using commercial-grade sensing systems coupled with specialized graphic accelerator hardware. This research reviews an alternative approach for autonomously steering vehicles that eliminates the dependency on road markings and specialized hardware. A combination of machine vision, machine learning, and artificial intelligence based on popular pre-trained Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs) was used to drive a vehicle along roads lacking lane markings (unmarked roads). The team developed and tested this approach on the Autonomous Campus Transport (ACTor) vehicle—an autonomous vehicle development and research platform coupled with a low-cost webcam-based sensing system and minimal computational resources. The proposed solution was evaluated on real-world roads and varying environmental conditions. It was found that this solution may be used to successfully navigate unmarked roads autonomously with acceptable road-following behavior.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136115176","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}
Thaís Medeiros, Morsinaldo Medeiros, Mariana Azevedo, Marianne Silva, Ivanovitch Silva, Daniel G. Costa
In the current scenario of fast technological advancement, increasingly characterized by widespread adoption of Artificial Intelligence (AI)-driven tools, the significance of autonomous systems like chatbots has been highlighted. Such systems, which are proficient in addressing queries based on PDF files, hold the potential to revolutionize customer support and post-sales services in the automotive sector, resulting in time and resource optimization. Within this scenario, this work explores the adoption of Large Language Models (LLMs) to create AI-assisted tools for the automotive sector, assuming three distinct methods for comparative analysis. For them, broad assessment criteria are considered in order to encompass response accuracy, cost, and user experience. The achieved results demonstrate that the choice of the most adequate method in this context hinges on the selected criteria, with different practical implications. Therefore, this work provides insights into the effectiveness and applicability of chatbots in the automotive industry, particularly when interfacing with automotive manuals, facilitating the implementation of productive generative AI strategies that meet the demands of the sector.
{"title":"Analysis of Language-Model-Powered Chatbots for Query Resolution in PDF-Based Automotive Manuals","authors":"Thaís Medeiros, Morsinaldo Medeiros, Mariana Azevedo, Marianne Silva, Ivanovitch Silva, Daniel G. Costa","doi":"10.3390/vehicles5040076","DOIUrl":"https://doi.org/10.3390/vehicles5040076","url":null,"abstract":"In the current scenario of fast technological advancement, increasingly characterized by widespread adoption of Artificial Intelligence (AI)-driven tools, the significance of autonomous systems like chatbots has been highlighted. Such systems, which are proficient in addressing queries based on PDF files, hold the potential to revolutionize customer support and post-sales services in the automotive sector, resulting in time and resource optimization. Within this scenario, this work explores the adoption of Large Language Models (LLMs) to create AI-assisted tools for the automotive sector, assuming three distinct methods for comparative analysis. For them, broad assessment criteria are considered in order to encompass response accuracy, cost, and user experience. The achieved results demonstrate that the choice of the most adequate method in this context hinges on the selected criteria, with different practical implications. Therefore, this work provides insights into the effectiveness and applicability of chatbots in the automotive industry, particularly when interfacing with automotive manuals, facilitating the implementation of productive generative AI strategies that meet the demands of the sector.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136115970","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}
Marc Timur Düzgün, Frank Dorscheidt, Sascha Krysmon, Peter Bailly, Sung-Yong Lee, Christian Dönitz, Stefan Pischinger
In hybrid vehicle development, the operating strategy has a decisive role in meeting the development goals, such as compliance with emission standards and high energy efficiency. A considerable number of interactions and cross-influences on other topics, such as emissions, on-board diagnostics, or drivability, must be considered during the calibration process. In this context, the given time constraints pose further challenges. To overcome these, approaches for virtualization of the calibration process are an effective measure. For this purpose, in the current study, a real engine control unit is embedded into a virtual simulation environment on so-called hardware-in-the-loop (HiL) testbenches, which allow virtual calibration and validation of the complete target vehicle. In this context, the paper presents a novel method for virtual calibration of operating strategies for hybrid-electric propulsion systems. This includes an innovative multi-criterial approach that considers the requirements of several development tasks, such as emission and OBD calibration. Measurement data for this optimization is generated on a HiL testbench setup tailored for the described methodology, including both the electrical setup and the simulation environment. To validate the selection of modeling approaches and the parametrization, the simulation environment is operated in open loop. The results of the open loop validation show promising behavior regarding the proposed use case. Finally, the presented methodology is evaluated regarding time and cost savings compared to a conventional approach.
