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Path tracking is the rudimentary capability and primary task for autonomous ground vehicles (AGVs). In this paper, a novel four-wheel-independent-steering (4WIS) and four-wheel-independent-drive (4WID) electric vehicle (EV) is proposed which is equipped with steer-by-wire (SBW) system. For path-tracking controller design, the nonlinear vehicle model with 2 degrees of freedom (DOF) is built utilizing the nonlinear Dugoff tire model. The nonlinear dynamic model of SBW system is conducted as well considering the external disturbances. As to the path-tracking controller design, an integrated four-wheel steering (4WS) and direct yaw-moment control (DYC) system is designed based on the model predictive control (MPC) algorithm to track the target path described by desired yaw angle and lateral displacement. Then, the fast terminal sliding mode controller (FTSMC) is proposed for the SBW system to suppress disturbances.

The statement of the engine shake problem is presented through comparing the quarter vehicle models with the rigid-connected and flexible-connected powertrain which is supported on the body by a rubber mount. Then the model is extended by replacing the rubber mount as a hydraulic engine mount (HEM) with regard to the inertia and resistance of the fluid within the inertia track. Based on these, a full vehicle model with 14 degree of freedoms (DOFs) is proposed to calculate the engine shake, which consists of 6 of the powertrain, 1 of the fluid within the inertia track of the HEM, 3 of the car body and 4 of the unsprung mass. Simulation analysis based on the proposed model is implemented, through which the conclusion is drawn that the HEM has great influence on the body and seat track response subjected to front wheel inputs, compared with the rubber mount.

For sensing system, the trustworthiness of the variant sensors is the crucial point when dealing with advanced driving assistant system application. In this paper, an approach to a hybrid camera-radar application of vehicle tracking is presented, able to meet the requirement of such demand. Most of the time, different types of commercial sensors available nowadays specialize in different situations, such as the ability of offering a wealth of detailed information about the scene for the camera or the powerful resistance to the severe weather for the millimeter-wave (MMW) radar. The detection and tracking in different sensors are usually independent. Thus, the work here that combines the variant information provided by different sensors is indispensable and worthwhile. For the real-time requirement of merging the measurement of automotive MMW radar in high speed, this paper first proposes a fast vehicle tracking algorithm based on image perceptual hash encoding.

In this paper, the initial disc thickness variation (DTV) of a ventilated disc in automotive brake system is modeled as sinusoidal function of the second order. The transient thermomechanical coupling properties of the brake system is simulated using finite element (FE) modeling. The system models and results were verified by a thermomechanical coupling test of a disc brake conducted on a brake dynamometer. By using varied evaluation indexes such as the temperature distribution, the normal stress and the elastic deformation of disc surfaces, the influences of the initial DTV and its direction as well as its amplitude on the thermomechanical coupling characteristics were analyzed.

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.

Electromechanical Braking System (EMB) stops the wheel by motor and related enforce mechanism to drive braking pads to clamp the friction plate. It is compact in sized as well as faster in response, which solves the issue of potential leakage and slows response of traditional hydraulic brake system. The institutions at home and abroad have put forward all kinds of new structural schemes of EMB. At present, there are various EMB structural schemes, but the analysis and evaluation of these schemes are relatively few. In this paper, on the basis of a large number of research, the EMB actuator is modular decomposed according to function ,then the parametric 3D model library of each function module is established. According to brake requirements of the target vehicle, a development platform is set up to match EMB actuator structure scheme quickly.

Manufacturers have been encouraged to accommodate advanced downsizing technologies such as the Variable Displacement Engine (VDE) to satisfy commercial demands of comfort and stringent fuel economy. Particularly, Active control engine mounts (ACMs) notably contribute to ensuring superior effectiveness in vibration attenuation. This paper incorporates a PID controller into the active control engine mount system to attenuate the transmitted force to the body. Furthermore, integrated time absolute error (ITAE) of the transmitted force is introduced to serve as the control goal for searching better PID parameters. Then the particle swarm optimization (PSO) algorithm is adopted for the first time to optimize the PID parameters in the ACM system. Simulation results are presented for searching optimal PID parameters. In the end, experimental validation is conducted to verify the optimized PID controller.

