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The unmanned roller is one of the most popular construction vehicles, for which the accurate path-following is one of the most important control task. The dual-antenna Global Positioning System (GPS), usually mounted on the top of the cabin and the front drum separately, is used to approximately measure the position and heading direction at the contact patch between the wheel and the road. However, in the presence of large variation in the attitude of the roller, caused by the uneven construction site, there is bias in position and heading measurement due to the wobble of the roller. Obviously, this introduces several disturbances to the path-following control. In this paper, the Attitude Heading Reference System (AHRS) is used to measure the attitude information thereby corrects the position and heading of the roller measured by GPS only.

Degradation of the deNOx performance has been found in in-use heavy-duty vehicles with a urea-SCR system in Japan. The causes of the degradation were studied, and two major reasons are suggested here: HC poisoning and deactivation of pre-oxidation catalysts. Hydrocarbons that accumulated on the catalysts inhibited the catalysis. Although they were easily removed by a simple heat treatment, the treatment could only partially recover the original catalytic performance for the deNOx reaction. The unrecovered catalytic activity was found to result from the decrease in conversion of NO to NO2 on the pre-oxidation catalyst. The pre-oxidation catalyst was thus studied in detail by various techniques to reveal the causes of the degradation: Exhaust emission tests for in-use vehicles, effect of heat treatment on the urea-SCR systems, structural changes and chemical changes in active components during the deactivation were systematically investigated.

As alternatives to heavy-duty vehicles, this project seeks to promote the development of Next-Generation EFVs, which will present a solution to the severe air pollution problem particularly in big cities, and drastically improve exhaust gas emissions and reduce carbon dioxide emissions in order to lessen the contribution to global warming. Ministry of Land, Infrastructure, Transport and Tourism (MLIT) started the Next-Generation Environmentally Friendly Vehicles Development and Commercialization Project in 2002. MLIT at that time entrusted this project to National Traffic Safety and Environment Laboratory (NTSEL). NTSEL as a core research organization organized a cooperative system with automobile manufacturers, suppliers, universities, academic experts, that is to say, “industry-academic-government” and launched the development activities.

Reduction of exhaust emissions and BSFC has been studied using a high boost, a wide range and high-rate EGR in a Super Clean Diesel, six-cylinder heavy duty engine. In the previous single-turbocharging system, the turbocharger was selected to yield maximum torque and power. The selected turbocharger was designed for high boosting, with maximum pressure of about twice that of the current one, using a titanium compressor. However, an important issue arose in this system: avoidance of high boosting at low engine speed. A sequential and series turbo system was proposed to improve the torque at low engine speeds. This turbo system has two turbochargers of different sizes with variable geometry turbines. At low engine speed, the small turbocharger performs most of the work. At medium engine speed, the small turbocharger and large turbocharger mainly work in series.

The use of biofuel is essential for the reduction of greenhouse gas emission. This paper highlights the use of biodiesel as a means of reducing greenhouse gas emission from the diesel engine of heavy-duty vehicles. Biodiesel is fatty acid methyl ester (FAME) obtained through ester exchange reaction by adding methanol to oil, such as rapeseed oil, soybean oil, palm oil, etc. The CO₂ emission from combustion of biodiesel is defined to be equivalent to the CO₂ volume absorbed by its raw materials or plants in their course of growth. On the other hand, however, biodiesel is known to increase the NOx emission when compared with operating with conventional diesel fuel, then suppressing this increase is regarded as a critical issue. This study is intended to identify the fuel properties of biodiesel free from increase in the NOx emission.

Solid particle emissions from a modern gasoline hybrid electrical vehicle (HEV) and a conventional gasoline vehicle were studied under diverse transient drive cycles on a chassis dynamometer. It is found that solid particle emissions from the conventional gasoline vehicle which has a 3.8-liter engine are sensitive to vehicle temperatures. Over 90% of solid particles are emitted during the first 250 seconds of transient cycles. Spikes for solid particle emissions from the HEV during a transient cycle are mainly caused by engine starts, hard accelerations after engine starts, and the engine running harder at high vehicle speeds. The engine and vehicle temperature status on the HEV doesn't show a strong correlation to the solid particle emission.

Reduction of exhaust emissions and BSFC was studied for high pressure, wide range, and high EGR rates in a Super-clean Diesel six-cylinder heavy duty engine. The GVW 25-ton vehicle has 10.52 L engine displacement, with maximum power of 300 kW and maximum torque of 1842 Nm. The engine is equipped with high-pressure fuel injection of a 200 MPa level common-rail system. A variable geometry turbocharger (VGT) was newly designed. The maximum pressure ratio of the compressor is about twice that of the previous design: 2.5. Additionally, wide range and a high EGR rate are achieved by high pressure-loop EGR (HP-EGR) and low pressure-loop EGR (LP-EGR) with described VGT and high-pressure fuel injection. The HP-EGR can reduce NOx concentrations in the exhaust pipe, but the high EGR rate worsens smoke. The HP-EGR system layout has an important shortcoming: it has great differences of the intake EGR gas amount into each cylinder, worsens smoke.

