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The fusion of multi-modal perception in autonomous driving plays a pivotal role in vehicle behavior decision-making. However, much of the previous research has predominantly focused on the fusion of Lidar and cameras. Although Lidar offers an ample supply of point cloud data, its high cost and the substantial volume of point cloud data can lead to computational delays. Consequently, investigating perception fusion under the context of 4D millimeter-wave radar is of paramount importance for cost reduction and enhanced safety. Nevertheless, 4D millimeter-wave radar faces challenges including sparse point clouds, limited information content, and a lack of fusion strategies. In this paper, we introduce, for the first time, an approach that leverages Graph Neural Networks to assist in expressing features from 4D millimeter-wave radar point clouds. This approach effectively extracts unstructured point cloud features, addressing the loss of object detection due to sparsity.

Operating condition of rotor embedded magnet materials for permanent magnet synchronous motor (PMSM) critically affect electric vehicle (EV) range and dynamic characteristics. The rotor liquid cooling technique has a deep influence on PMSM performance improvement, and begin to be studied and applied increasingly in EV field. Here, the fluid, thermal, and electromagnetic characteristics of motor with and without hollow-shaft cooling are researched comprehensively based on 100 kW PMSM with housing water jacket (HWJ) and hollow-shaft rotor water jacket (SWJ). The solid models are constructed considering temperature-dependent power loss and anisotropic thermal conductivity. After the fluid models are set up by using Reynolds stress model (RSM), conjugate heat transfer is conducted through computational fluid dynamics (CFD) simulation, and is verified by real PMSM test bench experiments.

To reduce the energy consumption level of electric vehicles, the working range of the regenerative braking system will gradually expand to the high state of charge of the battery. The time delay in the control signal transmission path of the high state of charge regenerative braking control process will affect the regenerative braking. At the same time, regenerative braking under a high state of charge puts forward higher requirements for the control accuracy of regenerative current. In the research of this paper, the motor model, battery model, and vehicle dynamics model are firstly established by using MATLAB/Simulink, and the dynamic relationship between regenerative current and regenerative braking torque is analyzed at the same time. Considering the system time delay, this paper proposes a high-charge regenerative braking control strategy (SPPC) that combines Smith prediction and prescribed performance control.

TWC exposure to extreme temperature could result in irreversible damage or thermal failure. Thus, a strategy embedded in the engine control unit (ECU) called catalyst overheating protection (COP) will be activated to prevent TWC overheating. When COP is activated, the command air-fuel ratio will be enriched to cool the catalyst monolith down. Fuel enrichment has been proven a main prerequisite for ammonia formation in hot TWCs as a by-product of NOx reduction. Hence, COP events could theoretically be a source of post-catalyst ammonia from petrol vehicles, but this theory is yet to be confirmed in published literature. This paper validated this hypothesis using a self-programmed chassis-level test. The speed of the test vehicle was set to constant while the TWC temperature was raised stepwise until a COP event was activated.

The principal objective of the present work is to investigate the fundamental characteristics of a commercially available outwardly opening twin-fluid injector, which utilizes air-assisted atomization principle to attain pulse-type injection of fuel-air mixture. The electromagnetic characteristics of this injector were simulated and the effects of dominating parameters on the electromagnetic force to drive injector were ascertained. On that basis, this paper elaborates on the fundamental characteristics of air-assisted spray using gasoline and kerosene with the employment of two types of optical testing techniques. The spray morphological evolution under varied fuel injection durations and ambient pressures were captured with high-speed shadowgraph thus the corresponding external macroscopic characteristics were obtained and further compared. Spray droplet velocity and diameter at fixed monitoring location were measured by using PDPA (Phase Doppler Particle Analyzer).

An opposed piston two-stroke engine is more suitable for use in an unmanned aerial vehicle because of its small size, excellent self-balancing, stable operation, and low noise. Consequently, in this study, based on experimental data for a prototype opposed piston two-stroke engine, numerical simulation models were established using GT-POWER for 1D simulation and AVL-FIRE for 3D CFD simulation. The mesh grid and solver parameters for the numerical model of the CFD simulation were determined to guarantee the accuracy of the numerical simulation, before studying and optimizing the ventilation efficiency of the engine with different dip angles. Furthermore, the fuel spray and combustion were analyzed and optimized in details.

Aiming at the high altitude operation problems for piston-type aero-engines and to improve the practical ceiling and high altitude dynamic performance, this thesis analyzes a controllable three-stage composite supercharging system, using a two-stage turbocharger coupled supercharger method. The GT-Power simulation model of a four-cylinder boxer engine was established, and the control strategy of variable flight height was obtained. The simulation research of engine performance from 0 to 20,000 meters above sea level has been carried out, which shows that the engine power is at the same level as the plain condition, and it could still maintain 85.28 percent of power even at the height of 20,000 meters, which meets the flight requirements of the aircraft.

