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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.

A small 2-stroke engine can be an effective power source for an electric generator mounted on a series hybrid electric vehicle. In recent years, a technology referred to as pre-chamber jet combustion has attracted attention as a means of enhancing thermal efficiency by improving mixture ignitability. In this study, experiments were conducted to investigate differences in combustion behavior between the application of spark-ignited (SI) combustion and pre-chamber jet combustion to a small, two-stroke engine. The experimental equipment used was a two-stroke, single-cylinder, optically accessible engine with a displacement of 63.3 cm3. Differences between conventional SI combustion and pre-chamber jet combustion were examined by means of in-cylinder pressure analysis, in-cylinder combustion visualization and image processing software. The diameter of the connecting orifice of the pre-chamber was varied between two types.

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).

Fuel consumption and exhaust gas emission regulations are being tightened around the world year by year. Electric vehicles are needed to reduce carbon dioxide emissions. Especially, Plug-in hybrid heavy-duty vehicles (PHEVs) are expected to become widespread. PHEVs enable all-electric modes, as well as hybrid modes, using both engines and electric motors, but the control system significantly affects the characteristics of fuel consumption and gas emission. In this study, we used new testing machine (we call extended HILS) to analyze the fuel consumption and gas emission for different plug-in hybrid control systems and investigated the optimal control method for PHEVs.

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.

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.

The purpose of this study is to explore an effect of cooled-EGR on the diesel engine performance fueled with coconut-oil methyl ester (CME). The exhaust gas was cooled by the water at room temperature and was fed to the intake manifold, and the EGR rate was changed from 0 % to 30 % at every 10 %. The engine performances were measured at several EGR rates, fuel injection pressures and timings. Test fuels were CME and commercial diesel fuel. In the case of high EGR rate at which the compression ignition was deteriorated, the ignition timing of CME was always earlier than that of diesel fuel, therefore CME had good ignitability as compared with diesel fuel under EGR application. When the fuel injection pressure was increased at high EGR rate, the ignition delay was improved by the fuel atomization and air-fuel mixing effect.

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.

Fuel consumption rate (fuel economy) and exhaust gas emission regulations are being tightened around the world year by year. In Europe, the real driving emission (RDE) method for evaluating exhaust gas emitted from road-going vehicles was introduced after September 2017 for new types of light/medium-duty vehicles, in addition to the chassis dynamometer test using the worldwide harmonized light vehicles test procedure (WLTP). Further, the worldwide harmonized heavy-duty certification (WHDC) method was introduced after 2016 as an exhaust gas emission test method for heavy-duty vehicles. In each evaluation, the tests of vehicles and engines are initiated from cold states. Heavy-duty hybrid vehicles are evaluated using the vehicle simulation method. For example, the power characteristics of a engine model is obtained during engine warm operation. Therefore, various performances during cold start cannot be precisely evaluated by using simulator.

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.

This study investigated the influence of EGR and spark advance on knocking under high compression ratio, ultra-lean mixture and supercharged condition using premium gasoline as a test fuel. A high-compression ratio, supercharged single cylinder engine was used in this experiment. As a result, the period from ignition to autoignition was prolonged. In addition, knock intensity was drastically reduced. In other words, it is inferred that by combining an appropriate amount of EGR and spark advance, high efficiency operation avoiding knocking can be realized.

The purpose of this study was to investigate how autoignition leads to the occurrence of pressure oscillations. That was done on the basis of in-cylinder visualization and analysis of flame images captured with a high-speed camera using an optically accessible engine, in-cylinder pressure measurement and measurement of light emission from formaldehyde (HCHO). The results revealed that knocking intensity tended to be stronger with a faster localized growth speed of autoignition. An investigation was also made of the effect of exhaust gas recirculation (EGR) as a means of reducing knocking intensity. The results showed that the application of EGR advanced the ignition timing, thereby reducing knocking intensity under the conditions where knocking occurred.

In motorcycles, the mass difference between a vehicle and a rider is small and motions of a rider impose a great influence on the vehicle behaviors as a consequence. Therefore, dynamic properties of motorcycles should be evaluated not merely dealing with a vehicle but considering with a man-machine system. In the studies of a simulation for vehicle dynamics, various types of rider models have been proposed and it has already been reported that rider motions have a significant influence on the dynamic properties. However, the mechanism of the interaction between a rider and a vehicle has not been clarified yet. In our study, we focused on weave motion and constructed a full vehicle simulation model that can reflect the influences of the movements of the rider’s upper body and lower body. To construct the rider model, we first measured the vibrational characteristics of a human body using a vibration test bench.

To meet the strict emission regulations for diesel engines, an advanced processing device such as a Urea-SCR (selective catalytic reduction) system is used to reduce NOx emissions. The Real Driving Emissions (RDE) test, which is implemented in the European Union, will expand the range of conditions under which the engine has to operate [1], which will lead to the construction of a Urea-SCR system capable of reducing NOx emissions at lower and higher temperature conditions, and at higher space velocity conditions than existing systems. Simulations are useful in improving the performance of the urea-SCR system. However, it is necessary to construct a reliable NOx reduction model to use for system design, which covers the expanded engine operation conditions. In the urea-SCR system, the mechanism of ammonia (NH3) formation from injected aqueous urea solution is not clear. Thus, it is important to clarify this mechanism to improve the NOx reduction model.

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.

This study focused on a non-equilibrium plasma discharge as a means of assisting HCCI combustion.Experiments were conducted with a four-stroke single-cylinder engine fitted with a spark electrode in the top of the combustion chamber for continuously generating non-equilibrium plasma from the intake stroke to the exhaust stroke. The results showed that applying non-equilibrium plasma to the HCCI test engine advanced the main combustion period that otherwise tended to be delayed as the engine speed was increased. In addition, it was found that the combined use of exhaust gas recirculation and non-equilibrium plasma prevented a transition to partial combustion while suppressing cylinder pressure oscillations at high loads.