The use of biomass fuels for vehicles has been a focus of attention all over the world in terms of prevention of global warming, effective utilization of resources and local revitalization. For the purpose of beneficial use of unused biomass resources, the movement of the use of bioethanol and biodiesel made from them has spread in Japan. In Japan, biodiesel is mainly made from waste cooking oil collected by local communities or governments, and in terms of local production for local consumption, it is used as neat fuel (100% biofuel) or mixed with diesel fuel in high concentration for the vehicles. On the other hand, extremely low emission level must be kept for not only gasoline vehicles but also diesel vehicles in the post new long-term regulation implemented from 2009 in Japan.

The application of biodiesel as an alternative fuel for petroleum diesel fuel is very effective for the reduction of CO₂ emission, because biodiesel is produced from renewable biomass resources. In Japan, neat biodiesel derived from waste cooking oil has often been applied to commercial vehicles. However, it is possible that the difference of fuel properties between conventional diesel fuel and biodiesel causes the problems on exhaust emission characteristics of diesel engine. Therefore, it is necessary to clarify the effect of biodiesel fuelling on exhaust emissions from commercial vehicles. Light-duty garbage trucks and heavy-duty diesel buses which were actually fueled with biodiesel in Kyoto, Japan, were used for test vehicles in this study. The exhaust emissions from these vehicles during JE05 mode tests were compared between biodiesel derived from waste cooking oil and conventional diesel fuel.

On-board Particulate Matter (PM) mass calibration (OB-PMMC) is an approach to calibrate a real-time PM sensor with the gravimetric PM mass being collected on a conventional filter. The real-time PM sensor is integrated in a PM sample system and takes sample upstream of the sample filter. The PM mass collected on the filter is determined either by weighing the filter or by using analytical approaches. A unique calibration coefficient for each sample filter is generated for converting the PM real-time signal to the real-time PM mass emission. This calibration approach can be used to modify Constant Volume Samplers (CVS) and laboratory Partial Flow Sample Systems (PFSS), etc., into real-time PM mass measurement instruments for engine or vehicle exhaust PM measurement. The same technique may also be used to measure real-time PM concentration in the atmosphere under some circumstance.

Lean NOx trap (LNT) and Urea-SCR system are effective aftertreatment systems as NOx reduction device in diesel engines. On the other hand, DPF has already been developed as PM reduction device and it has been used in various vehicles. LNT can absorb and reduce NOx emission in wide range exhaust temperatures, from 150°C to 400°C, and the size of LNT component can be compact in comparison with Urea-SCR system because LNT uses the diesel fuel as a reducing agent and it is needless to install the reducing agent tank in the vehicle. In this study, authors have shown that the NOx conversion rate of LNT is high in the case of extremely low NOx concentration from the engine. Also, the effects of LNT and DPF were examined using the Super Clean Diesel (SCD) Engine, which has low NOx level before aftertreatment and has been finished as Japanese national project.

For reducing NOx emissions, EGR is effective, but an excessive EGR rate causes the deterioration of smoke emission. Here, we have defined the EGR rate before the smoke emission deterioration while the EGR rate is increasing as the limiting EGR rate. In this study, the high rate of EGR is demonstrated to reduce BSNOx. The adapted methods are a high fuel injection pressure such as 200 MPa, a high boost pressure as 451.3 kPa at 2 MPa BMEP, and the air intake port that maintains a high air flow rate so as to achieve low exhaust emissions. Furthermore, for withstanding 2 MPa BMEP of engine load and high boosting, a ductile cast iron (FCD) piston was used. As the final effect, the installations of the new air intake port increased the limiting EGR rate by 5%, and fuel injection pressure of 200 MPa raised the limiting EGR rate by an additional 5%. By the demonstration of increasing boost pressure to 450 kPa from 400 kPa, the limiting EGR rate was achieved to 50%.

Two Euro 4 light-duty diesel vehicles were retrofitted with Diesel Particulate Filters (DPF). One was retrofitted with a low efficiency flow-through DPF. And, the other was retrofitted with a high efficiency wall-flow DPF. PM emissions from both vehicles were evaluated under the new European drive cycle (NEDC) on a chassis dynamometer. Several instruments were used to measure particulate matter (PM) emissions simultaneously from different aspects for two retrofitted vehicles. The PM mass emission from the vehicle retrofitted with the low efficiency DPF is close to 5.0 mg/km Euro 5 mass emission standard. However, the solid particle number emission is about 30 times higher than the Euro 5 solid particle number emission standard. Mass and number emissions from the vehicle retrofitted with the high efficiency DPF are well below Euro 5 emission standards.

