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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.

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).

As a new type of energy, free-piston linear generator (FPLG) attracts more research on its stable operation and power performance, while less on its combustion and emission performance. So, in this paper, the emission characteristics of FPLG in two different modes are studied through a port fuel injection (PFI) mode which was verified by the experiment and a gasoline direct injection (GDI) mode. The results showed that: both the GDI mode and the PFI mode produced large amounts of nitrogen oxide (NOx) during the working process. But the GDI mode produced before the PFI mode and it produced nearly 2 times than the PFI mode. However, the formation rate of NOx in GDI mode is much lower than that in PFI mode. Meanwhile, in both modes, 90% of NOX was generated in the cylinder at the temperature higher than 1750K, and only about 10% of NOX was generated at a temperature lower than 1750K.

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.

HTL is a kind of biodiesel converted from wet biowaste via hydrothermal liquefaction (HTL), which has drawn increasing attention in recent years due to its wide range of raw materials (algae, swine manure, and food processing waste). However, from the previous experiments done in a constant volume chamber, it was observed that the presence of 20% of HTL in the blend produced as much soot as pure diesel at in chamber environment oxygen ratio of 21%, and even more soot at low oxygen ratios. It was also observed that n-butanol addition could reduce the soot emission of diesel significantly under all tested conditions. In this work, the spray and combustion characteristics of HTL and diesel blends with n-butanol added were investigated in a constant volume chamber. The in-chamber temperature and oxygen ranged from 800 to 1200 K and 21% to 13%, respectively, covering both conventional and low-temperature combustion (LTC) regimes.

Controllability is defined in ISO 26262 as a driver’s ability to avoid a specified harm caused by a malfunction of electrical and electronic systems installed in road vehicles. According to Annex C of Part 12 of ISO 26262, simulation is one of the techniques that the Controllability Classification Panel (CCP) can use to evaluate comprehensively the controllability class (C class) of motorcycles. With outputs of (i) an index for the success of harm avoidance and (ii) the magnitude of the rider’s compensatory control action required to avoid harm, the simulation is useful for evaluating the C class of the degrees of malfunction that cannot be implemented in practice for the sake of the test rider’s safety. To aim at supplying data that the CCP can use to judge the C class, we try to estimate the vehicle behavior and a rider’s compensatory control actions following a malfunction using vehicle dynamics simulations.

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.

This study employed a diesel particulate generator (DPG), with an installed engine oil injector for soot and ash accumulation in a diesel particulate filter (DPF). Ash was generated by engine oil injection into the diesel burner flame. The amount of soot accumulation per loading varied from 0.5 g/L to 8 g/L while ash accumulation amount per loading was maintained at 0.5 g/L. Initially, ash accumulation distribution in the DPF was visualized using X-ray computed tomography (CT). It was revealed that the form of ash accumulation changed depending on the amount of soot accumulation before active regeneration, i.e., a large amount of soot accumulation resulted in plug ash, whereas a small amount of soot accumulation resulted in wall ash. To clarify ash accumulation mechanisms, soot and ash transport behavior in DPF during active regeneration process was directly observed using a high-speed camera through an optically accessible D-shaped cut DPF covered with a quartz glass plate.

This work investigated the mechanism of oil dilution by post injection to remove accumulated particulate matter on the diesel particulate filter of diesel engines. We developed a model to simulate post injection spray under low ambient gas pressure conditions. The model can predict the quantity of fuel mass adhered on the cylinder wall. The adhered fuel enters oil sump through the piston ring and cause oil dilution. The fuel in diluted oil evaporates during normal engine operations. We focus on the mechanism of fuel evaporation from diluted oil. The effects of engine speed and oil temperature on the evaporation were investigated. The results showed that the fuel evaporation rate increases with increasing engine speed and oil temperature. Furthermore, we developed an empirical model to predict the fuel evaporation rate of diluted oil through regression analysis with measured data.

The ISO 26262 standard specifies the requirement for functional safety of electrical and electronic systems within road vehicles. We have accumulated case studies based on actual riding tests by subjective judgment of expert riders to define a method for determining the controllability class (C class). However, the wide variety of practical traffic environments and vehicle behaviors in case of malfunction make it difficult to evaluate all C classes in actual running tests. Furthermore, under some conditions, actual riding tests may cause unacceptable risks to test riders. In Part 12 Annex C of ISO/DIS 26262, simulation is cited as an example of a technique for comprehensive evaluations by the Controllability Classification Panel. This study investigated the usefulness of mathematical simulations for evaluating the C class of a motorcycle reproducing a malfunction in either the front or rear brakes.

