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Thermoacoustic engine has been proven to be a promising technology for automotive exhaust waste heat recovery to save fossil fuel and reduce emission thanks to its ability to convert heat into acoustic energy which, hence, can be harvested in useful electrical energy. In this paper, based on the practical thermodynamic parameters of the automotive exhaust gas, including mass flow rate and temperature, two traveling-wave thermoacoustic engines are designed and optimized for the typical heavy-duty and light-duty vehicles, respectively, to extract and reutilize their exhaust waste heat. Firstly, nonlinear thermoacoustic models for each component of a thermoacoustic engine are established in the frequency domain, by which any potential steady operating point of the engine is available.