Browse Topic: Cruise control

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Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System2023-01-121806/26/2023
On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, the proposed article will present a new control approach for modern steer-by-wire systems. The novel approach consists of a true multivariable control for the driver´s steering torque and the rack position simultaneously using the requested torques of the downstream (SRU) and upstream (SFU) motor as control variables. Here, the plant model is a detailed model of a steer-by-wire system with nine degrees of freedom (see Fig.1). For the control design, an optimal reduced model is derived. The reduced plant model is linearized and augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the complete feeling generator computing the requested steering torque. The feeling generator consists of a rack force feedback, an active damping and an active steering wheel return. For this augmented model, a
Irmer, Marcus, Degen, René, Nüßgen, Alexander, Thomas PhD, Karin, Ruschitzka PhD, Margot, Henrichfreise PhD, Hermann
Comprehensive Evaluation of Logging Frameworks for Future Vehicle Diagnostics2023-01-122306/26/2023
More and more applications (apps) are entering vehicles. Customers would like to have in-car apps in their infotainment system, which they already use regularly on their smartphones. Other apps with new functionalities also inspire vehicle customers, but only as long as the customer can utilize them. To ensure customer satisfaction, it is important that these apps work and that failures are found and corrected as quickly as possible. Therefore, in-car apps also implicate requirements for future vehicle diagnostics. This is because current vehicle diagnostic methods are not designed for handling dynamic software failures of apps. Consequently, new diagnostic methods are needed to support the diagnosis of in-car apps. Log data is a central building block in software systems for system health management or troubleshooting. However, there are different types of log data and log environment setups depending on the underlying system or software platform. Depending on that, the creation of
Bickelhaupt, Sandra, Hahn, Michael, Nuding, Nikolai, Morozov, Andrey, Weyrich, Michael
A Holistic Approach For Near Zero Emission Diesel Vehicles Using A Pre-Turbo-Catalyst-System – Ready For EU 72023-01-121106/26/2023
This work shows the newest results of a near-series Pre-Turbo-Catalyst (PTC) system reaching lowest emissions for electrified diesel passenger cars to address future emission legislation. The PTC system is developed using a state-of-the-art tool chain containing 1D & 3D simulation approaches and testing near-series exhaust gas aftertreatment systems under real-driving boundary conditions. The innovative concept of an SCR PTC and a PTC bypass path solve the challenge of a thermal handshake between PTC and underfloor SCR System as well as the challenge of a particular filter regeneration. The development of adaptive PTC bypass path operation strategies based on exhaust gas and catalyst conditions enables lowest NOx and NH3. Using this concept, near-zero emissions can be reached in a wide range of operating scenarios while sustaining full drivability and highest efficiency. Advanced catalyst technologies enable a high emission conversion and lowest secondary emissions. These results have
Conin, Michael, Beidl, Christian, Knaf, Daniel, Fiore, Luis, Kreuz, Joachim
AI-Based Testing for Autonomous Vehicles2023-01-122806/26/2023
Test of autonomous systems is mostly brute force and ad-hoc thus being neither efficient nor transparent. Though requirements invite for a situational transparency, a framework is missing to judge quality of requirements and derived test-cases. Practical challenges are state explosion, difficulty to derive corner cases, no systematic safety of the intended functionality as specified, lack of accepted KPI, etc. Maintaining a valid safety case is hardly possible with such adaptive systems and continuous software updates. To achieve trusted autonomous vehicles, test cases must be generated automatically while at same time providing coverage (e.g., indicating progress with KPI), efficiency (e.g., limiting the amount of regression testing) and transparency (e.g., showing how specific corner cases are tested in case of accidents). This paper provides a method for automatically generating test cases for AI-based autonomous systems and compares it with existing testing methods. A case study is
Ebert, Christof, Weyrich, Michael
Coordinated Electric Vehicle Charging Based on Charging Profile Classification and Power Management Optimizer2023-01-122606/26/2023
The vast increase in electric vehicles (EV) in the market for business and private use implies a necessity to adapt and improve the charging infrastructure. One of the main assets that can be deployed to achieve this goal, is the use of the measured data of the EV supply equipment (EVSE). These data can be implemented to provide a coordinated power management method, which allows coordinated charging according to some predefined criterion and results in a reduced load peak. Analyzing the measured data allows to extract certain features from the charging profile of individual vehicles during the actual charging session. These features represent not only the predefined charging process based on the SOC of the battery but also the behavioral characteristic of the user of the vehicle in terms of its intended use. In this work, a novel approach is introduced, comprising a combined machine learning (ML) classification algorithm and charging power optimizer (CPO). The ML algorithm classifies
Salah, Alia, Abu Mohareb, Omar, Brosi, Frank, Reuss, Hans-Christian
electric - take 2SAE-PP-0779211/04/2022
electric
SintzADMIn, Jeneane
Medical Lasers: When the Laser Application Requires Utmost SafetyTBMG-4695111/01/2022
Tubing Coated with Light-Powered Catalysts Aids Drug ManufacturingTBMG-4694811/01/2022
Locking Side Pull Hoist RingTBMG-4691611/01/2022
null, null
Teaching Drones How to Navigate Real-World WeatherTBMG-4649509/01/2022
Right now, drones are either flown under controlled conditions, with no wind, or are operated by humans using remote controls. However, for drones to autonomously perform necessary but quotidian tasks, such as delivering packages or airlifting injured drivers from a traffic accident, drones must be able to adapt to wind conditions in real time.
