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The adhesion control is the basic technology of active safety for the four-wheel driven EV. In this paper, a novel adhesion control method based on fuzzy logic control is proposed. The control system can maximize the adhesion force without road condition information and vehicle speed signal. Also, the regulation torque to prevent wheel slip is smooth and the vehicle driving comfort is greatly improved. For implementation, only the rotating speed of the driving wheel and the motor driving torque signals are needed, while the derived information of the wheel acceleration and the skid status are used. The simulation and road test results have shown that the adhesion control method is effective for preventing slip and lock on the slippery road condition.

The Automatic Parking System (APS) is consisted of environmental perception, path planning and path following. As one of the key technologies in APS, path following module controls the lateral movement of the vehicle during the parking process. A mature path following module should meet all the performance indexes of high precision, fast convergence, convenient tuning and good passenger comfort. However, the current path following control methods can only meet parts of the performance indexes, instead of all. In order to satisfy all the performance indexes above, a path following control method based on Linear Quadratic Regulator (LQR) is proposed in this paper. Firstly, the linearization of the non-linear vehicle kinematic model was done to establish a linear system of the path following error. Secondly, LQR optimal control was used to achieve the closed-loop control of this linear system to guarantee its stability and fast convergence property.

Electric Power Steering (EPS) is the actuator of several lateral-dynamic-related Advanced Driver Assistance Systems (ADAS). A driving simulator with EPS will be much helpful for the ADAS development. However, if a real EPS is used in the driving simulator, it is quite difficult to realize the road reaction force accurately and responsively. To overcome this weakness, a virtual EPS platform is established. The virtual EPS platform contains two parts: one is the vehicle and EPS model, the other is the force feedback actuator (FFA) of the Steer-by-Wire (SBW) system. The FFA is an interface between the driver and the EPS/vehicle model. The reactive torque of the FFA is obtained based on the models. Meanwhile, the input of the EPS model is the steering angle of the FFA. Comparing to a real EPS, the virtual EPS platform has a problem of instability because of the actuator lag of the FFA. Therefore, a damping control method is applied to make the system stable.

In the recent years, the interaction between human driver and Advanced Driver Assistance System (ADAS) has gradually aroused people’s concern. As a result, the concept of personalized ADAS is being put forward. As an important system of ADAS, Lane Keeping Assistance System (LKAS) also attracts great attention. To achieve personalized LKAS, driver lane keeping characteristic (DLKC) indices which could distinguish different driver lane keeping behavior should be researched. However, there are few researches on DLKC indices for personalized LKAS. Although there are many researches on modeling driver steering behavior, these researches are not sufficient to obtain DLKC indices. One reason is that most of researches are for double lane change behavior which is different from driver lane keeping behavior. The other reason is that the researches on driver lane keeping behavior only provide model structure and rarely discuss identification procedure such as how to select suitable data.

Similar to the traditional method of aeronautical wind tunnel testing a procedure to correct for support interference and wind tunnel interference in the automotive wind tunnel of Jilin University is described. Due to the fact that a moving belt is installed in the centre region of the test section the model was kept in place by an external support system. However, for our tests the moving belt was stationary. In order to separate the different interference effects two tests were carried out with the car model connected and disconnected from the support-structure linked to a six-component underfloor balance. In this way the aerodynamic force on a car model, which is then still contaminated by wind tunnel interference effects and the secondary interference effects of the model support on to the car model can be determined.

Lane Centering Control System (LCCS) is a lateral Advanced Driving Assistance System (ADAS) with low acceptance. One of the main reasons is that the centering trajectory can’t satisfy different drivers, which is more obvious in the curve condition. So LCCS adaptive to different drivers needs to be designed. The trajectory planning module is an important part for LCCS. It generates trajectory according to the road information for the vehicle control module to track. This paper uses road information obtained from the scenario established in Prescan, and the trajectory planning method proposed can generate trajectories for different drivers in the curve condition. To achieve the goal, this paper proposes a trajectory planning method which contains lateral path planning and longitudinal speed planning. Firstly, the overall strategy of “road equidistant segments division” is used to describe the road information.

As one of the key technologies in autonomous driving, the lateral planning module guides the lateral movement during the driving process. An integrated lateral planning module should consider the non-holonomic constraints of a vehicle, the optimization of the generated trajectory and the applicability to various scenarios. However, the current lateral planning methods can only meet parts of these requirements. In order to satisfy all the performance requirements above, a novel Potential Field (PF) based lateral planning method is proposed in this paper. Firstly, a PF model is built to describe the potential risk of the traffic entities, including the obstacles, road boundaries and lines. The potential fields of these traffic entities are determined by their properties and the traffic regulations. Secondly, the planning algorithm is presented, which comprises three modules: state prediction, state search and trajectory generation.