Ignition location is one of the important factors that affect the thermal efficiency, exhaust emissions and knock sensitivity in premixed-charge ignition engines. However, the ignition initiation locations of pre-chamber generated turbulent jet ignition, which is a promising ignition enhancement method, are not clearly understood due to the complex physics behind it. Motivated by this, the ignition initiation location of a transient turbulent jet in a constant volume combustor is analyzed by the use of computational fluid dynamics (CFD) simulations. In the CFD simulations of this work, commercial codes KIVA-3 V release 2 and an in-house-developed chemical solver with a detailed mechanism for H2/air mixtures are used. Comparisons are performed between simulated and experimental ignition initiation locations, and they agree well with one another. A detailed parametric study of the influence of in-cylinder temperature on the ignition initiation location is also performed.

The electric vehicles and the intelligent vehicles put forward to new requirements for the brake system, such as the vacuum-independent braking, automatic or active braking, and regenerative braking, which are the key link for the vehicle’s safety and economy. However, the traditional vacuum brake booster is no longer able to meet these requirements. In this article, a novel integrated power-assisted actuator of brake system is proposed to satisfy the brake system requirements of the electric vehicles and intelligent vehicles. The electronic brake booster system is designed to achieve the function of boosting pedal force of driver, being independent on vacuum source, supplying autonomous or active braking. It is mainly composed of a permanent magnet synchronous motor (PMSM), a two-stage reduction transmission (gears and a ball screw), a servo body, and a reaction disk. The scheme design and power-assisted braking control are the key for the electronic actuator.

The control valve is the most important implementation part of a high pressure common rail system, and its flow characteristics have a great influence on the performance of an injector. In this paper, based on the structure and the working principle of an electromagnetic injector in a high pressure common rail system, a simulation model of the injector is established by AMESim software. Some key parameters of the control valve, including the volume of the control chamber, the diameter of the orifice Z (feeding orifice), the diameter of the orifice A (discharge orifice) and the hole diameter of the fuel diffusion hole are studied by using this model. The results show that these key structural parameters of the control valve have a great influence on the establishment of the control chamber pressure and the action of the needle valve.

The Opposed Piston Two-Stroke (OPTS) engine has many advantages on power density, fuel tolerance, fuel flexibility and package space. A type of self-balanced opposed-piston folded-crank train two-stroke engine for Unmanned Aerial Vehicle (UAV) was studied in this paper. AVL BOOST was used for the thermodynamic simulation. It was a quasi-steady, filling-and-emptying flow analysis -- no intake or exhaust dynamics were simulated. The results were validated against experimental data. The effects of high altitude environment on engine performance have been investigated. Moreover, the matching between the engine and turbocharger was designed and optimized for different altitude levels. The results indicated that, while the altitude is above 6000m, a multi-stage turbocharged engine system need to be considered and optimized for the UAV.

The vehicle driveline suffers low frequency torsional vibration due to the abrupt change of input torque and torque fluctuation under variable frequency. This problem can be solved by model based control, so building a control oriented driveline model is extremely important. In this paper, an on-line recursive identification method is proposed for control oriented model and validated based on an electric car. First of all, the control oriented driveline model is simplified into a six-parameter model with double inertia. Secondly, based on stability analysis, motor torque and motor speed are chosen as input signal for on-line model identification. A recursive identification algorithm is designed and implemented based on Simulink. Meanwhile a detail model of the vehicle which considering driveline parameter variation is built based on ADAMS. Thirdly, on-line identification is conducted by using co-simulation of ADAMS and Simulink.

The prediction of temperature distribution and variation of oil-cooled sliding disk pair is essential for the design of wet clutches and brakes in a vehicle transmission system. A two-phase coupled heat transfer model is established in the study and some fluid-solid coupled heat transfer simulations are performed to investigate the thermal behaviors of wet clutch during sliding by CFD method. Both cooling liquid and grooved solid disks are contained in the heat transfer model and the heat convection due to the cooling liquid in the radial grooves is also considered by fluid-solid coupled transient heat transfer simulations. The temperature distribution and variation of the grooved disk are discussed and analyzed in detail. The results indicate that the temperature distribution on the grooved disk is nonuniform. The temperature within the middle radius area is higher than that in the inner and outer radius area.