testing collections assignmentSAE-PP-0303407/08/2022
blah blah blah collections
Rickard, Christopher
Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults2022-01-505607/04/2022
Because autonomous vehicles (AVs) equipped with active front steering have the features of time varying, uncertainties, high rate of fault, and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving lateral stability in steer-by-wire (SBW) vehicles in the presence of abrupt nonlinear faults. First, an upper-level robust H∞ controller is designed to obtain the desired front-wheel steering angle for driving both the yaw rate and the sideslip angle to reach their correct values. Takagi-Sugeno (T-S) fuzzy modeling method, which has shown the extraordinary ability in coping with the issue of nonlinear, is applied to deal with the challenge of the changing longitudinal velocity. The output of the upper controller can be calculated by a parallel distributed compensation (PDC) scheme. Then an event-triggered adaptive fault-tolerant lower controller (ET-AFTC) is proposed to drive the whole SBW system driving the desired steering angle
Gong, Zheng, Xie, Zhengchao
Concept of Morphology in UAV Design2022-26-124805/26/2022
This paper aims to study and develop the concept of morphology in UAVs that overcomes any compromise needed in its design, decreasing conventional flight limitations and is capable of performing a wide variety of missions. A more reliable UAV with modular structure has been designed that can change its shape during its flight. Study on an adaptive morphology that modifies the shape of the vehicle during flight environment is found to be very effective to suit the missions in comparison to conventional quadcopter design. This paper proposes a simpler and effective morphing technique for quadrotors consisting of a frame with independently movable servo-assisted arms that fold around the mainframe to develop different configurations. This flexibility in arms design changes the geometry of the quadcopter, which in turn modifies its exposed area. To achieve stable flight at all times, onboard computers are implemented to handle the control of the quad served along with optimal programs
Das, Shubham, Yadav, Aashish, Gali, Sushyanth, Shetty, Advaith
PASSENGER TO FREIGHTER CONVERSION AND ITS IMPACT ON THE ENVIRONMENTAL CONTROL SYSTEM2022-26-125705/26/2022
As per the records from Air cargo traffic, the global volume of air freight increased rapidly in recent years with freight volumes reaching 55.9 million metric tons. The strong demand for converted freighters has been driven by a robust cargo market, one of the key factors that strongly influenced this factor was the growth of e-commerce which has been boosted by more online deliveries This paper discusses some of the key aspects that needs to be considered for passenger to Freighter conversion and its impact to the Environmental Control System of the Aircraft. One of the first design change will be to identify all the passenger amenities and remove them, depending on the Freighter configurations the air distribution needs to be modified or re-routed. Temperature needs for the Main Deck Cargo Compartment (MDCC) is much lower than the passenger variant, the temperature selection ranges for all temperature zones shall cover the natural environment with high comfort for occupants. MDCC
PATIL, ANAND
Autonomous UAV solution for ecological mapping and surveillance.2022-26-124505/26/2022
The proposed UAV can be used to triangulate the areas of unnatural deforestation, by processing the area undergoing land cover transition, hence, restraining illegal logging as well as illegal deforestation which will, in turn, feed the ecological succession cycle. It triangulates the green cover which can be used in identifying fruiting trees, vegetation cycles, even in predicting the population of the animal species feeding on the subjective green cover and hence, the biodiversity. The system will be influential for curbing the landscapes with heterogeneous habitats and diverse topographical features. The model employs an onboard automated controller- ARDUPILOT MissionPlanner, a flight controller with inbuilt compass, GPS, and telemetry module which collects data from the controller such as, Altitude, GPS location, Pitch, Roll, etc. and transmits it to the Ground Control Station (GCS) when flying. The mission planner is programmed by selecting the Target Survey Area which is divided
Devi, Monisha, Neigapula, Keerthana, Anand, Sumit, Tiwari, Anawil, Kumar, Siddharth
Challenges with Commercial Supersonic Travel and some resolutions 2022-26-121505/26/2022
Innovation is the fulcrum for the Modern world.Aviation sector has adapted niche technologies for the improvement and sustainability of the business.Supersonic aircrafts were designed and developed for faster and seamless transportation. Use of Supersonic Aircrafts in the commercial arena has many technological and regulatory challenges.The NASA Advanced Air Vehicles Program Commercial Supersonic Transport (CST) Project was initiated in this regard and it details out the propositions laid out to bring Supersonic Aircrafts into the Commercial use. This highlights the importance of the Commercial Supersonic Aircraft.Intent of this paper is to provide technical analysis and solution to the norms in line with NASA Research for the Super sonic travel Infrastructure. This includes steps taken to modularize technical, logistical and Operational changes required for the Infrastructure of Commercial Supersonic Travel without discounting safety and reliability of the existing setup Integrated
JOSHI, SRIKANTH, Ramaiah, chethan prasad, Palanikumar, Senthil Kumar, Reddy, Vikramasimha
Doing Verification Better! If VHDL is so good, why do we need UVM? 2022-26-117305/26/2022
