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For intelligent vehicles, a fast and accurate estimation of road slope is of great significance for many aspects, including the steering comfort, fuel economy, vehicle stability control, driving decision-making, etc. But the commonly used estimation methods nowadays usually demand additional sensors or complex dynamic models, causing increase in system complexity as well as decrease in accuracy. To solve these problems, this paper puts forward a real-time road slope estimation algorithm leveraging the relationship between pitch angle and road slope, which only requires low sensors cost and computational complexity. Firstly, a GNSS/INS fusion system is established to obtain the pitch angle with respect to the navigation frame, which couples the vehicle’s pitch angle in vehicle frame and road slope angle.

In recent years, intelligent driving technology is being extensively studied. This paper proposes a path planning method for perpendicular parking based on vehicle kinematics model using MPC optimization, which aims to solve the perpendicular parking task. Firstly, in the case of any initial position and orientation of the vehicle, judging whether the vehicle can be parked at one step according to the location of the parking place and the width of the lane, and then calculating the starting position for parking, and use the Bezier curve to connect the initial position and the starting position. Secondly, reference parking path is calculated according to the collision constraints of the parking space. Finally, because the parking path based on the vehicle kinematics model is composed of circle arcs and straight lines, the curvature of the path is discontinuous. The reference parking path is optimized using Model Predictive Control (MPC).

Short term traffic condition forecast is a key area of concern in the field of transportation. Accurate forecasting of short - term road condition can provide the basis for traffic path guidance, traffic decision-making and traffic control, and improve traffic efficiency and safety. In order to improve accuracy of short term traffic condition forecast, we use multi source data to predict short term traffic condition. First build the correlation of road conditions between roads, then fuse vehicle status data and road correlation data, and then build short-term traffic condition prediction model based on LSTM, at last combine traffic accident data to predict short term traffic condition. In this article, we use the measured data in Wuxi to verity the model, and compare the typical road prediction models. The result shows the traffic condition prediction model in this article can predict the short-term traffic conditions effectively.

Anti-slip regulator (ASR) is one of the most important research focuses in the field of vehicle active safety. An ASR for a distributed drive electric vehicle (DDEV) driven by four in-wheel motors is proposed in this paper, where a tire-road friction coefficient estimator and a road slope estimator are included making the ASR adaptive to road changes. The tire-road friction coefficient estimator is adopted to estimate road condition using improved Burckhardt model, so the optimal reference slip ratio is selected according to the estimated road adhesion coefficient for the maximum driving efficiency and the realization of adaptive anti-slip regulation. At the same time, the road slope is estimated using recursive least square with forgetting factor and the longitudinal acceleration sensor information is calibrated by the road slope estimation for slope adaptive velocity estimation.

On the dual-motor electric vehicle, which is driven by two electric motors mounted on the front and rear axles respectively, longitudinal dynamic control and electro-dynamic braking can be achieved by controlling the torque of front and rear axle motors respectively. Suspension displacement is related to the wheel torque, thus the pitch of vehicle body can be influenced by changing the torque distribution ratio. The pitch of the body has a great influence on the vehicle comfort, which occurs mainly during acceleration and braking progress. Traditionally active suspension is adopted to control the pitch of body. Instead, in this paper an ideal torque distribution strategy is developed to limit the pitch during acceleration and braking progress. This paper first explores the relationship between the torque distribution and the body pitch through the real vehicle test, which reveals the feasibility of the vehicle comfort promotion by optimizing the torque distribution coefficient.

A rapid path-planning algorithm that generates drivable paths for an autonomous vehicle operating in structural road is proposed in this paper. Cubic B-spline curve is adopted to generating smooth path for continuous curvature and, more, parametric basic points of the spline is adjusted to controlling the curvature extremum for kinematic constraints on vehicle. Other than previous approaches such as inverse kinematics, model-based prediction postprocess approach or closed-loop forward simulation, using the kinematics model in each iteration of path for smoothing and controlling curvature leading to time consumption increasing, our method characterized the vehicle curvature constraint by the minimum length of segment line, which synchronously realized constraint and smooth for generating path. And Differ from the path of robot escaping from a maze, the intelligent vehicle traveling on road in structured environments needs to meet the traffic rules.

The integrated control system which combines the differential drive assisted steering (DDAS) and the direct yaw moment control (DYC) for the distributed drive electric vehicle (DDEV) is studied. A handling improvement algorithm for the normal cornering maneuvers is proposed based on motion tracking control. Considering the ideal assistant power character curves at different velocities, an open-loop DDAS control strategy is developed to respond the driver’s demand of steering wheel torque. The DYC strategy contains the steering angle feedforward and the yaw rate feedback. The steering angle feedforward control strategy is employed to improve yaw rate steady gain of vehicle. The maximum feedforward coefficients at different velocities are obtained from the constraint of the motor external characteristic, final feedforward coefficients are calculated according to the ideal assistant power character curve of the DDAS.

BBW (Brake-by-wire) can increase the vehicle safety performance due to high control accuracy and fast response speed. As one solution of BBW, the novel Integrated-electro-hydraulic brake system (I-EHB) is proposed, which consists of electro-hydraulic booster and hydraulic pressure control unit. The electro-hydraulic booster is activated by an electric motor that driving linear motion mechanism to directly produce the master cylinder pressure. With electro-hydraulic booster as an actuator, the hydraulic pressure control problem is a key issue. Most literatures deal with the pressure control issue based on the feedback pressure signal measured by pressure sensor. As far as the authors are aware, none of the proposed techniques takes into account the pressure sensor unequipped BBW. In this paper, there is no pressure feedback signal, but there is only position feedback signal measured by position sensor for control law design.

