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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.

Lithium-ion and Lithium polymer batteries are fast becoming ubiquitous in high-discharge rate applications for military and non-military systems. Applications such as small aerial vehicles and energy transfer systems can often function at C-rates greater than 1. To maximize system endurance and battery health, there is a need for models capable of precisely estimating the battery state-of-charge (SoC) under all temperature and loading conditions. However, the ability to perform state estimation consistently and accurately to within 1% error has remained unsolved. Doing so can offer enhanced endurance, safety, reliability, and planning, and additionally, simplify energy management. Therefore, the work presented in this paper aims to study and develop experimentally validated mathematical models capable of high-accuracy battery SoC estimation.

A non-intrusive sensing technique to determine start of combustion for mixing-controlled compression-ignition engines was developed based on an accelerometer mounted to the engine block of a 4-cylinder automotive turbo-diesel engine. The sensing approach is based on a physics-based conceptual model for the signal generation process that relates engine block acceleration to the time derivative of heat release rate. The frequency content of the acceleration and pressure signals was analyzed using the magnitude-squared coherence, and a suitable filtering technique for the acceleration signal was selected based on the result. A method to determine start of combustion (SOC) from the acceleration measurements is presented and validated.

Opposed-piston 2-stroke (OP-2S) engines have the potential to achieve higher thermal efficiency than a typical diesel engine. However, the uniflow scavenging process is difficult to control over a wide range of speeds and loads. Scavenging performance is highly sensitive to pressure dynamics, port timings, and port design. This study proposes an analysis of the effects of port vane angle on the scavenging performance of an opposed-piston 2-stroke engine via simulation. A CFD model of a three-cylinder opposed-piston 2-stroke was developed and validated against experimental data collected by Achates Power Inc. One of the three cylinders was then isolated in a new model and simulated using cycle-averaged and cylinder-averaged initial/boundary conditions. This isolated cylinder model was used to efficiently sweep port angles from 12 degrees to 29 degrees at different pressure ratios.

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.

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.

This paper presents advanced and cost-reducing technologies of a motor drive system with reduced permanent magnets but without a position sensor. The key enabler is the integration of novel designs of flux-intensifying interior permanent magnet synchronous machines (FI-IPMSMs) and position self-sensing control technologies. In this paper, we focus on two advantages of FI-IPMSM over conventional flux-weakening interior permanent magnet synchronous machines (FW-IPMSMs). The first benefit is that thinner magnets are possible and there is less concern for demagnetization because of its significantly smaller flux-weakening current. This paper presents two design examples of FI-IPMSMs, one of which has not only smaller magnets but also similar power conversion capability. The second advantage is reduced saturation and cross-saturation effect, which leads to improved position self-sensing capability.

Permanent magnet AC generators are robust, inexpensive, and efficient compared to wound-field synchronous generators with brushless exciters. Their application in variable-speed applications is made difficult by the variation of the stator voltage with shaft speed. This paper presents the use of stator-side reactive power injection as a means of regulating the stator voltage. Design-oriented analysis of machine performance for this mode of operation identifies an appropriate level of machine saliency that enables excellent terminal voltage regulation over a specified speed and load range, while minimizing stator current requirements. This paper demonstrates that the incorporation of saliency into the permanent magnet generator can significantly reduce the size of the reactive current source that is required to regulate the stator voltage during operation over a wide range of speeds and loads.

The University of Wisconsin - Madison Clean Snowmobile team has designed, constructed and now refined an electric snowmobile with 40 km (24 mi) range and acceleration comparable to a 75 kW (100 hp) internal-combustion-powered snowmobile. Starting with a Polaris IQ Fusion chassis, a direct-drive chain-case was engineered to couple a General Motors EV1 copper-bar rotor AC induction electric motor to the track drive shaft. The battery pack uses 104 28 V, 2.8 A-hr Lithium-Ion battery modules supplied by Milwaukee Tool to store 8.2 kW-hr of energy at a nominal voltage of 364 V. Power is transmitted to the electric motor via an Azure Dynamics DMOC445LLC motor controller. All of the components fit within the original sled envelope, leading to a vehicle with conventional appearance and a total mass of 313 kg (690 lb). The vehicle, dubbed the BuckEV, accelerates to 150 m (500 ft) in 6.9 seconds and has a top speed of 122 km/hr (76 mph) with a pass-by sound level of 55 dB.

The University of Wisconsin Hybrid Vehicle Team has implemented and optimized a four-wheel drive, charge sustaining, split-parallel hybrid-electric crossover vehicle for entry into the 2008 ChallengeX competition. This four year project is based on a 2005 Chevrolet Equinox platform. Fuel economy, greenhouse gas impact (GHGI), acceleration, component packaging and consumer acceptability were appropriately weighted to determine powertrain component selections. Wisconsin's Equinox, nicknamed the Moovada, is a split-parallel hybrid utilizing a General Motors (GM) 110 kW 1.9L CDTi (common rail diesel turbo injection) engine coupled to an F40 6-speed manual transmission. The rear axle is powered by a SiemensVDO induction motor/gearbox power-limited to 65 kW by a 40-module (288 volts nominal) Johnson Controls Inc, nickel-metal hydride battery pack.