In today’s world, complex electronic systems demand integration of an increasing number of functionalities in the form of various IP cores into a single chip or System-On-Chip (SOC). System-level functional verification of such massive SOCs is also increasingly becoming more complex. As design engineers create more functionally dense chips, the functional verification methodology is parallelly advancing to provide modern techniques resulting in independent, scalable, and reusable verification IP components. Modern-day SOCs strongly require verification architectures with extended reusability and easier accessibility. This paper highlights the pros and cons of shifting from legacy test-bench modeling strategies to more scalable, reusable, and efficient methodologies. Conventional methodology does not support features like randomization, factory registration, callbacks, configuration database etc., without which thorough verification seems difficult. The aim of the paper is to portray
Dwivedi, Neha, Mookim, Sanjana
Comparing eVTOL Aircraft Configurations for Varying Payloads and Range2022-26-115105/26/2022
The question of finding an optimal electric Vertical Take off and Landing (eVTOL) aircraft configuration for different payloads and ranges is non-trivial from an academic and industry perspective for the emerging Urban Air Mobility (UAM) market. In this paper, different eVTOL configurations (Lift+cruise, tilt-rotor, tilt-wing) are sized for varying payloads (300-700kg) and ranges (50-150km). The different concepts are then compared through parameters such as energy consumption, noise, cost of the aircraft and cost per seat-km, in the context of Indian market. Although some studies have compared different configurations, the sizing of the aircraft is typically not performed rigorously. In this paper, we aim to arrive at more optimally sized aircrafts based on the mission requirements by following a common design algorithm. The methodology for sizing the aircraft starts with an initial guess for maximum takeoff weight, based on similar aircraft. Subsequently, other elements of the
Pandurangi, Pradeep, Tumuluru, Nikhilesh, Nayak , Vismay
Demonstration of energy consumption reduction in class 8 trucks using eco-driving algorithm based on on-road testing2022-01-015703/29/2022
Vehicle to Everything (V2X) communication has enabled on-board access to the information from other vehicles and infrastructure. This information, traditionally used for safety applications, is increasingly being used for improving fuel economy of the vehicles [1, 2, 3, 4, 5]. This work aims at demonstrating energy consumption reduction in heavy/medium duty vehicles using the eco-driving algorithm. The algorithm is enabled by V2X communication and uses data contained in basic safety messages (BSMs) and signal phase and timing (SPaT) to generate an energy-efficient velocity trajectory for the vehicle to follow. A ~25.7 km (16-mi) urban corridor in Bexar County, Texas, was modeled in a microscopic traffic simulation package and calibrated to match real-world conditions. For the trucks using this algorithm, a nominal reduction of 7% in energy consumption and 6% in trip time was observed in simulation. This was validated by on-track testing of a pair of velocity profiles. The track testing
Bhagdikar, Piyush, Gankov, Stanislav, Frazier, Cole, Rengarajan, Sankar, Warden, Rebecca, Brown, Michael, Sarlashkar, Jayant
Road Rough Estimation for Autonomous Vehicle Based on Adaptive Unscented Kalman Filter Integrated with Minimum Model Error Criterion2022-01-007703/29/2022
The accuracy of road input identifiaction for autonomous vehicles (AVs) system, especially in state-based AVs control for improving road handling and ride comfort, is a challenging task for the intelligent transport system. Due to the high fatality rate caused by inaccurate state-based control algorithm, how to precisely and effectively acquire road rough information and chose the reasonable road-based control algorithm become a hot topic in both academia and industry. Uncertainty is unavoidable for AVs system, e.g., varying center of gravity (C.G.) of sprung mass, controllable suspension damping force or variable spring stiffness. To tackle the above mentioned, this paper develops a novel observer approach, which combines unscented Kalman filter (UKF) and Minimum Model Error (MME) theory, to optimize the estimation accuracy of the road rough for AVs system. A full-car nonlinear model and road profile model are first established. Secondly, a MME criterion is proposed to deal with the
Wang, Zhenfeng, Yang, Jiansen, li, xin, Li, HongLiang
Construction of Personalized Driver Models based on LSTM using Driving Simulator.2022-01-098103/29/2022
The purpose of this study is to construct personalized driver models using Long Short-Term Memory (LSTM). The driver model is used for automated driving systems and driver assistance systems and is expected to control longitudinal and lateral directions of vehicles. For example, driver models including the individual driving characteristics adapt the control of systems, which can reduce discomfort and nuisance to drivers. The LSTM models in this study enable the time series data processing. In some previous studies, LSTM models have been used to investigate pedestrian behaviors. However, there are few studies of driver behavior models based on LSTM. In this study, we measured the data of the driver's driving operation using a Driving Simulator (DS). DS consists of a visual display and a motion display, of which motion functions consist of a 6-axis motion device and a turntable. DS has a cockpit using an actual body of a vehicle, and a visual information projected on a cylindrical
Hamada, Ayaka, Oikawa PhD, Shoko, Hirose, Toshiya
Comfort Improvement for Autonomous Vehicles using Reinforcement Learning with In-situ Human Feedback 2022-01-097403/29/2022
Autonomous vehicles have become a driving force to transform our existing transportation system in the near future and will help improve a lot of driving performance such as driving safety, congestion, emissions. Despite that passengers’ comfort in autonomous vehicle (AV) has been an essential topic, there are insufficient methods to significantly increase AVs’ ride comfort or adapt humans to accept AVs. Ride comfort in AVs is dramatically different from that in a traditional vehicle. Traditionally, researchers have investigated ergonomic factors such as seat vibrations and noise. However, the introduction of automated driving functions would lead researchers to shift toward vehicle control factors. In order to make AVs comfortable for humans, we need to know human’s expectations on AVs’ comfort. General approaches to model human expected driving behaviors can be categorized into analytical approaches and heuristic approaches. However, all existing approaches require humans to drive