{"title":"Virtual Multi-Criterial Calibration of Operating Strategies for Hybrid-Electric Powertrains","authors":"Marc Timur Düzgün, Frank Dorscheidt, Sascha Krysmon, Peter Bailly, Sung-Yong Lee, Christian Dönitz, Stefan Pischinger","doi":"10.3390/vehicles5040075","DOIUrl":"https://doi.org/10.3390/vehicles5040075","url":null,"abstract":"In hybrid vehicle development, the operating strategy has a decisive role in meeting the development goals, such as compliance with emission standards and high energy efficiency. A considerable number of interactions and cross-influences on other topics, such as emissions, on-board diagnostics, or drivability, must be considered during the calibration process. In this context, the given time constraints pose further challenges. To overcome these, approaches for virtualization of the calibration process are an effective measure. For this purpose, in the current study, a real engine control unit is embedded into a virtual simulation environment on so-called hardware-in-the-loop (HiL) testbenches, which allow virtual calibration and validation of the complete target vehicle. In this context, the paper presents a novel method for virtual calibration of operating strategies for hybrid-electric propulsion systems. This includes an innovative multi-criterial approach that considers the requirements of several development tasks, such as emission and OBD calibration. Measurement data for this optimization is generated on a HiL testbench setup tailored for the described methodology, including both the electrical setup and the simulation environment. To validate the selection of modeling approaches and the parametrization, the simulation environment is operated in open loop. The results of the open loop validation show promising behavior regarding the proposed use case. Finally, the presented methodology is evaluated regarding time and cost savings compared to a conventional approach.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135918230","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}
This paper proposes a control strategy for active lateral secondary suspension that uses preview data. Based on a derived analytical model, a model predictive controller (MPC) is implemented. The influence of the track irregularities upon carbody lateral dynamics is considered explicitly. The controller developed is applied to a full-scale rail vehicle model. Ride comfort is evaluated according to EN 12299. Multibody simulations show that there is a significant increase in continuous ride comfort on poor-quality tracks.
{"title":"Ride Comfort Improvements on Disturbed Railroads Using Model Predictive Control","authors":"Alexander Posseckert, Daniel Lüdicke","doi":"10.3390/vehicles5040074","DOIUrl":"https://doi.org/10.3390/vehicles5040074","url":null,"abstract":"This paper proposes a control strategy for active lateral secondary suspension that uses preview data. Based on a derived analytical model, a model predictive controller (MPC) is implemented. The influence of the track irregularities upon carbody lateral dynamics is considered explicitly. The controller developed is applied to a full-scale rail vehicle model. Ride comfort is evaluated according to EN 12299. Multibody simulations show that there is a significant increase in continuous ride comfort on poor-quality tracks.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135968364","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}
This paper presents methods for vehicle state estimation and prediction for autonomous driving. A round intersection is chosen for application of the methods and to illustrate the results as autonomous vehicles have difficulty in handling round intersections. State estimation based on the unscented Kalman filter (UKF) is presented in the paper and then applied to state estimation of vehicles in a round intersection. The microscopic traffic simulator SUMO (Simulation of Urban Mobility) is used to generate realistic traffic in the round intersection for the simulation experiments. Change point detection-based driving behavior prediction using a multipolicy approach is then introduced and evaluated for the round intersection. Finally, these methods are combined for vehicle trajectory estimation based on UKF and policy prediction and demonstrated using the round intersection.
