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The SAE AutoDrive Challenge II is a four-year collegiate competition dedicated to developing a Level 4 autonomous vehicle by 2025. In January 2023, the participating teams each received a Chevy Bolt EUV. Within a span of five months, the second phase of the competition took place in Ann Arbor, MI. The authors of this contribution, who participated in this event as team Wisconsin Autonomous representing the University of Wisconsin–Madison, secured second place in static events and third place in dynamic events. This has been accomplished by reducing reliance on the actual vehicle platform and instead leveraging physical analogs and simulation. This paper outlines the software and hardware infrastructure of the competing vehicle, touching on issues pertaining sensors, hardware, and the software architecture employed on the autonomous vehicle. We discuss the LiDAR-camera fusion approach for object detection and the three-tier route planning and following systems.

Identifying edge cases for designed algorithms is critical for functional safety in autonomous driving deployment. In order to find the feasible boundary of designed algorithms, simulations are heavily used. However, simulations for autonomous driving validation are expensive due to the requirement of visual rendering, physical simulation, and AI agents. In this case, common sampling techniques, such as Monte Carlo Sampling, become computationally expensive due to their sample inefficiency. To improve sample efficiency and minimize the number of simulations, we propose a tailored active learning approach combining the Support Vector Machine (SVM) and the Gaussian Process Regressor (GPR). The SVM learns the feasible boundary iteratively with a new sampling point via active learning. Active Learning is achieved by using the information of the decision boundary of the current SVM and the uncertainty metric calculated by the GPR.

In-cylinder thermal barrier coatings (TBCs) have the capability to reduce fuel consumption by reducing wall heat transfer and to increase exhaust enthalpy. Low thermal conductivity, low volumetric heat capacity thermal barrier coatings tend to reduce the gas-wall temperature difference, the driving potential for heat transfer from the gas to the combustion chamber surfaces. This paper presents a coupling between an analytical methodology for multi-layer coated wall surface temperature prediction with a fully calibrated production model in a commercial system-level simulation software package (GT-Power). The wall surface temperature at each time step was calculated efficiently by convolving the engine wall response function with the time-varying surface boundary condition, i. e., in-cylinder heat flux and coolant temperature. This tool allows the wall to be treated either as spatially uniform with one set of properties, or with independent head/piston/liner components.

There is significant potential for connected and autonomous vehicles to impact vehicle efficiency, fuel economy, and emissions, especially for hybrid-electric vehicles. These improvements could have large-scale impact on oil consumption and air-quality if deployed in large Mobility-as-a-Service or ride-sharing fleets. As part of the US Department of Energy's current Advanced Vehicle Technology Competition (AVCT), EcoCAR: The Mobility Challenge, Mississippi State University’s EcoCAR Team is redesigning and doing the development work necessary to convert a conventional gasoline spark-ignited 2019 Chevy Blazer into a hybrid-electric vehicle with SAE Level 2 autonomy. The target consumer segments for this effort are the Mobility-as-a-Service fleet owners, operators and riders. To accomplish this conversion, the MSU team is implementing a P4 mild hybridization strategy that is expected to result in a 30% increase in fuel economy over the stock Blazer.

Although turbocharging can extend the high load limit of low temperature combustion (LTC) strategies such as reactivity controlled compression ignition (RCCI), the low exhaust enthalpy prevalent in these strategies necessitates the use of high exhaust pressures for improving turbocharger efficiency, causing high pumping losses and poor fuel economy. To mitigate these pumping losses, the divided exhaust period (DEP) concept is proposed. In this concept, the exhaust gas is directed to two separate manifolds: the blowdown manifold which is connected to the turbocharger and the scavenging manifold that bypasses the turbocharger. By separately actuating the exhaust valves using variable valve actuation, the exhaust flow is split between two manifolds, thereby reducing the overall engine backpressure and lowering pumping losses. In this paper, results from zero-dimensional and one-dimensional simulations of a multicylinder RCCI light-duty engine equipped with DEP are presented.

We present an approach in which an open-source software infrastructure is used for testing the behavior of autonomous vehicles through computer simulation. This software infrastructure is called CAVE, from Connected Autonomous Vehicle Emulator. As a software platform that allows rapid, low-cost and risk-free testing of novel designs, methods and software components, CAVE accelerates and democratizes research and development activities in the field of autonomous navigation.

The effect of equivalence ratio on the particulate size distribution (PSD) in a spark-ignited, direct-injected (SIDI) engine was investigated. A single-cylinder, four-stroke, spark-ignited direct-injection engine fueled with certification gasoline was used for the measurements. The engine was operated with early injection during the intake stroke. Equivalence ratio was swept over the range where stable combustion was achieved. Throughout this range combustion phasing was held constant. Particle size distributions were measured as a function of equivalence ratio. The data show the sensitivity of both engine-out particle number and particle size to global equivalence ratio. As equivalence ratio was increased a larger fraction of particles were due to agglomerates with diameters ≻ 100 nm. For decreasing equivalence ratio smaller particles dominate the distribution. The total particle number and mass increased non-linearly with increasing equivalence ratio.