Xiang, Jun, Guo, Longxiang
On-board estimation of road adhesion coefficient based on ANFIS and UKF2022-01-034703/29/2022
The road adhesion coefficient has a great impact on the performance of vehicle tires, which in turn affects vehicle safety and stability. A low coefficient of adhesion can significantly reduce the tire's traction limit. Therefore, the measurement of the coefficient is much helpful for automated vehicle control and stability control. Considering that the road adhesion coefficient is an inherent parameter of the road and it cannot be known directly from the information of the on-vehicle sensors. The novelty of this paper is to construct a road adhesion coefficient observer which considers the noise of sensors and measures the unknown state variable by the trained neural network. A Butterworth filter and Adaptive Neural Fuzzy Interference System (ANFIS) are combined to provide the lateral and longitudinal velocity which cannot be measured by regular sensors. Unscented Kalman filter (UKF) considering vehicle model, wheel model, and tire model is proposed to estimate the road adhesion
Chen, Zixuan, Duan, Yupeng, Wu, Jinglai, Zhang, Yunqing
Estimation of Advisory Vehicle Speed For Low Curvatures Assuming Ideal Steering Behaviour2022-01-111003/29/2022
In the current scenario, the vehicle is integrated with infotainment maps and a telematics module, which provide extensive information regarding the terrain, including the radii of curvature (R). The transportation authority had imposed stringent guidelines regarding the range of advisory vehicle speeds (AVS) (e.g. [15 25] MPH for R = 18.4m), but a unique value of AVS for a definite curvature is not recommended. The maximum allowable speeds for R = 8.34m (U-turn) is 6.7m/s (15mph), whereas for R = 42.57m (cloverleaf interchange) is 11.17m/s (25mph). Also, in the existing literature, the mathematical models developed to estimate the AVS does not include all the steering parameters [speed, RRC, yaw rate, lateral acceleration]. Therefore, in this article, the concept of Ideal Steering Behavior (ISB) was proposed, and driver behaviour vector (DBV) was utilised to adapt “human-like” driving to estimate a unique AVS for a definite R. The DBV was retrieved using the 2019 Cadillac Escalade
Jim, YaugerPresenter, Hay, Curtis L., Malik, Hafiz, Evans, Sally
Design and Validation of Energy-optimal Adaptive Cruise Control (EACC)2022-01-050303/29/2022
The energy consumption of electric vehicles (EVs) is not only influenced by the efficiency of the powertrain components (battery, electric machines, inverters, etc.), but also to a large extend by the driving profile. Therefore, the new function of energy-optimal adaptive cruise control (EACC) is proposed as a new feature in this paper. This function exploits a large potential for energy consumption reduction by optimizing the EVs’ speed trajectory using model predictive control (MPC). EACC optimizes the speed profile of EVs by considering various connected driving information (speed limits, road gradients, predicted future behavior of the vehicle ahead, etc.). To validate the performance of EACC, a prototype system was implemented in an EV. The EV controlled by EACC was driven as the ego-vehicle on a test track. In the test cycles, which represent realistic urban driving scenarios, EACC reduces the energy consumption of the ego-vehicle by up to 13% in comparison to an ego-vehicle
Jia, Yanzhao, Abdelkarim, Anas, Klingbeil, Xiaonan, Görges, Daniel
Adaptive control of self-humidification PEM fuel cell system based on cathode recirculation 2022-01-083103/29/2022
The distribution of the water content and reactant concentration has an important impact on the durability and output performance of the PEM fuel cell system. Especially for a self-humidification fuel cell system, membrane drying or local liquid water accumulation will cause poor output performance and even lead to irreversible damage to the stack. To prolong the stack lifespan and achieve the best output performance, it is important to construct a balanced water circulation in the fuel cell stack by actively controlling external subsystems and optimizing operating conditions. In this study, a three-dimensional model of the fuel cell stack is modeled by the ANSYS fluent where the distributions of stack internal states are calculated and illustrated and the external subsystem such as hydrogen supply subsystem, air supply subsystem and thermal management system are modeled on the MATLAB/SIMULINK platform. With the FLUENT/SIMULINK co- simulation, the internal states of the fuel cell stack
Yu, Yang, Jiao, Jieran, chen, fengxiang
A guidance strategy for parking space of autonomous valet parking with cooperative vehicle infrastructure system2022-01-017103/29/2022
Lots of invalid volume of traffic occurs as the vehicle repeatedly seeking the valid berth location, due to the existence of information island, which reduces traffic efficiency, increases traffic congestion and the emission of pollutants. Aiming at eliminating the existence of information island, this paper proposed a guidance strategy for parking space of autonomous valet parking, as taking merits of cooperative vehicle infrastructure system. The guidance strategy consists of an optimal guidance model and an adaptive ant-colony algorithm. Firstly, the optimal guidance model takes the minimum total parking cost as the objective function and the capacity of parking space as the constraints. Both the objective costs of parking and the subjective cost of customer are taken into accounts in the objective function. Secondly, comparing with traditional method, the adaptive ant-colony algorithm taking two improvements, in order to accelerate the convergence of the algorithm and avoid falling
Zeng, Dequan, Deng, Zhenwen, Hu, Yiming, Li, Zhuoren, Fu, Zhiqiang, Zhang, Peizhi
Isolating the Influence of Road Grade and Curvature on Class-8 Truck Platoon Energy Efficiency2022-01-006603/29/2022