提出了自动驾驶中车辆状态估计和预测的方法。由于自动驾驶车辆在处理圆形交叉口时存在一定的困难，本文选择了一个圆形交叉口作为应用实例，并对结果进行了说明。提出了一种基于无气味卡尔曼滤波的状态估计方法，并将其应用于圆形交叉口车辆的状态估计。利用微观交通模拟器SUMO (Simulation of Urban Mobility)生成圆形交叉口的真实交通，进行仿真实验。然后介绍了基于变化点检测的多策略驾驶行为预测方法，并对圆形交叉口进行了评估。最后，将这些方法结合到基于UKF的车辆轨迹估计和策略预测中，并以圆形交叉口为例进行了验证。
{"title":"Vehicle State Estimation and Prediction for Autonomous Driving in a Round Intersection","authors":"Xinchen Li, Levent Guvenc, Bilin Aksun-Guvenc","doi":"10.3390/vehicles5040073","DOIUrl":"https://doi.org/10.3390/vehicles5040073","url":null,"abstract":"This paper presents methods for vehicle state estimation and prediction for autonomous driving. A round intersection is chosen for application of the methods and to illustrate the results as autonomous vehicles have difficulty in handling round intersections. State estimation based on the unscented Kalman filter (UKF) is presented in the paper and then applied to state estimation of vehicles in a round intersection. The microscopic traffic simulator SUMO (Simulation of Urban Mobility) is used to generate realistic traffic in the round intersection for the simulation experiments. Change point detection-based driving behavior prediction using a multipolicy approach is then introduced and evaluated for the round intersection. Finally, these methods are combined for vehicle trajectory estimation based on UKF and policy prediction and demonstrated using the round intersection.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135480742","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}
Kantipudi V. V. S. R. Chowdary, Kundan Kumar, Byamakesh Nayak, Abhay Kumar, Manuele Bertoluzzo
Electric vehicles are becoming more popular as an alternative to conventional gasoline-powered vehicles. In order to strengthen charging infrastructure, dynamic wireless charging (DWC) is a promising technology through which the vehicle battery can be continuously charged while the vehicle is in motion. The main challenge of the DWC system is to investigate the capability for power transfer with the variation in operating parameters in consideration of enhanced efficiency. This study proposes an innovative approach to improve the performance of dynamic wireless charging systems by investigating the magnetic coupler via finite element analysis, exploring power pulsation and mutual inductances with variations in longitudinal, lateral, and air gap distances as variable factors. In addition to this, efficiency analysis is also explored with respect to the mutual inductance and various compensation schemes. The simulation studies are carried out using computer-assisted software, i.e., COMSOL Multiphysics 5.5 and MATLAB version 2022b. Finally, a comparative analysis of power transferred, mutual inductance, and efficiency is presented by the compensation schemes.
作为传统汽油动力汽车的替代品，电动汽车正变得越来越受欢迎。为了加强充电基础设施，动态无线充电(DWC)是一种很有前途的技术，可以在车辆行驶过程中对汽车电池进行持续充电。DWC系统的主要挑战是在考虑提高效率的情况下，研究随运行参数变化的功率传输能力。本研究提出了一种创新的方法来提高动态无线充电系统的性能，通过有限元分析研究磁耦合器，探索功率脉动和互感在纵向、横向和气隙距离变化时的变化。除此之外，还探讨了互感和各种补偿方案的效率分析。仿真研究采用计算机辅助软件COMSOL Multiphysics 5.5和MATLAB version 2022b进行。最后，对各补偿方案的功率转移、互感和效率进行了比较分析。
{"title":"Dynamic Wireless Charging Performance Enhancement for Electric Vehicles: Mutual Inductance, Power Transfer Capability, and Efficiency","authors":"Kantipudi V. V. S. R. Chowdary, Kundan Kumar, Byamakesh Nayak, Abhay Kumar, Manuele Bertoluzzo","doi":"10.3390/vehicles5040072","DOIUrl":"https://doi.org/10.3390/vehicles5040072","url":null,"abstract":"Electric vehicles are becoming more popular as an alternative to conventional gasoline-powered vehicles. In order to strengthen charging infrastructure, dynamic wireless charging (DWC) is a promising technology through which the vehicle battery can be continuously charged while the vehicle is in motion. The main challenge of the DWC system is to investigate the capability for power transfer with the variation in operating parameters in consideration of enhanced efficiency. This study proposes an innovative approach to improve the performance of dynamic wireless charging systems by investigating the magnetic coupler via finite element analysis, exploring power pulsation and mutual inductances with variations in longitudinal, lateral, and air gap distances as variable factors. In addition to this, efficiency analysis is also explored with respect to the mutual inductance and various compensation schemes. The simulation studies are carried out using computer-assisted software, i.e., COMSOL Multiphysics 5.5 and MATLAB version 2022b. Finally, a comparative analysis of power transferred, mutual inductance, and efficiency is presented by the compensation schemes.","PeriodicalId":73282,"journal":{"name":"IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135835757","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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