High-resolution planar laser-induced fluorescence (PLIF) measurements were performed on the scalar field in an optical engine. The measurements were of sufficient resolution to fully resolve all of the length scales of the flow field through the full cycle. The scalar dissipation spectrum was calculated, and by fitting the results to a model turbulent spectrum the Batchelor scale of the turbulent flow was estimated. The scalar inhomogeneity was introduced by a low-momentum gas jet injection. A consistent trend was observed in all data; the Batchelor scale showed a minimum value at top dead center (TDC) and was nearly symmetric about TDC. Increasing the engine speed resulted in a decrease of the Batchelor scale, and the presence of a shroud on the intake valve, which increased the turbulence intensity, also reduced the Batchelor scale. The effect of the shrouded valve was less significant compared to the effect of engine speed.

The focus of this paper is to discuss the modeling and control of intake plenum pressure on the Powertrain Control Research Laboratory's (PCRL) Single-Cylinder Engine (SCE) transient test system using a patented device known as the Intake Air Simulator (IAS), which dynamically controls the intake plenum pressure, and, subsequently, the instantaneous airflow into the cylinder. The IAS exists as just one of many devices that the PCRL uses to control the dynamic boundary conditions of its SCE transient test system to make it “think” and operate as though it were part of a Multi-Cylinder Engine (MCE) test system. The model described in this paper will be used to design a second generation of this device that utilizes both continuously and discretely actuating valves working in parallel.

The paper describes a methodology to co-simulate, with high fidelity, simultaneously and in one computational framework, all of the main vehicle subsystems for improved engineering design. The co-simulation based approach integrates in MATLAB/Simulink a physics-based tire model with high fidelity vehicle dynamics model and an accurate powertrain model allowing insights into 1) how the dynamics of a vehicle affect fuel consumption, quality of emission and vehicle control strategies and 2) how the choice of powertrain systems influence the dynamics of the vehicle; for instance how the variations in drive shaft torque affects vehicle handling, the maximum achievable acceleration of the vehicle, etc. The goal of developing this co-simulation framework is to capture the interaction between powertrain and rest of the vehicle in order to better predict, through simulation, the overall dynamics of the vehicle.

Poly(3-hydroxybutyrate-co-3-hydroxyvalerate) (PHBV)/coir fiber composites were prepared via both conventional and microcellular injection-molding processes. The surface of the hydrophilic coir fiber was modified by alkali and silane-treatment to improve its adhesion with PHBV. The morphology, thermal, and mechanical properties were investigated. The addition of coir fiber (treated and untreated) reduced cell size and increased cell density. Further decrease in cell size and increase in cell density were observed for treated fibers compared with PHBV/untreated fiber composites. Mechanical properties such as specific toughness and strain-at-break improved for both solid and microcellular specimens with the addition of coir fibers (both treated and untreated); however, the specific modulus remained essentially the same statistically while the specific strength decreased slightly.

The ability to make fully resolved turbulent scalar field measurements has been demonstrated in an internal combustion engine using one-dimensional fluorobenzene fluorescence measurements. Data were acquired during the intake stroke in a motored engine that had been modified such that each intake valve was fed independently, and one of the two intake streams was seeded with the fluorescent tracer. The scalar energy spectra displayed a significant inertial subrange that had a −5/3 wavenumber power dependence. The scalar dissipation spectra were found to extend in the high-wavenumber regime, to where the magnitude was more than two decades below the peak value, which indicates that for all practical purposes the measurements faithfully represent all of the scalar dissipation in the flow.

A study of partially premixed combustion (PPC) with non-oxygenated 91 pump octane number1 (PON) commercially available gasoline was performed using a heavy-duty (HD) compression-ignition (CI) 2.44 l Caterpillar 3401E single-cylinder oil test engine (SCOTE). The experimental conditions selected were a net indicated mean effective pressure (IMEP) of 11.5 bar, an engine speed of 1300 rev/min, an intake temperature of 40°C with intake and exhaust pressures of 200 and 207 kPa, respectively. The baseline case for all studies presented had 0% exhaust gas recirculation (EGR), used a dual injection strategy a -137 deg ATDC pilot SOI and a -6 deg ATDC main start-of-injection (SOI) timing with a 30/70% pilot/main fuel split for a total of 5.3 kg/h fueling (equating to approximately 50% load). Combustion and emissions characteristics were explored relative to the baseline case by sweeping main and pilot SOI timings, injection split fuel percentage, intake pressure, load and EGR levels.