Platooning heavy-duty trucks reduces aerodynamic drag for following trucks, reducing energy consumption and increasing both range and mileage. Previous platooning experimentation has demonstrated fuel economy benefits in two-, three-, and four-truck configurations. However, exogenous variables disturb the ability of these platoons to maintain the desired formation, causing an accordion effect within the platoon and subsequently reducing energy benefits via unnecessary acceleration/deceleration events. This phenomenon is increasingly exacerbated as platoon size and road grade variations increase. The current work assesses how platoon size, road curvature and road grade influence platoon energy efficiency. Fuel consumption rate is experimentally quantified for four heterogeneous Class 8 vehicles operating in standalone (baseline), two-, and four-truck platooning configurations to assess fuel consumption changes while driving through diverse road conditions under the command of a
Snitzer, Philip, Stegner, Evan, Siefert, Jan, Bevly, David M., Hoffman, Mark
Analysis of Detection Distances and Road Safety of Modern Headlamps under Variation of Aim and Performance2022-01-096003/29/2022
In addition to the low - and high beam functions, modern headlamps also have the option of switching on only a part of the high beam. The so-called adaptive high beam is intended to increase the detection distance of objects and by that drastically improve the road safety. At the same time this function does not increase the glare for oncoming or preceding traffic. This is enabled through switching on or off the different segments of the high beam, depending on which and where other road users are recognized by the front camera. This massively increases the use of the high beam thus increasing road safety. In this study, the increase in the detection distance of objects on a straight line is statically investigated with a test person study. Furthermore, the glare of each of these three light functions is investigated. A vehicle with adaptive high beam and an oncoming vehicle are statically positioned on the test track and the detection distances and glare sensitivity are determined
Hinterwaelder, Christian, Hamm, Michael, Kobbert, Jonas
Performance optimization of road noise system based on convolutional neural network2022-01-037003/29/2022
Abstract: In view of the traditional road noise active control system being unable to adapt to different types of road excitations, a convolutional neural network method is designed to identify the road surface in advance, and the convergence factor of the road noise system algorithm is adaptively controlled by different road input to make the vehicle on different roads. To achieve the best noise reduction effect. This paper collects three typical road images, uses migration learning to train and test the network, and combines the recognition results with the road noise active control algorithm for joint simulation. The results show that the road surface can be recognized accurately by using convolutional neural network. According to different road types, by adjusting the algorithm convergence factor, the noise reduction effect of the vehicle can be effectively improved.
Shi, Chenlu, Zhu, Yugang, Sen, Zheng, Ge, Xu, lv, Xiao, Zihong, Ling
Event-triggered Adaptive Robust Control for Lateral Stability of Steer-by-wire Vehicles with Abrupt Nonlinear Faults2022-01-111203/29/2022
Owing to the fact that autonomous vehicles equipped with active front steering (AFS) have the features of time-varying, uncertainties, high rate of fault and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving steer-by-wire (SBW) vehicles lateral stability in the presence of abrupt nonlinear faults. Firstly, a robust H∞ controller, as an upper-level controller, is designed to obtain the corrected steering angle for driving both the yaw rate and the sideslip angle to achieve their desired values. Takagi-Sugeno (T-S) fuzzy modeling approach which has shown the extraordinary ability in coping with the issue of nonlinear is applied to deal with the challenge of the changing longitudinal velocity. The output of upper controller can be calculated by parallel-distribute-compensation (PDC) scheme. Then, an event triggered adaptive fault tolerant lower controller is proposed to track the desired front wheel steering angle offered by the
zheng, gong, Xie, Zhengchao, Zhao, Jing
The Digital Foundation Platform - A Multi-layered SOA Architecture for Intelligent Connected Vehicle Operating System2022-01-011603/29/2022
The advancement of E/E architecture has made modern EV a sophisticated and high performance computing system. High level AD/ADAS functions and applications require real time and accurate perception, localization, fusion, planning and control using computer vision or deep learning based AI algorithms to ensure functional safety and comfort user experiences. Legacy AD/ADAS development from OEMs centers around developing functions on ECUs using services provided by Autosar CP to meet automobile grade and mass production requirements. Additionally, Autosar AP has been maturing and provide richer services and function abstractions. Still the applications development and supporting system software and closely coupled together, this makes application development and enhancement less scalable or flexible, resulting in longer development cycle and slower time to market. This paper presents a multi-layered, service-oriented autonomous driving operating system foundation (we called it Digital
yu, david
Pseudo Transient Torque Converter Clutch Engagement Process Using Fluid-Structure Interaction Simulation2022-01-078103/29/2022
This investigation utilizes a correlated fluid-structure interaction (FSI) model of the torque converter and clutch assembly to perform a pseudo transient clutch engagement at steady state operating conditions. The pseudo transient condition consists of a series of nine steady state simulations that transition the torque converter clutch from fully released to near full lockup at a constant input torque and output speed representative of a highway cruising speed. The flow and pressured field of the torque converter torus and clutch are solved using a CFD model and then passed along to a transient structural model to determine the torque capacity of the lockup clutch. Bulk property assumptions regarding the friction material, deformation of the clutch plate and deflection of supporting structures were made to simplify the model setup, run time and solution convergence. Telemetry pressure measurements acquired in an operating torque converter under similar operating conditions on a