The Linear Internal Combustion Engine-Linear Generator Integrated System (LICELGIS) is different from conventional crank-based engine for reducing frictional losses by eliminating the crankshaft. Thus, the LICELGIS piston stroke is not constrained geometrically and the system compression ratio is variable. During steady-state operation, the LICELGIS converts the fuel chemical energy into electric power with piston assembly reciprocating motion, which can be used as a range-extender in hybrid electric vehicles. The LICELGIS scavenging process is prerequisite and key for the system steady-state operation, which has remarkable influence on mixture gas and, eventually, on engine combustion performance. In order to achieve high scavenging performance, a LICELGIS is investigated in this paper. The LICELGIS motion characteristics and scavenging process were analyzed.

The active engine mount (AEM) is developed in automotive industry to improve overall NVH performance. The AEM is designed to reduce major-order signals of engine vibration over a broad frequency range, therefore it is of vital importance to extract major-order signals from vibration before the actuator of the AEM works. This work focuses on a method of real-time extraction of the major-order acceleration signals at the passive side of the AEM. Firstly, the transient engine speed is tracked and calculated, from which the FFT method with a constant sampling rate is used to identify the time-related frequencies as the fundamental frequencies. Then the major-order signals in frequency domain are computed according to the certain multiple relation of the fundamental frequencies. After that, the major-order signals can be reconstructed in time domain, which are proved accurate through offline simulation, compared with the given signals.

Electric vehicle driving permanent magnet synchronous motor has a wide speed range and load changes, with abundant harmonic currents, and its eccentric form is complex, which all result in poor sound quality and abnormal noise problems becoming increasingly prominent. To make a systematic and thorough study of the centralized drive permanent magnet synchronous motor (PMSM) is significant to ameliorate the sound quality and solve noise problems. MATLAB-based modeling technology, SPSS software, and the establishment of sound quality evaluation model for the centralized drive PMSM has a crucial reference value on the research and development of the electric vehicle driving permanent magnet synchronous motor. As for the sound quality of centralized drive PMSM, firstly, in order to get objective parameter values, evaluation models of objective parameters based on psychological acoustics should be established after the collection of the sound samples.

Jet-wake flow and secondary flows are undesirable in torque converters as they are responsible for flow losses and flow nonuniformity; that is, jet-wake flow and secondary flows negatively affect the torque converter performance. Therefore, it is very important to investigate and minimize the undesirable flows to decrease flow losses in torque converter. However, the existing studies are limited to employ geometry design parameter modifications rather than focusing on the actual causes and intrinsic physical mechanism that generate the flows to reduce the flow losses. In this paper, Calculation model of a torque converter is presented first and a three dimensional CFD code was used to simulate the internal flow field of a torque converter. The simulation results coincide with experimental measurements, which verifies the validity of the method. Based on flow field calculation results, the internal flow field of impeller, turbine and stator were analyzed, respectively.

Parallel-connected modules have been widely used in battery packs for electric vehicles nowadays. Unlike series-connected modules, the direct state inconsistency caused by parameter inconsistency in parallel modules is current and temperature non-uniformity, thus resulting in the inconsistency in the speed of aging among cells. Consequently, the evolution pattern of parameter inconsistency is different from that of series-connected modules. Since it’s practically impossible to monitor each cell’s current and temperature information in battery packs, considering cost and energy efficiency, it’s necessary to study how the parameter inconsistency evolves in parallel modules considering the initial parameter distribution, topology design and working condition. In this study, we assigned cells of 18650 format into several groups regarding the degree of capacity and resistance inconsistency. Then all groups are cycled under different environmental temperature and current profile.

There are many electronic devices in electric vehicle (EV), making its electromagnetic compatibility (EMC) serious. Motor drive system is the main interference source of EV, whose electromagnetic interference (EMI) is much worse than conventional vehicle. In this paper, the motor drive system of EV was mainly researched, and a co-simulation method was proposed: control system and motor model were established with Matlab, and the equivalent circuit model of inverter and the cable model were established with Saber. By this way, a complete motor drive system model for conductive EMI was obtained. This modeling method can not only accurately establish the EMI sources and coupling paths, but can simulate the control strategy and operating conditions.

Lithium-ion batteries have been applied in the new energy vehicles more and more widely. The inconsistency of battery cells imposes a lot of difficulties in parameter and state estimations. This paper proposes a new algorithm which can online identify the parameters of each individual battery cell accurately with limited increase of computational cost. An equivalent circuit battery model is founded and based on the RLS (recursive least squares) algorithm, an optimization algorithm with the construction of weight vectors is proposed which can identify the parameters of lithium battery pack considering inconsistency of single battery cell. Firstly, the average value of the parameters of the battery pack is identified with the traditional RLS algorithm. Then the ratios between the parameters of each battery cell can be deduced from the mathematical model of battery. These ratios are used to determine the weight vector of each parameter of individual battery cells.