An integrated automatic driving system consists of perception, planning and control. As one of the key components of an autonomous driving system, the longitudinal planning module guides the vehicle to accelerate or decelerate automatically on the roads. A complete longitudinal planning module is supposed to consider the flexibility to various scenarios and multi-objective optimization including safety, comfort and efficiency. However, most of the current longitudinal planning methods can not meet all the requirements above. In order to satisfy the demands mentioned above, a new Potential Field (PF) based longitudinal planning method is presented in this paper. Firstly, a PF model is constructed to depict the potential risk of surrounding traffic entities, including obstacles and roads. The shape of each potential field is closely related to the property of the corresponding traffic entity.

With the development of science and technology, breakthroughs have been made in the fields of intelligent algorithms, environmental perception, chip embedding, scene analysis, and multi-information fusion, which together prompted the wide attention of society, manufacturers and owners of autonomous vehicles. As one of the key issues in the research of autonomous vehicles, the research of vehicle lane change algorithm is of great significance to the safety of vehicle driving. This paper focuses on the conflict of interest between the lane-changing vehicle and the target lane vehicle in the fully autonomous driving environment, and proposes the method of coupling kinematics and game theory and reinforcement learning based optimization, so that when the vehicle is in the process of lane changing game, the lane-changing vehicle and the target lane vehicle can make decisions that are beneficial to the balance of interests of both sides.

Forward Collision Warning System is an important part of vehicle active safety system, it can reduce the occurrence of rear-end collision accidents with high fatality rate and improve the safety of driving. At present, there are still some outstanding issues to be addressed among the existing forward collision warning systems, such as the high cost of information acquisition based on LiDAR and other high-definition sensors, and the poor real-time performance of target detection based on vision. In view of the aforementioned issues and in order to improve the detection accuracy and real-time requirements of the target detection function of the early warning system, this paper proposes an enhanced deep learning model-based vehicle target detection method, and improves the key techniques of target detection, ranging and speed measurement and early warning strategy in the warning system.

Nowadays, the automobile industry is booming and the number of vehicles is proliferating while the road traffic environment is also deteriorating. Therefore, attention should be paid to the protection of vulnerable road users in traffic accidents, such as pedestrians. In order to reduce the pedestrians’ head injury in collision accidents, in this study, the vehicle engine hood which responds significantly to head injuries was taken as the design object, so as to put forward a new optimization design process. The parameters of the hood’s main components, manufacturing materials and structural scheme were considered to carry out simultaneous optimization from various aspects such as pedestrian protection and hood stiffness.

Lane Keeping Assistance (LKA) system is a very important part in Advanced Driver Assistance Systems (ADAS). It prevents a vehicle from departing out of the lane by exerting intervention. But an inappropriate performance during LKA intervention makes driver feel uncomfortable. The intervention of LKA can be divided into 3 parts: intervention timing, intervention process and intervention ending. Many researches have studied about the intervention timing and ending, but factors during intervention process also affect driver feelings a lot, such as yaw rate and steering wheel velocity. To increase driver’s acceptance of LKA, objective and subjective tests were designed and conducted to explore important indices which are highly correlated with the driver feelings. Different kinds of LKA controller control intervention process in different ways. Therefore, it’s very important to describe the intervention process uniformly and objectively.

In order to satisfy design requirements of Lane Keeping Assistance System (LKAS), a Driver Steering Override (DSO) strategy is necessary for driver’s interaction with the assistance system. The assistance system can be overridden by the strategy in case of lane change, obstacle avoidance and other emergency situations. However, evaluation and optimization of the DSO strategy for LKAS cannot easily be completed quantitatively considering driver’s acceptability. In this research, firstly subjective and objective evaluation experiment is designed. Secondly, correlations between the subjective and the objective evaluation results are established by using regression analysis. Finally, based on the correlations established previously, the optimal performance of DSO strategy is obtained by setting the desired comprehensive evaluation ratings as the optimized goal.