Beldar, Aniket, Robinette, Darrell, Blough, Jason
A new design for Dedicated Hybrid Transmission (DHT) product platform development solution 2022-01-079903/29/2022
With increasing pressure from environment problem for reduction in CO2 emissions and stricter fuel targets from road vehicles, OEM around the globe have to electrification their vehicle range to meet increasingly challenging emission standards in recent years and new transmission technologies are gaining more attention in different main market . The actual and future powertrain development has three major directions in order to reduce or avoid emissions in the transportation sector: Hybrid Vehicles: Hybrid Electric Vehicles (HEV), Plug-in HEV (PHEV) Electric Vehicles (EV); Range Extender Electric Vehicle (REEV); Fuel Cell Electric Vehicles (FCEV), Range Extender FCEV (REFCEV). This paper will presents a new type Hybrid transmission which so called “DHT (Dedicated Hybrid Transmission) “ technology for cost-effective HEVs and PHEVs is to permit the design of very compact automatic transmissions with an integrated high-voltage electric motor on the output side of the transmission. The new
Xue, Xiang, Guo, Rong, Jiang, Xuyi, Hong, Ze
Data-Driven Multi-type and Multi-level Fault Diagnosis of Proton Exchange Membrane Fuel Cell Systems Using Artificial Intelligence Algorithms2022-01-083903/29/2022
In order to improve the durability of Proton-exchange membrane fuel cell (PEMFC) in actual transportation application scenario, the research on fault diagnosis of PEMFC is receiving extensive attention. With the development of artificial intelligence, performing fault diagnosis with the massive sampling data of the fuel cell system has become a popular research topic. But few people have successfully verified the diagnosis performance of these artificial intelligence algorithms on a real high power on-board PEMFC system. Therefore, we intend to make a step forward with these data-driven artificial intelligence algorithms. We applied four data-driven artificial intelligence algorithms to diagnose three common faults of PEMFC (each fault type has two severity levels, slight and severe). AVL CRUISE M was firstly applied for generation of simulation fault dataset to speed up the algorithm screening process. Based on the dataset, these algorithms are trained and optimized. The trained
Zhou, Su, Wang, Keyong, Shan, Jing, Bao, Datong, Hou, Zhongjun
Methods for State of Health Estimation and Remaining Useful Life Prognostics for EV Lithium-ion Batteries: A Review2022-01-085003/29/2022
Lithium-ion batteries (LIBs) power majority of battery electric vehicles due to their relatively better performance and reliability. LIBs offer high energy density, cycle life, power capability when used in their operating zones. However, LIBs experience ageing and performance degradation due to operating conditions and internal factors which if not characterised lead to unexpected battery failures combined with safety hazards. State of health (SOH) metric provides an effective measure on the battery health and be used to calculate the Remaining useful life (RuL) of the battery. Accurate SOH prediction in Electric vehicles is key to improve pack performance, enable preventive maintenance to reduce unexpected failures, enhance battery life and safety. EV battery packs are equipped with Battery Management Systems (BMS). State of art BMSs are equipped with advanced algorithms for state estimation and are IOT enabled to save field performance data over cloud. Currently, algorithms which
Aphale, Siddharth
Anticipation-Based Autonomous Platoon Control Strategy with Minimum Parameter Learning Adaptive Radial Basis Function Neural Network (MPL-ARBF-NN) Sliding Mode Control 2022-01-034803/29/2022
Human-driver is stochastic in nature and usually difficult to predict. In car following scene, where an autonomous vehicle platoon follows a human-driven vehicle having a complex acceleration behavior therefore needs greater attention for smooth traffic flow. To guarantee a string stable platoon operation, an efficient vehicle controller must be developed for fast convergence, adaptation simplicity, ease of design and real-time performance. The research proposed an adaptive fuzzy system-based compound variable exponential power reaching law (CVEPRL) sliding mode control in a backstepping design framework. The fuzzy system employs an efficient adaptation to minimize computational burden in real-time operation of the platoon. The ease of controller development arise from the backstepping control design and robustness of the controller can be inherited from sliding mode control (SMC). The autonomous vehicle can be modeled as a third order nonlinear plant with a varying disturbance term
Negash, Natnael M., Yang, James
Multi trucks platooning fuel economy test results with cooperative adaptive cruise control under real-world driving conditions2022-01-050103/29/2022
The application of cooperative adaptive cruise control (CACC) to heavy-duty trucks known as truck platooning has shown fuel economy improvements over test track ideal driving conditions. However, there are limited test data available to assess the performance of CACC under real-world driving conditions for 3 trucks automation. As part of a U.S. Department of Energy Funding Opportunity Announcement award project, 3 trucks platooning with CACC has been tested under real-world driving conditions and the results are presented in this paper. On-highway testing is done on a route in Indiana representing the operation of long-haul Class 8 trucks in the United States. The road includes low, medium and high grade segments. The impact of road grade variation and traffic on truck platooning is analyzed and some of the issues with this technology are identified for further research and improvements.