Particulate matter emissions are becoming a big issue for GDI engines as the emission regulations being more stringent. Methanol has been considered to be an important alternative fuel to reduce soot emissions. To understand the effect of methanol addition on soot and polycyclic aromatic hydrocarbons (PAHs) formation, the 2-D distributions of soot volume fraction and different size PAHs relative concentrations in methanol/gasoline laminar diffusion flames were measured by TC-LII and PLIF techniques. The effect of methanol was investigated under the conditions of the same carbon flow and the same flame height. The methanol volume fraction was set as M0/20/40/60/80. The results showed that the natural luminescent flame lift-off height and soot lift-off height increases consistently with the increasing methanol content due to the increase of outlet velocity of fuel vapor.

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.

In applying the ISO 26262 controllability classification for motorcycles in actual riding tests, a subjective evaluation by expert riders is considered to be the appropriate approach from the viewpoint of safety. We studied the construction of an expert-rider-based C class evaluation method for motorcycles and developed some evaluation test cases reproducing various hazardous events. We determined that it was necessary to accumulate more evaluation cases for further representative scenarios and that, to avoid variations in such evaluations, a method in which different expert riders can carry out testing following a common understanding had to be devised. Considering these problems for practical application, this study aimed at establishing an actual riding test method for C class evaluation by expert riders and to develop a deeper understanding of test procedures and management.

ISO 26262, an international functional safety standard of electrical and/or electronic systems (E/E systems) for motor vehicles, was published in November 2011 and it is expected that the scope will be extended to motorcycles in a second edition of ISO 26262 going to be published in 2018. ISO/DIS 26262 second edition published in 2016 has Part 12 as a new part in order to apply ISO 26262 to motorcycle. Proper estimation of Exposure, Controllability, and Severity in accordance with ISO/DIS 26262 Part 12, are key factors to determine Motorcycle Safety Integrity Level. To estimate precise these factors, there would be a case that it might not be appropriate to apply studies done for passenger car to motorcycle, and it would be necessary to apply motorcycle specific knowledge and estimation methods. In our previous studies we clarified these motorcycle specific issues and studied the method for the adaptation.

CNG-diesel dual fuel combustion mode has been regarded as a practical operation strategy because it not only can remain high thermal efficiency but also make full use of an alternative fuel, natural gas. However, it is suffering from misfire and high HC emissions under cold start and low load conditions. As known, hydrogen has high flammability. Thus, a certain proportion of hydrogen can be added in the natural gas (named HCNG) to improve combustion performance. In this work, the effect of hydrogen volume ratio on combustion characteristics was investigated on an optically accessible single-cylinder CNG-diesel engine using a Phantom v7.3 color camera. HCNG was compressed into the tank under different hydrogen volume ratios varied from 0% to 30%, while the energy substitution rate of` HCNG remained at 70%.

The diesel low temperature combustion (LTC) can keep high efficiency and produce low emission. Which has been widely studied at home and abroad in recent years. The combustion control parameters, such as injection pressure, injection timing, intake oxygen concentration, intake pressure, intake temperature and so on, have an important influence on the combustion and emission of diesel LTC. Therefore, to realize different combustion modes and combustion mode switch of diesel engine, it is necessary to accurately control the injection parameters and intake parameters of diesel engine. In this work, experimental study has been carried out to analyze the effect of intake oxygen concentration, intake pressure and intake temperature in combustion and emission characteristics of diesel LTC, such as in-cylinder pressure, temperature, heat release rate, NOx and soot emission.

Diesel Particulate Filter (DPF) is a very effective aftertreatment device to limit particulate emissions from diesel engines. As the amount of soot collected in the DPF increases, the pressure loss increases. Therefore, DPF regeneration needs to be performed. Injected fuel into the exhaust line upstream of the Diesel Oxidation Catalyst (DOC), hydrocarbons are oxidized on the DOC, which increases the exhaust gas temperature at the DPF inlet. It is also necessary that the injected fuel is completely vaporized before entering the DOC, and uniformly mixed with the exhaust gases in order to make the DOC work efficiency. However, ensuring complete evaporation and an optimum mixture distribution in the exhaust line are challenging. Therefore, it is important that the fuel spray feature is grasped to perform DPF regeneration effectively. The purpose of this study is the constructing a simulation model.

Soot emission, known as PM (particulate matter), is becoming a big issue for GDI engines as the emission regulations being increasingly stricter. It is found that ethanol, as an oxygenated bio-fuel, can reduce the soot emission when added to gasoline. In order to fully understand the effect of ethanol on soot reducing, the soot characteristics of ethanol/gasoline blends were studied on laminar diffusion flames. In this experiment, the blending ratio of ethanol/gasoline was set as E0/20/40/60/80. Considering the carbon content decreasing due to ethanol addition, carbon mass flow rate was remained constant. The two-dimensional distributions of soot volume fraction were measured quantitatively by using two-color laser induced incandescence technique. The results showed that ethanol is able to decrease the soot significantly, but the effect of ethanol on soot reduction is weakened with the increasing ethanol ratio.