Computer modeling and simulation have significantly facilitated the efficiency of product design and development in modern engineering, especially in the automotive industry. For the design and optimization of car models, optimization algorithms usually work better if the initial searching points are within or close to a feasible domain. Therefore, finding a feasible design domain in advance is beneficial. A data mining technique, Iterative Dichotomizer 3 (ID3), is exploited in this paper to identify sets of reduced feasible design domains from the original design space. Within the reduced feasible domains, optimal designs can be efficiently obtained while releasing computational burden in iterations. A mathematical example is used to illustrate the proposed method. Then an industrial application about automotive structural optimization is employed to demonstrate the proposed methodology. The results show the proposed method’s potential in practical engineering.

To reduce the computational time of the iterations in robust design, meta-models are frequently utilized to approximate time-consuming computer aided engineering models. However, the bias of meta-model uncertainty largely affects the robustness of the prediction results, this uncertainty need to be addressed before design optimization. In this paper, an efficient uncertainty quantification method considering both model and parameter uncertainties is proposed. Firstly, the uncertainty of parameters are characterized by statistical distributions. The Bayesian inference is then performed to improve the predictive capabilities of the surrogate models, meanwhile, the model uncertainty can also be quantified in the form of variance. Monte Carlo sampling is finally utilized to quantify the compound uncertainties of model and parameter. Furthermore, the proposed uncertainty quantification method is used for robust design.

The accuracy of parking slot detection is a challenge for the safety of the Automated Valet Parking (AVP), while traditional methods of range sensor-based parking slot detection have mostly focused on the detection rate in a scenario, where the ego-vehicle must pass by the slot. This paper uses three-dimensional Light Detection And Ranging (3D LiDAR) to efficiently search parking slots around without passing by them and highlights the accuracy of detecting and tracking. For this purpose, a universal process of 3D LiDAR-based high-accuracy slot perception is proposed in this paper. First, the method Minimum Spanning Tree (MST) is applied to sort obstacles, and Separating Axis Theorem (SAT) are applied to the bounding boxes of obstacles in the bird’s-eye view, to find a free space between two adjacent obstacles. These bounding boxes are obtained by using common point cloud processing methods.

The research on road sweepers is proposed, and it is proposed to install a camera on the road sweepers using the camera and a computer instead of human eyes to realize the autonomous driving of the road sweeper. We set up a quick response (QR) code in the places that need to turn. By installing a fourth-generation cellular network (4G) communication module on the smart road sweeper and combining the Alibaba Cloud server, the smart road sweeper’s operating data on the WeChat mini program will be a real-time display. In addition, when the vehicle stops operating, the system can also upload alarm information to the manager’s WeChat mini program through Alibaba Cloud to obtain the location information of the road sweeper and perform timely maintenance.

Since situational awareness is crucial for autonomous driving in urban environments, multi-target tracking has become an increasingly popular research topic during the last several years. For autonomous driving in urban environments, cars and pedestrians are the two main types of obstacles, and their motion characteristics are not the same. While in the current related multi-target tracking research, the same motion model (such as Constant Velocity model [CV]) or motion model set (such as CV combined with Constant Acceleration model [CA]) is mostly used to track different types of obstacles simultaneously. Besides, in current research, regular motion models are mostly adopted to track pedestrians, such as CV, CA, and so on, the uncertainty in pedestrian motion is not well considered.

Lane Keeping Assistance System (LKAS) is a typical lateral driver assistance system with low acceptance. One of the main reasons is that fixed parameters cannot satisfy individual differences. So LKAS adaptive to driver characteristics needs to be designed. Driver Steering Override (DSO) process is an important process of LKAS. It happens when contradiction between driver’s intention and system behavior occurs. As feeling of overriding will affect the overall experience of using LKAS, the design of DSO characteristics is worthy of attention. This research provided an adaptive design scheme aiming at DSO characteristics for LKAS by building Driver Preference Model (DPM) based on simulator test data from preliminary experiments. The DPM was to represent the relationship between driver characteristics indices and driver preferred system characteristics indices. So that new drivers’ preference can be predicted by DPM based on their own daily driving data with LKAS switched off.

Highly accurate parking slot detection methods are crucial for Automated Valet Parking (AVP) systems, to meet their demanding safety and functional requirements. While previous efforts have mostly focused on the algorithms’ capabilities to detect different types of slots under varying conditions, i.e. the detection rate, their accuracy has received little attention at this time. This paper highlights the importance of trustworthy slot detection methods, which address both the detection rate and the detection accuracy. To achieve this goal, an accurate slot detection method and a reliable ground-truth slot measurement method have been proposed in this paper. First, based on a 2D laser range finder, datapoints of obstacle vehicles on both sides of a slot have been collected and preprocessed. Second, the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm has been improved to efficiently cluster these unevenly-distributed datapoints.