This paper investigates flow and combustion in a full-cycle simulation of a four-stroke, three-valve HCCI engine by visualizing the flow with pathlines. Pathlines trace massless particles in a transient flow field. In addition to visualization, pathlines are used here to trace the history, or evolution, of flow fields and species. In this study evolution is followed from the intake port through combustion. Pathline analysis follows packets of intake charge in time and space from induction through combustion. The local scalar fields traversed by the individual packets in terms of velocity magnitude, turbulence, species concentration and temperatures are extracted from the simulation results. The results show how the intake event establishes local chemical and thermal environments in-cylinder and how the species respond (chemically react) to the local field.

Optimal fuel injection strategies are obtained with a micro-genetic algorithm and an adaptive gradient method for a nonroad, medium-speed DI diesel engine equipped with a multi-orifice, asynchronous fuel injection system. The gradient optimization utilizes a fast-converging backtracking algorithm and an adaptive cost function which is based on the penalty method, where the penalty coefficient is increased after every line search. The micro-genetic algorithm uses parameter combinations of the best two individuals in each generation until a local convergence is achieved, and then generates a random population to continue the global search. The optimizations have been performed for a two pulse fuel injection strategy where the optimization parameters are the injection timings and the nozzle orifice diameters.

The use of virtual prototyping early in the design stage of a product has gained popularity due to reduced cost and time to market. The state of the art in vehicle simulation has reached a level where full vehicles are analyzed through simulation but major difficulties continue to be present in interfacing the vehicle model with accurate powertrain models and in developing adequate formulations for the contact between tire and terrain (specifically, scenarios such as tire sliding on ice and rolling on sand or other very deformable surfaces). The proposed work focuses on developing a ground vehicle simulation capability by combining several third party packages for vehicle simulation, tire simulation, and powertrain simulation. The long-term goal of this project consists in promoting the Digital Car idea through the development of a reliable and robust simulation capability that will enhance the understanding and control of off-road vehicle performance.

A previously developed CFD-based optimization tool is utilized to find optimal engine operating conditions with respect to fuel consumption and emissions. The optimization algorithm employed is based on the steepest descent method where an adaptive cost function is minimized along each line search using an effective backtracking strategy. The adaptive cost function is based on the penalty method, where the penalty coefficient is increased after every line search. The parameter space is normalized and, thus, the optimization occurs over the unit cube in higher-dimensional space. The application of this optimization tool is demonstrated for the Sulzer S20, a central-injection, non-road DI diesel engine. The optimization parameters are the start of injection of the two pulses of a split injection system, the duration of each pulse, the exhaust gas recirculation rate, the boost pressure and the compression ratio.

A global optimization method has been developed for an engine simulation code and utilized in the search of optimal fuel injection strategies. This method uses a Lagrange interpolation function which interpolates engine output data generated at the vertices and the intermediate points of the input parameters. This interpolation function is then used to find a global minimum over the entire parameter set, which in turn becomes the starting point of a CFD-based optimization. The CFD optimization is based on a steepest descent method with an adaptive cost function, where the line searches are performed with a fast-converging backtracking algorithm. The adaptive cost function is based on the penalty method, where the penalty coefficient is increased after every line search. The parameter space is normalized and, thus, the optimization occurs over the unit cube in higher-dimensional space.

The fuel film thickness resulting from diesel fuel spray impingement was measured in a chamber at conditions representative of early injection timings used for low temperature diesel combustion. The adhered fuel volume and the radial distribution of the film thickness are presented. Fuel was injected normal to the impingement surface at ambient temperatures of 353 K, 426 K and 500 K, with densities of 10 kg/m3 and 25 kg/m3. Two injectors, with nozzle diameters of 100 μm and 120 μm, were investigated. The results show that the fuel film volume was strongly affected by the ambient temperature, but was minimally affected by the ambient density. The peak fuel film thickness and the film radius were found to increase with decreased temperature. The fuel film was found to be circular in shape, with an inner region of nearly constant thickness. The major difference observed with temperature was a decrease in the radial extent of the film.

Engine-out CO emission and fuel conversion efficiency were measured in a highly-dilute, low-temperature diesel combustion regime over a swirl ratio range of 1.44-7.12 and a wide range of injection timing. At fixed injection timing, an optimal swirl ratio for minimum CO emission and fuel consumption was found. At fixed swirl ratio, CO emission and fuel consumption generally decreased as injection timing was advanced. Moreover, a sudden decrease in CO emission was observed at early injection timings. Multi-dimensional numerical simulations, pressure-based measurements of ignition delay and apparent heat release, estimates of peak flame temperature, imaging of natural combustion luminosity and spray/wall interactions, and Laser Doppler Velocimeter (LDV) measurements of in-cylinder turbulence levels are employed to clarify the sources of the observed behavior.