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Recently, electro-hydraulic brake systems (EHB) has been developed to take place of the vacuum booster, having the advantage of faster pressure build-up and continuous pressure regulation. In contrast to the vacuum booster, the pressure estimation for EHB is worth to be studied due to its abundant resource (i.e. electric motor) and cost-effective benefit. This work improves an interconnected pressure estimation algorithm (IPEA) based on actuator characteristics by introducing the vehicle dynamics and validates it via vehicle tests. Considering the previous IPEA as the prior pressure estimation, the wheel speed feedback is used for modification via a proportional-integral (PI) observer. Superior to the IPEA based on actuator characteristics, the proposed PEA improves the accuracy by more than 20% under the mismatch of pressure-position relation.

For an electric vehicle driven by four in-wheel motors, the torque of each wheel can be controlled precisely and independently. A closed-loop control method of differential drive assisted steering (DDAS) has been proposed to improve vehicle steering properties based on those advantages. With consideration of acceleration requirement, a three dimensional characteristic curve that indicates the relation between torque and angle of the steering wheel at different vehicle speeds was designed as a basis of the control system. In order to deal with the saturation of motor's output torque under certain conditions, an anti-windup PI control algorithm was designed. Simulations and vehicle tests, including pivot steering test, lemniscate test and central steering test were carried out to verify the performance of the DDAS in steering portability and road feeling.

BBW (Brake-by-wire) can increase the electric and hybrid vehicles performance and safety. This paper proposes a novel mechatronic booster system, which includes APS (active power source), PFE (pedal feel emulator), ECU (electronic control unit). The system is easily disturbed when the system parameters and the outside conditions change. The system performance is weakened. The cascade control technique can be used to solve the problem. This paper develops an adaptive cascade optimum control (ACOC) algorithm based on the novel mechatronic booster system. The system is divided into main loop and servo loop, both of them are closed-loop system. The servo-loop system can eliminate the disturbance which exists in the servo loop. So the robustness of the cascade control system is improved than which of the general closed-loop control system. Different control object is respectively chosen. The control-oriented mathematical model is designed.

In this paper, an integrated electronic hydraulic brake(I-EHB) system is introduced, which is mainly composed of a motor, a worm gear, a worm, a gear, a rack etc. The friction leads the system to the creeping phenomenon and the dead zone. These phenomenon seriously affect the response speed and the hydraulic pressure control .In order to realize the accurate hydraulic pressure control of I-EHB system, a new friction compensation control method is proposed based on LuGre dynamic friction model. And the theoretical design of adaptive control method is designed based on the feedback of the master cylinder pressure and the operating state of the system. Then the stability of the control method is proved by Lyapunov theorem. A co-simulation model is built with Matlab/Simulink and AMESim, so as to prove the validity of the control method.

A dynamic controller is designed for unmanned skid-steering vehicle. The vehicle speed is controlled through driving torque of engine to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Contrary to the common approaches by considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered, based on the analysis of vehicle dynamic model and nonlinear tire model. Hence, with conditional integrators, the dynamic controller overcoming integral saturation is designed to ensure the accurate tracking for desired signals under influence of tire forces and constraint of actuators. In addition, the exponential kind filter is utilized to enhance the ability of smoothing noise of wheel speed. To perform small radius cornering maneuvers, a dynamic control strategy for steering when vehicle speed is zero is also designed.

In this paper we present a path following control design for a six-wheel skid-steering vehicle. Contrary to the common approaches that impose non-holonomic constraints, a dynamic vehicle model is established based on a pseudo-static tire model, which uses tire slip to determine tire forces. Our control system admits a modular structure, where a motion controller computes the reference vehicle yaw rate and reference vehicle speed and a dynamics controller tracks these signals. A robust nonlinear control law is designed to track the reference wheel speeds determined by the dynamics controller with proved stability properties. Saturated control techniques are employed in designing the reference yaw rate, which ensures the magnitude of the reference yaw rate does not violate the constraint from the ground-tire adhesion. The simulation results demonstrate the effectiveness of the proposed path following control design.

With the development of autonomous driving, the penetration rate of autonomous vehicles on the road will continue to grow. As a result, the social cooperation ability of autonomous vehicles will have a great effect on the social acceptance of autonomous driving, which can be described as harmony with traffic. In order to research the evaluation method of the harmony with traffic, this paper proposes a subjective and objective mapping evaluation method based on the Mean Impact Value and Backpropagation (MIV-BP) Neural Network, with the merging vehicle on the expressway ramp as the research object. Firstly, by taking 16 original objective indexes obtained by theoretical analysis and the subjective evaluation results as input and output, respectively, the BP Neural Network model is constructed as a baseline model. Secondly, nine selected objective indexes are selected by the MIV method based on the baseline model.

Based on the four-wheel-drive electric vehicle (4WD EV), a variable structure control (VSC) strategy is designed in this paper for the anti-lock braking control. With nonpeak friction coefficient as target, sign judgment method of switch function in this VSC strategy is improved and a new control algorithm is proposed. The improved VSC strategy is made robust to the parameters of the algorithm and verified by the computer simulation as well as the hard-in-loop test. The results show that the slip rate can be controlled to a point in the stable area near the optimal slip ratio and the control strategy can effectively realize the anti-lock braking control.