Hydraulic retarder, as an auxiliary braking device, is widely used in commercial vehicles. Nowadays, the hydraulic retarder’s internal oil is mainly cooled by the coolant circuit directly. It not only aggravates the load of engine cooling system, but also makes the abundant heat energy not be recycled properly. In this study, an independent energy supply device with organic Rankine cycles is applied to solve the problems above. In the structure of this energy supply device, the evaporator’s inlet and outlet is connected in parallel with the oil outlet and inlet of the retarder respectively. A part of oil enters the evaporator to transfer heat with the organic fluid, and the rest of oil enters the oil-water heat exchanger to be cooled by the coolant circuit. According to the different braking conditions of the retarder, the oil temperature in the inlet of the hydraulic retarder can be kept within the proper range through adjusting the oil flow rate into the evaporator properly.

Regarding safety, obstacle avoidance has been considered as one of the most important features among ADAS systems for ground vehicles. However, the implementation of obstacle avoidance functions to commercial vehicles are still under progress. In this paper, we demonstrate a complete process of obstacle avoidance strategy for unmanned ground vehicle and implement the strategy on the self-developed Arduino based RC Car. In this process, the sensor LIDAR was used to detect the obstacles on the fore-path. Based on the measured LIDAR data, an optimized path is automatically generated with accommodation of current car position, obstacle locations, car operation capability and global environmental restrictions. The path planning is updated in real time while new or changing obstacles being detected. This algorithm is validated by the simulation results with the RC car. The comparison will be discussed at the end of this paper.

In this paper, a sensor fusion approach is introduced to estimate lane departure. The proposed algorithm combines the camera, inertial navigation sensor, and GPS data with the vehicle dynamics to estimate the vehicle path and the lane departure time. The lane path and vehicle path are estimated by using Kalman filters. This algorithm can be used to provide early warning for lane departure in order to increase driving safety. By integrating inertial navigation sensor and GPS data, the inertial sensor biases can be estimated and the vehicle path can be estimated where the GPS data is not available or is poor. Additionally, the algorithm can be used to reduce the latency of information embedded in the controls, so that the vehicle lateral control performance can be significantly improved during lane keeping in Advanced Driver Assistance Systems (ADAS) or autonomous vehicles. Furthermore, it improves lane detection reliability in situations when camera fails to detect lanes.

This paper describes a uniform Hardware-In-the-Loop (HiL) test rig for the different types of Electronic Braking System (EBS). It is applied to both modular testing and integrated testing. This test rig includes a vehicle dynamic model, a real-time simulation platform, an actual brake circuit and the EBS system under test. Firstly, the vehicle dynamic model is a highly parameterized commercial vehicle model. So it can simulate different types of commercial vehicle by different parameter configurations. Secondly, multi-types of brake circuit are modeled using brake components simulation library. So, it can test the EBS control unit independently without the influence of any real electro-pneumatic components. And a software EBS controller is also modeled. So it can test the algorithm of EBS offline. Thirdly, all real electro-pneumatic components without real gas inputted are connected to the real-time test platform through independent program-controlled relay-switches.

In this paper, a new method for the driving of the hydraulic free piston engine (HFPE) is proposed. Hydraulic differential drive achieves the compression stroke automatically rather than special recovery system, which has a great influence on the engine dynamic performance. The purpose of this paper is to solve the key operation and control problems for HFPE to commix fuel with air. HFPE adopts two-stroke loop-scavenging and semi-direct injection. The semi-direct injection nozzle is located in the liner wall inside the main intake port, with the axes oriented towards the piston at the Bottom Dead Center (BDC). Different scavenging pressures and injection angles result in different impacts on the mixture of fuel and air in the cylinder. This study analyzes the changes of the combustion heat release rate by simulation.

The effect of temporally-splitting high pressure injection on Diesel spray combustion and soot formation processes was studied by using the high-speed video camera. The spray was injected by the single-hole nozzle with a hole diameter of 0.11mm into the high-pressure and high-temperature constant volume vessel. The free spray and the spray impingement on the two dimensional (2D) piston cavity wall were examined. Injection pressures of 100 and 160 MPa for the single injection and 160 MPa for the split injection were selected. The flame structure and soot formation process were examined by using the two-color pyrometry. The soot generated in the flame under the split injection under 160 MPa becomes higher than that of the single injection under 160 MPa.

This paper investigates the scavenging process, in-cylinder gas motion in an opposed-piston two-stroke diesel engine and compares the results of in-cylinder gas motion to those of a uniflow-scavenged two stroke conventional engine using computational fluid dynamics engine models. The effect of piston motion profile of OP2S on the scavenging performance was discussed and its optimization was developed. Subsequently, CFD simulation on full load scavenging process was conducted at the same intake pressure and simulation at 2500rpm showed an optimum scavenging performance evaluated by delivery ratio, trapping efficiency and scavenging efficiency. Enhanced axial velocity and average turbulence kinetic energy around minimum volume center were found for OP2S diesel engine compared to the conventional two-stroke diesel engine.