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Path planning system, which is one of driver assistance systems, can calculate the driving paths and estimate the driving time through the road information provided by information source. Traditional path planning systems calculate the driving paths through Dijsktra's algorithm or A* algorithm but only consider the road information from electronic maps. It is not safe enough for operating vehicles because of the insufficient information of vehicle performance as well as the driver's willingness. This study is based on the Dijsktra's algorithm, which comprehensively considered vehicular active safety constraints such as road information, vehicle performance and the driver's willingness to optimize the Dijsktra's algorithm. Then the path planning system can calculate the optimal driving paths that would satisfy the safety requirement of the vehicle. This study used LabVIEW as a visual host computer and MATLAB to calculate dynamic property of the vehicle.

Dynamic modeling and state estimation are significant in the trajectory tracking and stability control of the intelligent vehicle. In order to meet the requirement of the stability control of the eight-in-wheel-motor-driven intelligent vehicle, a full vehicle dynamics model with 12 degrees of freedom, including the longitudinal, lateral, yaw and roll motion of the body, and rotational motion of 8 wheels, is established for the research of the intelligent vehicle in this paper. By simulation with MATLAB/SIMULINK and by comparison with the TruckSim software, the reliability and practicality of the dynamics model are verified. Based on the established dynamics model, an extended Kalman filter (EKF) state observer is proposed to estimate the vehicle sideslip angle, roll angle and yaw rate, which are the key parameters to the stability control of the intelligent vehicle.

In order to ensure driving safety, heavy vehicles are often equipped with hydraulic retarder, which provides sustained, stable braking torque and converts the vehicle kinetic energy into heat taken away by the cooling system when traveling on a long downhill. The conventional hydraulic retarder braking torque is modulated by adjusting the liquid filling rate, which leads to slow response and difficult control. In this paper, a new kind of magnetorheological (MR) fluid hydraulic retarder is designed by replacing the traditional transmission oil with MR fluid and arranging the excitation coils outside the working chamber. The braking torque can be controlled by the fluid viscosity of MR fluid with the variation of magnetic field. Compared with the traditional hydraulic retarder, the system has the advantages of fast response, easy control and high adjustment sensitivity.

Brake pedal feel plays an important role in the driver's comprehensive subjective feeling when braking, which directly affects the active safety and riding comfort of passenger car. A systematical mathematical model of the vehicle brake system is built in according with the structure and system characteristics of hydraulic servo brake system. A complete hydraulic servo brake system simulation model composed of brake pedal, vacuum booster, brake master cylinder, brake pipe, brake wheel cylinders, brake calipers is established in AMESim. The effects of rubber reaction plate stiffness, rubber valve opening, brake master cylinder piston, brake caliper, brake pipe deformation and friction liner deformation on brake pedal feel are considered in this model. The accuracy of this model is verified by real road vehicle tests under static and dynamic two different conditions.

This paper presents a novel application of hydraulic electromagnetic energy-regenerative shock absorber (HESA) into commercial vehicle suspension system and vehicle road performance are simulated by the evaluating indexes (e.g. root-mean-square values of vertical acceleration of sprung mass, dynamic tire-ground contact force, suspension deflection and harvested power; maximum values of pitch angle and roll angle). Firstly, the configuration and working principle of HESA are introduced. Then, the damping characteristics of HESA and the seven-degrees-of-freedom vehicle dynamics were modeled respectively before deriving the dynamic characteristics of a vehicle equipped with HESA. The control current is fixed at 7A to match the similar damping effect of traditional damper on the basis of energy conversion method of nonlinear shock absorber.

The current paper proposes a hydraulic interconnected suspension system (HIS) based on a hydraulic energy-regenerative shock absorber (HESA) comparatively with the passive suspensions. The structure and working principles of the HIS system are introduced in order to investigate the damping performance and energy regeneration characteristics of the proposed system. Then, the dynamic characteristics of the HIS-HESA system have been investigated based on a 4-DOF longitudinal half vehicle model. In the simulation, two different road inputs were used in the dynamic characterization of the HIS-HESA; the warp sinusoidal excitation, and the random road signal. In addition, a comparative analysis was provided for the dynamic responses of the half vehicle model for both the HIS-HESA and the conventional suspension. Furthermore, a parametric analysis of the HIS-HESA has been carried out highlining the key parameters that have a remarkable effect on the HIS-HESA performance.