In this paper, a speed tracking controller is designed for the All-terrain vehicles. The method of feedforward with state variable feedback based on conditional integrators is adopted by the proposed control algorithm. The feedforward is designed considering the influence of the road slope on the longitudinal dynamics, which makes the All-terrain vehicles satisfy the acceleration demand of the upper controller when it tracks the desired speed on the road with slope varying greatly. The road slope is estimated based on a combined kinematic and dynamic model. This method solves the problem that road slope estimation requires an accurate vehicle dynamic model and are susceptible to acceleration sensor bias. Based on the vehicle dynamic model and the nonlinear tire model, the method of conditional integration is used in the state variable feedback, which considers the saturation constraint of the actuator with the intention of preventing the divergent integral operation.

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.

In this paper, a novel method is proposed to establish the vehicle yaw stability criterion based on the sideslip angle-yaw rate (β-r) phase plane method. First, nonlinear two degrees of freedom vehicle analysis model is established by adopting the Magic Formula of nonlinear tire model. Then, according to the model in the Matlab/Simulink environment, the β-r phase plane is gained. Emphatically, the effects of different driving conditions (front wheels steering angle, road adhesion coefficient and speed) on the stability boundaries of the phase plane are analyzed. Through a large number of simulation analysis, results show that there are two types of phase plane: curve stability region and diamond stability region, and the judgment method of the vehicle stability domain type under different driving conditions is solved.

For an electric vehicle driven by four in-wheel motors, the torque of each wheel can be controlled precisely and independently. A closed-loop control method of differential drive assisted steering (DDAS) has been proposed to improve vehicle steering properties based on those advantages. With consideration of acceleration requirement, a three dimensional characteristic curve that indicates the relation between torque and angle of the steering wheel at different vehicle speeds was designed as a basis of the control system. In order to deal with the saturation of motor's output torque under certain conditions, an anti-windup PI control algorithm was designed. Simulations and vehicle tests, including pivot steering test, lemniscate test and central steering test were carried out to verify the performance of the DDAS in steering portability and road feeling.

In this paper we present a path following control design for a six-wheel skid-steering vehicle. Contrary to the common approaches that impose non-holonomic constraints, a dynamic vehicle model is established based on a pseudo-static tire model, which uses tire slip to determine tire forces. Our control system admits a modular structure, where a motion controller computes the reference vehicle yaw rate and reference vehicle speed and a dynamics controller tracks these signals. A robust nonlinear control law is designed to track the reference wheel speeds determined by the dynamics controller with proved stability properties. Saturated control techniques are employed in designing the reference yaw rate, which ensures the magnitude of the reference yaw rate does not violate the constraint from the ground-tire adhesion. The simulation results demonstrate the effectiveness of the proposed path following control design.

The control in transient conditions when hydraulic brake and regenerative brake switch mutually is the key technical issue about electric vehicle hybrid brake system, which has a direct influence on the braking feel of driver and vehicle braking comfort. A coordination control system has been proposed, including brake force distribution correction module and motor force compensation module. Brake force distribution correction module has fixed the distribution results in hydraulic brake force intervention condition, hydraulic brake force evacuation condition and regenerative brake force low speed evacuation condition. Motor compensation module has compensated hydraulic system with motor system, which has fast and accurate response, thus the response of whole hybrid system has been improved.

Based on the four-wheel-drive electric vehicle (4WD EV), a variable structure control (VSC) strategy is designed in this paper for the anti-lock braking control. With nonpeak friction coefficient as target, sign judgment method of switch function in this VSC strategy is improved and a new control algorithm is proposed. The improved VSC strategy is made robust to the parameters of the algorithm and verified by the computer simulation as well as the hard-in-loop test. The results show that the slip rate can be controlled to a point in the stable area near the optimal slip ratio and the control strategy can effectively realize the anti-lock braking control.

Vehicle needs suspension and steering systems with different features to fit different driving conditions. In normal straight driving condition, soft suspension and heavy steering systems are needed to achieve better ride comfort and straight line driving stability; in turning conditions, hard suspension and lightweight steering systems are needed to get better handing stability. The semi-active suspension system with Magneto-Rheological dampers can improve the ride comfort and handling performance of vehicle. Electrical power steering system is developed rapidly due to its portable and flexible operations as well as stable steering performance.

The energy storage system (ESS) is the key enabler to hybrid electric vehicles (HEVs) that offer improved fuel economy and reduced vehicle emissions. The power capability of a battery has significant impact on the fuel economy of HEVs. This paper presents the power capability testing of a lithium-ion battery with a conventional metal oxide cathode using the hardware in the loop (HIL) at a wide range of charge/discharge conditions and at different temperatures. The achieved test results provide critical data of battery power characteristics and effectively accelerate the development of battery power prediction algorithm.

To support the market introduction of lithium ion energy storage systems for HEV and EREV applications, a process and tool was developed to expedite the verification of the lithium-ion cell balancing system across differing usage scenarios and cell imbalance rates. Presented is an overview of the cell imbalance analysis methodology and tool used in the development and verification of General Motors cell balancing systems. The use of this analysis methodology and tool has allowed for a cell balancing system optimization that would not have been possible with the use of actual energy storage systems because of the magnitude of lab or vehicle time required to execute the array of tests necessary to comprehend the large number of factors than can influence balancing.