Real-time analysis of benzene in automobile exhaust gas was performed using the Jet-REMPI (supersonic jet / resonance enhanced multi-photon ionization) method. Real-time benzene concentration of two diesel trucks and one gasoline vehicle driving in Japanese driving modes were observed under ppm level at 1 s intervals. As a result, it became obvious that there were many differences in their emission tendencies, because of their car types, driving conditions, and catalyst conditions. In two diesel vehicle, benzene emission tendencies were opposite. And, in a gasoline vehicle, emission pattern were different between hot and cold conditions due to the catalyst conditions.

The investigation of vehicle performances under on-road conditions has been required for emission reduction and energy saving in the real world. In this study, Real Car Simulation Bench (RC-S) was developed as an instrument for actual vehicle bench tests under on-road driving conditions, which could not be performed by using conventional chassis dynamometer (CH-DY). The experimental results obtained by RC-S were compared with the on-road driving data on the same car as used in RC-S tests. As a result, it was confirmed that RC-S could accurately reproduce the behavior of fuel consumption and exhaust emissions under on-road driving conditions.

A simple real-time measurement system for the components of volatile organic compounds (VOCs) and polyaromatic hydrocarbons (PAHs) in automobile exhaust gas using a laser ionization method was developed. This method was used to detect VOCs and PAHs in the exhaust gas of a diesel truck while idling, at 60 km/h, and in the Japanese driving mode JE05. As a result, various VOCs and PAHs, such as xylene and naphthalene, were simultaneously detected, and real-time changes in their concentration were obtained at 1 s intervals.

An on-board diesel particulate measurement (OBS-TRPM) instrument is developed to measure on-road exhaust PM emission at Horiba. It is used to characterize particulate matter (PM) emission from a gasoline vehicle, the 1999 Ford Windstar with California Ultra Low Emission (ULEV) certification. PM emissions from three test cycles, EPA FTP 72, SFTP-US06, and new European drive cycle (NEDC), are evaluated. It is found that the PM emission from the SFTP-US06 with the cold start is roughly two times higher than PM emissions from the cold FTP 72 and the cold NEDC. This may be due to aggressive drive patterns for the US06 while the vehicle is still cold. The aggressive drive pattern for the US06 makes the gasoline vehicle emit a much higher fraction of elemental carbon (EC), and lower fraction of organic carbon (OC). Fractions of the EC from the vehicle are 9.1% for the FTP 72, 6.3% for the NEDC, and 56.6% for the US06.

The emission reduction from diesel engines is one of major issues in heavy duty diesel engines. Super Clean Diesel (SCD) Engine for heavy-duty trucks has also been researched and developed since 2002. The main specifications of the SCD Engine are six cylinders in-line and 10.5 l with a turbo-intercooled and cooled EGR system. The common rail system, of which the maximum injection pressure is 200 MPa, is adopted. The turbocharger is capable of increasing boost pressure up to 501.3 kPa. The EGR system consists of both a high-pressure loop (HP) EGR system and a low-pressure loop (LP) EGR system. The combination of these EGR systems reduces NOx and PM emissions effectively in both steady-state and transient conditions. The emissions of the SCD Engine reach NOx=0.2 g/kWh and PM=0.01 g/kWh with aftertreatment system. The adopted aftertreatment system includes a Lean NOx Trap (LNT) and Diesel Particulate Filter (DPF).

The on-board transient response diesel particulate measurement (OBS-TRPM) instrument measures on-road vehicle particulate emissions. It is a continuation of the Horiba on-board PM sampler (OBS-PM) [5]. The OBS-TRPM measures total diesel particulate emission by collecting diesel particulate matter (PM) on a pre-weighed 47 mm filter while the partial flow sample system (OBS-PM) runs under a proportional control strategy. A real-time diffusion charge sensor (DCS) takes sample upstream of the filter, and measures diesel PM in term of particle length (mm/cm3). By integrating the DCS real-time signal during the filter sampling, the cumulative fraction of diesel PM emission is obtained. Finally, diesel PM mass emission during a specific region, for example a Not-to-Exceed (NTE) zone, is calculated from the fraction of the real-time PM signal. Thus, the OBS-TRPM provides a solution to measure PM emission in NTE zones which are defined by the US EPA.

Repeatabilities of PM measurements on a heavy-duty diesel engine equipped with a diesel particulate filter (DPF) using a filter weighing method and a number counting method with a full flow dilution system and a partial flow system were evaluated. The filter method with partial flow exhibited the best repeatability. However, a good correlation between the full flow and the partial flow number counting results suggests that the fluctuations observed using the number counting method were caused by changes in the engine exhaust. Applying a strict preconditioning procedure should improve the repeatability of the number counting method because this method is more sensitive than the filter weighing method. In addition, the effects of the specifications for the number counting method were evaluated. The results indicate that the hose length from the tip of the sampling probe to the inlet of the number counting system had a negligible effect.