Borhan, Hoseinali, Brady, Nathan, YU, Chia-Siung, Fuhs, Karla, Adi, Gayatri, Pattel, Bibin, Lammert, Michael
Using GPU to Accelerate Backward Induction for Vehicle Speed Optimal Control2022-01-009103/29/2022
This paper proposes a method to adapt backward induction, which is used to solve the vehicle speed optimal control problem for energy efficiency, to a computer with GPU to accelerate the computation. A common application of this type of problem is to control a vehicle on a given route with surrounding vehicles, road grades, traffic signals, stop signs, speed limits, and other conditions. Several indicators can be used to determine the performance of the controller, such as the driving speed smoothness, time consumption to a given target, or the energy consumption of the trip. Solving this optimization problem globally by backward induction is time-consuming, due to its’ large searching space of the vehicle’s distance, velocity, and acceleration. The proposed method converts the single thread implementation to a parallel process that runs on a consumer-level GPU. This is done by choosing the problem scale, separate independent sub-processes, and prune the data to accommodate the GPU
Ma, Zhaoyuan, Zeng, Xiangrui
A humanized vehicle speed control to improve the acceptance of automated longitudinal control2022-01-009703/29/2022
Vehicle speed controls, as adaptive cruise control and related automated evolutions, are control systems able to follow a desired vehicle reference speed that is set by the driver and fused with information as road signs, SD maps etc.. Current normal production systems don’t distinguish among the vehicle users, only some carmakers are doing first steps towards the introduction of learning from driver to adapt the traditional control. In our work, we follow up this content with a humanized speed control, based on learning of driver longitudinal behavior. This method is able to combine machine learning algorithms, vehicle positioning and recurrent trips into existing automated longitudinal control systems. Proposed algorithm can reduce the interactions between drivers and automated systems by improving the acceptance of automated longitudinal control. Furthermore, proposed integration works mainly on speed reference that dramatically simplifies the customization of the system. We present
Raffone, Enrico, Rei cEng, Claudio, Fossanetti, Massimo
Model Based Design and Verification of Automated Driving Features Using XIL Simulation Platforms2022-01-010903/29/2022
The latest edition of the US Department of Energy's (DOE) Advanced Vehicle Technology Competition (AVTC) series is the EcoCAR Mobility Challenge (EMC). In the third year of the EMC, the Mississippi State University (MSU) team developed and tested a perception system and a longitudinal controller to achieve SAE level 2 autonomy. Our team leveraged model-based design approach to iterate between developing software components and executing tests in multiple environments in the loop (XIL) to verify that design requirements are met. This workflow allowed the team to detect and resolve issues early in the development process. The perception system is composed of a sensor fusion and tracking controller algorithm. It relies on detections from a front facing camera and radar to generate tracks for a leading vehicle. The tracks from the perception system are used by a model predictive controller (MPC) to maintain a safe distance to the leading vehicle. A comparison study between test results
Taoudi, Amine, Gandy, Jonah, Hudson, Vance, Luo, Chaomin, Follett, Randolph
Research on Energy-saving Strategy of Power System of Pure Electric Vacuum Vehicle2022-01-079603/29/2022
With the advancement of China's urbanization construction, the demand for electric vacuum vehicles continues to increase. Electric vacuum vehicles work together by two motors, and the operating conditions are complex and variable. It is necessary to formulate reasonable strategies for the two motors during the work process. Fuzzy control can handle nonlinear models and is less sensitive to interference. Therefore, this paper takes a pure electric vacuum vehicle as an example, and proposes an energy-saving strategy for the power system based on fuzzy control. Firstly, a two-dimensional fuzzy controller was established to control the rotational speed and torque of the work motor according to the road conditions. Secondly, the economic MAP of the drive motor was developed. Taking into account factors such as SOC, accelerator pedal opening change rate, and work motor speed, the torque was compensated and corrected, a closed-loop control strategy combining driver input and vehicle working
Zhu, Chaoqi
Adaptive sliding mode Kalman observer for the estimation of vehicle fuel cell humidity2022-01-083403/29/2022
The efficiency and durability of fuel cells are affected by internal water content. Therefore, the active control of humidity is of great significance for vehicle fuel cells, especially for self-humidifying fuel cell systems.To realize fuel cell internal humidity active control, it is necessary to collect the humidity information of stack in real time, so as to carry out feedback control. However, humidity sensor has the characteristics of high cost and low durability, so it is more practical to get the feedback value of humidity by using state estimation method for high-power commercial fuel cell system such as vehicle fuel cell. However, humidity estimation is often affected by other physical or chemical dynamic processes, such as oxygen transportation and response process of electrical appliances. In order to weaken the influence of other physical or chemical dynamic processes on humidity estimation, this paper proposes an adaptive sliding mode observer (ASMK) algorithm. To directly
Jiao, Jieran, chen, fengxiang
Performance Analysis of Immersed Boundary Method for Predicting External Car Aerodynamics2022-01-108703/29/2022
Computational Fluid Dynamics (CFD) is a well-established method for the evaluation of the aerodynamics properties of a car. Lattice Boltzmann (LB) and finite volume (FV) are the most frequently used methods for such simulations. Many users are more confident with the FV method due to various advances in the Reynolds-Averaged Navier-Stokes (RANS) near-wall turbulence modelling. FV method primarily employs RANS models, whereas so-called scale-resolving models are increasingly used for high-fidelity analyses. The accuracy of RANS near-wall models relies on the mesh quality near the wall so by the rule, larger number of body-fitted cell-layers are employed at the wall. An immersed boundary (IB) method could be attractive alternative to the ‘standard’ approaches mention above, especially when applied to low quality CAD data. In general, this approach is less investigated and validated for car aerodynamics, particularly in conjunction with advanced near-wall turbulence models. In this