A transport equation residual model incorporating refined G-equation and detailed chemical kinetics combustion models has been developed and implemented in the ERC KIVA-3V release2 code for Gasoline Direct Injection (GDI) engine simulations for better predictions of flame propagation. In the transport equation residual model a fictitious species concept is introduced to account for the residual gases in the cylinder, which have a great effect on the laminar flame speed. The residual gases include CO2, H2O and N2 remaining from the previous engine cycle or introduced using EGR. This pseudo species is described by a transport equation. The transport equation residual model differentiates between CO2 and H2O from the previous engine cycle or EGR and that which is from the combustion products of the current engine cycle.

The effect of the ring pack storage mechanism on the hydrocarbon (HC) emissions from an air-cooled utility engine has been studied using a simplified ring pack model. Tests were performed for a range of engine load, two engine speeds, varied air-fuel ratio and with a fixed ignition timing using a homogeneous, pre-vaporized fuel mixture system. The integrated mass of HC leaving the crevices from the end of combustion (the crank angle that the cumulative burn fraction reached 90%) to exhaust valve closing was taken to represent the potential contribution of the ring pack to the overall HC emissions; post-oxidation in the cylinder will consume some of this mass. Time-resolved exhaust HC concentration measurements were also performed, and the instantaneous exhaust HC mass flow rate was determined using the measured exhaust and cylinder pressure.

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.

Diesel particulate filters are designed to reduce the mass emissions of diesel particulate matter and have been proven to be effective in this respect. Not much is known, however, about their effects on other unregulated chemical species. This study utilized source dilution sampling techniques to evaluate the effects of a catalyzed diesel particulate filter on a wide spectrum of chemical emissions from a heavy-duty diesel engine. The species analyzed included both criteria and unregulated compounds such as particulate matter (PM), carbon monoxide (CO), hydrocarbons (HC), inorganic ions, trace metallic compounds, elemental and organic carbon (EC and OC), polycyclic aromatic hydrocarbons (PAHs), and other organic compounds. Results showed a significant reduction for the emissions of PM mass, CO, HC, metals, EC, OC, and PAHs.

Fundamental simulations in a quiescent cell under adiabatic conditions were made to understand the effect of temperature, equivalence ratio and the components of the recirculated exhaust gas, viz., CO2 and H2O, on the combustion of n-Heptane. Simulations were made in single phase in which evaporated n-Heptane was uniformly distributed in the domain. Computations were made for two different temperatures and four different EGR levels. CO2 or H2O or N2was used as EGR. It was found that the initiation of the main combustion process was primarily determined by two competing factors, i.e., the amount of initial OH concentration in the domain and the specific heat of the mixture. Further, initial OH concentration can be controlled by the manipulating the ambient temperature in the domain, and the specific heat capacity of the mixture via the mixture composition. In addition to these, the pre combustion and the subsequent post combustion can also be controlled via the equivalence ratio.

Fundamental simulations using DNS type procedures were used to investigate the ignition, combustion characteristics and the lift-off trends of a spatially evolving turbulent liquid fuel jet. In particular, the spatially evolving n-Heptane spray injected in a two-dimensional rectangular domain with an engine like environment was investigated. The computational results were compared to the experimental observations from an optical engine as reported in the literature. It was found that an initial fuel rich combustion downstream of the spray tip is followed by diffusion combustion. Investigations were also made to understand the effects of injection velocity, ambient temperature and the droplet radius on the lift-off length. For each of these parameters three different values in a given range were chosen. For both injection velocity and droplet radius, an increase resulted in a near linear increase in the lift-off length.

Humidity control within confined spaces is of great importance for existing NASA environmental control systems and Exploration applications. The Engineered Multifunction Surfaces (MFS) developed in this STTR Phase II form the foundation for a modular and scalable Distributed Humidity Control System (DHCS) while minimizing power, size and mass requirements. Key innovations of the MFS-based DHCS include passive humidity collection, control, and phase separation without moving parts, durable surface properties without particulate generation and accumulation, and the ability to scale up, or network in a distributed manner, a compact, modular device for Exploration applications including space suits, CEV, Rovers, Small and Transit Habitats and Large Habitats.

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.

An experimental study was performed to investigate diesel particulate filter (DPF) performance during filtration with the use of real-time measurement equipment. Three operating conditions of a single-cylinder 2.3-liter D.I. heavy-duty diesel engine were selected to generate distinct types of diesel particulate matter (PM) in terms of chemical composition, concentration, and size distribution. Four substrates, with a range of geometric and physical parameters, were studied to observe the effect on filtration characteristics. Real-time filtration performance indicators such as pressure drop and filtration efficiency were investigated using real-time PM size distribution and a mass analyzer. Types of filtration efficiency included: mass-based, number-based, and fractional (based on particle diameter). In addition, time integrated measurements were taken with a Rupprecht & Patashnick Tapered Element Oscillating Microbalance (TEOM), Teflon and quartz filters.