BBW (Brake-by-wire) can increase the vehicle safety performance due to high control accuracy and fast response speed. As one solution of BBW, the novel Integrated-electro-hydraulic brake system (I-EHB) is proposed, which consists of electro-hydraulic booster and hydraulic pressure control unit. The electro-hydraulic booster is activated by an electric motor that driving linear motion mechanism to directly produce the master cylinder pressure. With electro-hydraulic booster as an actuator, the hydraulic pressure control problem is a key issue. Most literatures deal with the pressure control issue based on the feedback pressure signal measured by pressure sensor. As far as the authors are aware, none of the proposed techniques takes into account the pressure sensor unequipped BBW. In this paper, there is no pressure feedback signal, but there is only position feedback signal measured by position sensor for control law design.

The research and development of data-driven highly automated driving system components such as trajectory prediction, motion planning, driving test scenario generation, and safety validation all require large amounts of naturalistic vehicle trajectory data. Therefore, a variety of data collection methods have emerged to meet the growing demand. Among these, camera-equipped drones are gaining more and more attention because of their obvious advantages. Specifically, compared to others, drones have a wider field of bird's eye view, which is less likely to be blocked, and they could collect more complete and natural vehicle trajectory data. Besides, they are not easily observed by traffic participants and ensure that the human driver behavior data collected is realistic and natural. In this paper, we present a complete vehicle trajectory data extraction framework based on aerial videos. It consists of three parts: 1) objects detection, 2) data association, and 3) data cleaning.

Anti-slip regulator (ASR) is one of the most important research focuses in the field of vehicle active safety. An ASR for a distributed drive electric vehicle (DDEV) driven by four in-wheel motors is proposed in this paper, where a tire-road friction coefficient estimator and a road slope estimator are included making the ASR adaptive to road changes. The tire-road friction coefficient estimator is adopted to estimate road condition using improved Burckhardt model, so the optimal reference slip ratio is selected according to the estimated road adhesion coefficient for the maximum driving efficiency and the realization of adaptive anti-slip regulation. At the same time, the road slope is estimated using recursive least square with forgetting factor and the longitudinal acceleration sensor information is calibrated by the road slope estimation for slope adaptive velocity estimation.

Powertrain system of series-parallel hybrid vehicle contains multiple excitation sources like engine, motor and generator. The reduction of noise and vibration is quite difficult during multiplex working modes or the switch of modes. Aiming at Series-parallel hybrid powertrain system which contains engine, motor and planetary gear subsystems, this paper considered a typical working condition which is based on the power control strategy and established the torsional vibration mechanical model of hybrid powertrain system. The inherent characteristics and transient vibration response of the electric mode, hybrid mode and parking charging mode were studied and it was discovered that the repetitive frequency of the powertrain system under the three working modes is the same which is only related to inertia and meshing stiffness of planetary gear system. The non-repetitive frequency and corresponding vibration modes under the electric mode and parking charging mode are both close.

On the dual-motor electric vehicle, which is driven by two electric motors mounted on the front and rear axles respectively, longitudinal dynamic control and electro-dynamic braking can be achieved by controlling the torque of front and rear axle motors respectively. Suspension displacement is related to the wheel torque, thus the pitch of vehicle body can be influenced by changing the torque distribution ratio. The pitch of the body has a great influence on the vehicle comfort, which occurs mainly during acceleration and braking progress. Traditionally active suspension is adopted to control the pitch of body. Instead, in this paper an ideal torque distribution strategy is developed to limit the pitch during acceleration and braking progress. This paper first explores the relationship between the torque distribution and the body pitch through the real vehicle test, which reveals the feasibility of the vehicle comfort promotion by optimizing the torque distribution coefficient.

A rapid path-planning algorithm that generates drivable paths for an autonomous vehicle operating in structural road is proposed in this paper. Cubic B-spline curve is adopted to generating smooth path for continuous curvature and, more, parametric basic points of the spline is adjusted to controlling the curvature extremum for kinematic constraints on vehicle. Other than previous approaches such as inverse kinematics, model-based prediction postprocess approach or closed-loop forward simulation, using the kinematics model in each iteration of path for smoothing and controlling curvature leading to time consumption increasing, our method characterized the vehicle curvature constraint by the minimum length of segment line, which synchronously realized constraint and smooth for generating path. And Differ from the path of robot escaping from a maze, the intelligent vehicle traveling on road in structured environments needs to meet the traffic rules.

With the electrification and intelligentialization of vehicle, requirements on more intelligent and integrated brake system are put forward. A novel integrated-electro-hydraulic brake system (I-EHB) for automotive is presented to fulfill these requirements. I-EHB is consisted of active power source (APS), pedal feel emulator (PFE), electro control unit (ECU) and hydraulic control unit (HCU). The system characteristics of I-EHB are tested through test rig. According to characteristics experiments, friction and non-linear phenomena in hydraulic pressure control are found. In order to overcome these phenomena in control of I-EHB, chatter-compensation is adopted based on experiment analysis. Algorithm are tested and optimized through test rig. As a result, through chatter-compensation the hydraulic pressure is controlled accurately and chatter-compensation is optimized for different working conditions.

Automotive radar is the most important component in the autonomous driving system, which detects the obstacles, vehicles and pedestrians around with acceptable cost. The target tracking is one of the key functions in the automotive radar which estimates the position and speed of the targets having regarding to the measurement inaccuracy and interferences. Modern automotive radar requires a multi-target tracking algorithm, as in the radar field of view hundreds of targets can present. In practice, the automotive radar faces very complicated and fast-changing road conditions, for example tunnels and curved roads. The targets’ unpredictable movements and the reflections of the electromagnetic wave from the tunnel walls and the roads will make the multi-target tracking a difficult task. Such situation may last several seconds so that the continuous tracks of the targets cannot be maintained and the tracks are dropped mistakenly.