Micro electric vehicle has gained increasingly popularity among the public due to its compact size and reasonable price in China in recent years. Since design factors that influence the power of electric vehicle drive-motor like maximum speed, acceleration time and so on are not fixed but varies in certain scopes. Therefore, to optimize the process of matching drive-motor’s power, qualitatively and quantitatively studies should be done to determine the optimal parameter combination and improve the design efficiency. In this paper, three basic operating conditions including driving at top speed, ascending and acceleration are considered in the matching process. And the Sobol’ method of global sensitivity analysis (GSA) is applied to evaluate the importance of design factors to the drive-motor’s power in each working mode.

In order to improve the robustness and stability of autonomous vehicle at high speed, a path tracking approach which combines front steering and differential braking is investigated in this paper. A bicycle model with 3-DOFs is established and a linear time-varying predictive model using front steering as its control input can be derived. Based on model predictive theory, the path tracking issue using linear time-varying model predictive control can be transformed into an online quadratic programming problem with constraints. The expected front steering angle can be obtained from online moving optimization. Then the direct yawing control is adopted to treat two types of differential braking control. The first one investigates steady-state gain of yaw rate in linear 2-DOFs vehicle model, and designs a stable differential braking controller which is based on reference yaw rate.

A novel geared electromagnetic active suspension is proposed in this paper. A pushing rod and a rocker are introduced to transfer the suspension vertical motion to the rotational motion of the motor. Comparing with the common ball-screw active suspension, it presents advantages of simple structure, easy manufacturing and module design. As the state variables of the suspension system cannot be all obtained for the sake of cost, taking the suspension deflection as the measurement, an output feedback LQR optimal controller is adopted, and it is concluded that the system can be stable with damping. Considering the nonlinearity of equivalent stiffness and unsprung mass caused by the system structure, parameter perturbation ranges are concluded through dynamic analysis, and robust H∞ control algorithm is proposed to realize the multi-objective optimization.

With the introduction of BroadR-Reach and time-sensitive networking (TSN), Ethernet has become an option for in-vehicle networks (IVNs). Although it has been used in the IT field for decades, it is a new technology for automotive, and thus requires extensive testing. Current test solutions usually target specifications rather than the in-vehicle environment, which means that some properties are still uncertain for in-vehicle usage (e.g., fault tolerance for shorted or open wires). However, these characteristics must be cleared before applying Ethernet in IVNs, because of stringent vehicular safety requirements. Because CAN is usually used for these environments, automotive Ethernet is expected to have the same or better level of fault tolerance. Both CAN and BroadR-Reach use a single pair of twisted wires for physical media; thus, the traditional fault-tolerance test method can be applied for automotive Ethernet.

By means of particle image velocimetry(PIV) measurements, this paper uses vortex identification algorithms to find and analyze the coherent structures in the shear layer region of a 1:15 scaled 3/4 open jet automotive wind tunnel with a high Reynolds number(about 106), referring to SAWTC’s AAWT. The proper orthogonal decomposition(POD) is used to process the PIV experimental data to reconstruct the velocity fields. Based on the vortex identification functions, the locations of the center, the rotation direction and the radius of vortex can be computed. Furthermore, this paper uses the statistical method to study the regularities of distribution of these vortexes in a two-dimensional plane, and identify the vortex pairing process in the shear layer region. This paper also chooses different vortex identification algorithms to find the most accurate and suitable algorithms.

Wheel Aerodynamics is an important part of vehicle aerodynamics. The wheels can notably influence the total aerodynamic drag, lift and ventilation drag of vehicles. In order to simulate the real on-road condition of driving cars, the moving ground and wheel rotation is of major importance in CFD. However, the wheel rotation condition is difficult to be represented exactly, so this is still a critical topic which needs to be worked on. In this paper, a study, which focuses on two types of cars: a fastback sedan and a notchback DrivAer, is conducted. Comparing three different wheel rotating simulation methods: steady Moving wall, MRF and unsteady Sliding Mesh, the effects of different methods for the numerical simulation of vehicle aerodynamics are revealed. Discrepancies of aerodynamic forces between the methods are discussed as well as the flow field, and the simulation results are also compared with published experimental data for validation.