When vehicle traveling on the bumpy road or vehicle acceleration and deceleration, which will cause the body vibration of vehicle, at the same time, a large part of energy would be absorbed by the shock absorber transforms the mechanical energy into heat energy dissipated. In order to recycle the energy of vibration and keep the stability of running car, this paper provides the shock absorber of energy recovery that recycling the energy dissipated from the traditional absorber. The shock absorber includes rod and rodless chamber cavity, the two parts contain oil outlet and oil inlet, which connected to a bridge type loop of hydraulic to make pulsating oil pressure towards one direction, when the shock absorber vibration causes pulsating oil pressure, it drives hydraulic pump operation. Because the output shaft of the hydraulic pump fixedly attached to the input shaft of generator, so the generator produces electricity for recycling energy[1].

The brake performance is one of the most important performances in the automotive active safety, and it is the main measure of automotive active safety. Thus, to develop a platform for the braking system is quite significant. Based on the object-oriented technology, the platform for braking system is developed by making use of Visual C++ 6.0 development tool. By using the VC++ development tool and doing secondary development on other softwares, the software possesses powerful features, such as brake plan selection, performance calculation, parametric modeling, finite element analysis and kinematics simulation, etc. An initial brake system can be designed, calculated and analyzed all in one. The living instance shows that the platform has friendly user interfaces, powerful functions and it can improve the precision and efficiency of brake design. The platform has been of great applied value and can also positively promote the design automation of vehicle's braking system.

The basic principle of wavelet transform is presented and the method of wavelet theory is used in vibration signal analysis of vehicle in this paper. The vibration signals which generated in the locations such as cab floor, engine, transmission, band spring and frame under the usual work condition are measured by the vibration test system. The vibration signals are decomposed with the principle of wavelet decomposition at level six, and eigenvectors of signal energy are gained. According to the correlation coefficient of eigenvectors of signal energy distribution, two signals correlativity is determined. It could be an effective method that identificate the main vibration source.

The automotive industry is evolving towards Electrified Vehicles (EV) in the recent years. Compared to the traditional ICE vehicles, tire noise induced by the tire-road interaction, is no longer masked by the internal combustion engine, and therefore becomes one of the most dominant sources of noise within the cabin and acoustic emission perceived by by-standers. Robust source characterization is one of the most important tasks for road noise prediction. The receiver-independent tire blocked forces are often used as ire-road source characteristics, which can be applied to any test-based or FE-based vehicle model to obtain the interior noise. They can be inversely identified from measurements on a tire test rig or on an in-situ vehicle. However, this inverse process needs to be repeated for different tires, roads and rolling speeds, which can become time-consuming and expensive.

Focusing on distributed electric vehicles with in-wheel motors, a novel regenerative braking control strategy based on braking intention is proposed. Firstly, a design scheme for the regenerative braking system is described. Four in-wheel motors and an Electro-Hydraulic Braking (EHB) system are respectively designed for regenerative braking and hydraulic braking. Then, Braking intention recognition self-learning libraries are trained based on Hidden Markov Model method, which is validated by driver-in-loop tests. According to three speed states and four braking intentions, the regenerative braking control strategy for multiple brake modes is developed. The coefficient of regenerative braking is defined to describe the intervening time and proportion of motor maximum regenerative braking.

The hydraulic retarder used in commercial vehicles can provide hydraulic damping to generate braking torque, reducing the pressure of the braking system on the slope section and increasing the safety. In this paper, the magnetorheological fluid with fast magnetic field reflection characteristics is used to increase the response speed of the hydraulic retarder, which can effectively reduce the response time of the hydraulic retarder. In this paper, the influence of the change of circumferential magnetic field on the braking torque of the magnetorheological fluid retarder is studied.

Path tracking is one of the critical technologies in the autonomous vehicle. Its performance may be seriously affected by disturbance resulting from unpredictable environment like changes in road friction coefficient and parameter uncertainty such as cornering stiffness and mass caused by errors of measurement. Besides, since the vehicle system consisting of many systems is an extremely complex nonlinear system, it is almost impossible for us to establish a precise model of a vehicle especially when it is moving. These inevitable factors influence the control accuracy and even threaten the stability and safety of the vehicle system. This paper proposed a promising solution to this problem, robust MPC (Model Predictive Control) combined with the optimal preview controller for path tracking problems of an autonomous vehicle. The state space model in tracking error variables of a passenger vehicle used for path tracking application is established.