Basara, Branislav, Zunic PhD, Zoran, Pavlovic, Zoran, Sampl, Peter, Jemcov, Aleksandar, Edelbauer, Wilfried, Saric, Sanjin, Cvelbar, Uros
Development of Resin Water Jacket Case for Traction Inverter aiming to Downsizing and light-weighting2022-01-088803/29/2022
The size and weight of the traction inverter needs to be reduced to ensure a sufficient cruising range of an electric vehicle. To this end, one approach involves changing materials of the inverter case from aluminum to resin. However, the resin in use of inverter case causes technical issues in terms of collision performance, electromagnetic compatibility (EMC), and cooling performance because of the difference in the material properties between the resin and the conventionally used aluminum. By solving the abovementioned issues, a resin water jacket case (hereinafter, resin water jacket) was successfully adopted with inverters designed for next-generation electric powertrain in mass production models for the first time. The resin-based structure had advantages to reduce the weight of the inverter case by ~35% and decrease the number of parts to ~3/5, compared to that for the conventional cases. The inverter case was reviewed and consisted of a flat resin water jacket and a box-shaped
Ishii, Soichi, Hatanaka, Seiji, Komasaki, Shinya, Okubo, Akinori, Nakajima, Masaya, Iiyama, Tadaaki
Develop best practices for corelating Body Pressure Distribution test to simulation 2022-01-097803/29/2022
As automotive seating comfort is expected to see an upward trend, virtual comfort analysis is expected to pick up its importance and Body Pressure Distribution (BPD)is foreseen to be the flag bearer in this race towards seat comfort. The shift of focus from BPD testing to virtual comfort analysis has been a positive sign for market potential and it adds to being more agile to adapt to emerging trends. This paper will discuss the best possible human seating posture during BPD test which would corelate better with virtual manikin setting for the same purpose. With this best practice, the real time-tested BPD map would be produce repeatedly with less variation with analytical BPD map and eventually the comfortable seat design would be achieved in a shorter period in terms of production with greater accuracy.
Alam, DM
Approaches for Simulation Model Reuse in Systems Design — A Review 2022-01-043003/29/2022
In this paper, we review the literature related to the reuse of computer-based simulation models in the context of systems design. Models are used to capture aspects of existing or envisioned systems and are simulated to predict the behavior of these systems. However, developing such models from scratch requires significant time and effort. Researchers have recognized that the time and effort can be reduced if existing models or model components are reused, leading to the study of model reusability. In this paper, we review the tasks necessary to retrieve and reuse model components from repositories, and to prepare new models and model components such that they are more amenable for future reuse. Model reuse can be significantly enhanced by carefully characterizing the model, and capturing its meaning and intent so that potential users can determine whether the model meets their needs. Traditionally, the meaning and intent of models has been captured in textual documentation, but more
Hussain, Mohammad, Masoudi, Nafiseh, Mocko, Gregory, Paredis, Chris
System Identification Techniques to Improve ADAS Feature Performance2022-01-009303/29/2022
The advances in automotive technology continue to deliver safety and driving comfort benefits to the society. The Automated Driving Assistance System (ADAS) technology is at forefront of this evolution. Today, various vehicle models on the road have features like lane centering, automated emergency braking, adaptive cruise control, traffic jam assist etc. During early development, such feature algorithms often assume ideal environmental and vehicle conditions while doing performance evaluation. The lane centering ADAS feature performance in a test vehicle was studied. The feature considered here is an end-to-end feature, i.e., from camera sensor output to steering actuation. Lane centering control system often has multiple control loops within the vehicle system. The delay in steering system response has a significant effect on overall lane centering performance and driver feel. This study focuses on understanding effect of EPS behavior and vehicle lateral dynamics on overall ADAS
Awathe, Arpit, Varunjikar, Tejas, Ganguli, Subhabrata
Dynamic Can Message Routing For Enhanced Security2022-01-012403/29/2022
Over the years automobiles have increased complexity in terms of number of sensors and ECU’s handling these sensor input. Existing vehicles have more than 100 ECUs working and communicating with each other [1]. Some of the luxury vehicles have more than 150 ECU’s [1] to provide high level of technical sophistication which is being expected by drivers. Introduction of autonomous vehicles has increased demand for more secured vehicles to address security concerns associated with new technology and high cost of error. CAN bus is unsecured, open type of network. Every node/ECU on bus can have access to all data transported on bus. This exposes major security vulnerability for message interpretation and spoofing. ECU may be connected on bus as pass through device interpreting messages flowing between ECU’s. Other type of challenging attack on CAN bus is in the form of Denial Of Service (DOS) attack. In another type of attack hacker can connect a rogue ECU on the bus and may try to spoof
Kulkarni, Ashwin
Requirements for the automated generation of attack trees to support automotive cybersecurity assurance2022-01-013603/29/2022
As the need for automotive assurance continues to grow, it becomes necessary to develop approaches which can provide assurance cases in a systematic and efficient manner. In the case of cybersecurity, this problem is exacerbated by the increasing complexity of vehicular onboard systems, their inherent obscurity due to their heterogenous architecture, emergent behaviours, and the disparate motivations and resources of potential threat agents. Furthermore, the advancement of connected autonomous vehicles (CAV) may allow external attackers to leverage the naïve trust ECUs have for adjacent devices to compromise the safety and security of the vehicle. To that end, there is an increased interest in automatically producing threat models such as attack trees, which usually rely on intensive expert driven construction or rudimentary formally defined processes, to identify potential threats to a vehicle. Therefore, this paper will explore the ways in which such an automated scheme could be
Sowka, Kacper, Cobos, Luis-Pedro, Ruddle, Alastair, Wooderson, Paul
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