In order to perform differential control instead of the mechanical differential and improve the steering performance of distributed electric vehicles, a two-level differential speed steering control strategy is proposed. Firstly, an upper-layer controller to track the yaw rate is designed based on PID feedback and 3-D lookup table model, which could shorten the response time and reduce the impact of model parameters mismatch. Then, in order to improve the robustness to external disturbances and parameter uncertainties, a lower-layer controller to track the wheel speed is proposed based on integral sliding mode control. Moreover, three simulations are conducted to validate the proposed strategy. The first simulation results indicate that the driving torques of the inner and outer wheels are distributed properly to avoid wheel slip. In the second simulation, when the conventional steering system fails, the proposed control strategy could avoid vehicle losing steering function.

To integrate the energy-recovery characteristic of the Hydraulic electromagnetic shock absorber (HESA) and the anti-roll characteristic and anti-pitch characteristic of Hydraulic Interconnected Suspension(HIS), a Hydraulic Interconnected Suspension system based on Hydraulic Electromagnetic Shock Absorber (HESA-HIS) is presented. HESA-HIS has three operating modes: energy-recovery priority mode, dynamic performance priority mode and energy-recovery and dynamic performance balance mode. The working principle of HESA-HIS in the three operating modes is introduced, a full vehicle model is built by using the software AMESim, and some simulation tests are conducted by using the vehicle model. The simulation results show that the system can effectively reduce the roll angle of the vehicle, while maintaining good ride performance. Fishhook test results show that the roll angle of the HESA-HIS vehicle is reduced by 80%, compared to the traditional vehicle.

In the Rankine cycle, the pressure differential generated by the phase change of the working fluid produces turbine output power, which enables the recovery of waste heat from the internal combustion engine. The heat transfer ability of the evaporator is the key factor that determines the quality of turbine's mechanical work. In this paper, the performance of the evaporator with two-phase zone and preheated zone is studied. After obtaining the thermal characteristics of diesel engine exhaust from the experimental data, the mathematical model of the evaporator is built according to the specific working conditions of ORC and geometrical parameters of the evaporator. Three typical engine operating conditions are used to estimate the heat transfer characteristics of the evaporator. The result shows that, in the evaporator, the heat transfer coefficient of the Rankine working fluid is much greater than the exhaust side of the engine.

The retarder is an important auxiliary braking device of heavy vehicles. However, the stirring air in the working wheels of the idle retarder would cause the transmission loss when the vehicle is traveling in non-braking state [1]. For certain driving conditions, the air-friction characteristics in the working wheels of the idle retarder are analyzed first. Then the relationship between the air density and the torque produced by stirring air is studied. The thermal characteristics of the retarder in the idle condition are also concerned according to the energy flow and heat transfer. Meanwhile, the increased transmission loss caused by the rising temperature of the stirring air and its inference on the transmission stability are also studied. Finally, the optimal range of air vacuum degrees in the working wheel of the idle retarder is determined and the evaluations for the air-friction and the heat transfer characteristics are given for the vacuum degrees.

Air disc brake (ADB) is the execution unit of automobile brake, which plays a vital role in traffic safety. Lever is a very important driving as well as stress part of ADB. However, seldom periodical or thesis has given specifications about the lever. In this paper, working principle of the lever is illustrated in detail. Finite element analysis (FEA) of the lever is conducted and some structural problems of the lever are found out. Finally, for the condition that the lever doesn't meet the strength requirement, topography optimization is introduced to improve the shape of lever. Simulation results show that the strength of the lever improved obviously with the optimization, and analysis method as well as optimization method in this paper is feasible.

A vehicular hydraulic electrical energy regenerative semi-active suspension(HEERSS) was presented, and its working principle and performance were analyzed. Firstly, configuration and working principle of the HEERSS were described; Secondly, kinetic equation of HEERSS was deduced, and a skyhook controller was designed for HEERSS. The traditional skyhook control strategy should be changed for the characteristic of HEERSS, because the damping force during extension stroke could be controlled, but not in compression stroke. Thirdly, the performance of HEERSS was compared with passive suspension(PS), traditional semi-active suspension(TSS). The simulation results indicated that the performance of HEERSS would be compromise between TSS and PS, but the HEERSS could harvest vibration energy which was advanced than TSS and PS.

The hydraulic retarder, an important auxiliary brake, has been widely used in heavy vehicles. Under the non-braking working condition, the air resistance torque in the working chamber, which is formed by the rotor of hydraulic retarder's stirring the air, causes pumping loss. This research designs a new type of hydraulic retarder, whose helium is charged into working chamber through closed loop gas system under non-braking working condition, can reduce the parasitic power loss of transmission system. First, under non-braking working condition, the resistance characteristics are analyzed on the base of hydraulic retarder pumping model; then, considering some parameters, such as the volume of chambers and the initial gas pressure, the working chamber gas charge model is established, and the transient gas charge characteristics are also analyzed under non-braking working condition.