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The hydraulic retarder is the most stabilized auxiliary braking system [1-2] of heavy-duty vehicles. When the hydraulic retarder is working during auxiliary braking, all of the braking energy is transferred into the thermal energy of the transmission medium of the working wheel. Theoretically, the residual heat-sinking capability of the engine could be used to cool down the transmission medium of the hydraulic retarder, in order to ensure the proper functioning of the hydraulic retarder. Never the less, the hydraulic retarder is always placed at the tailing head of the gearbox, far from the engine, long cooling circuits, which increases the risky leakage risk of the transmission medium. What's more, the development trend of heavy load and high speed vehicle directs the significant increase in the thermal load of the hydraulic retarder, which even higher than the engine power.

The convolutional neural network (CNN) has achieved extraordinary performance in image classification. However, the implementation of such architecture on embedded platforms is a big challenge task due to the computing resource constraint issue. This paper concentrates on optimization of CNN on embedded platforms with a case study of pedestrian detection in ADAS. The main contribution of this proposed CNN is its ability to run pedestrian classification task in real time with high accuracy based on a platform with ARM embedded. The CNN model has been trained with GPU locally and then transformed into an efficient implementation on embedded platforms. The efficient implementation uses dramatically small network scale and a lightweight CNN is obtained. Specifically, parameters of the network are compressed by adopting integer weights to reduce computational complexity. Meanwhile, other optimizations have also been proposed to adapt the general ARM processor architecture.

The drivability plays an important role for marketability and competitiveness of passenger car in meeting some customer requirements, which directly affects the driving experience and the desire of purchasing. In this paper, a framework of objective drivability evaluation with multi-source information fusion for passenger car is proposed. At first, according to vehicle powertrain system and optimization theory, certain vehicle performances, which are closely related to objective drivability are analyzed, including vehicle longitudinal acceleration, vehicle speed, engine torque, engine speed, gear position, accelerator pedal, brake signal and voltage signal. Then, combined with the evaluation criterion of signal-to-noise ratio (SNR), mean error (ME), root mean squared error (RMSE) and signal smoothness (SS), a de-noising method is developed for the drivability evaluation information.

Magneto-rhelological(MR) dampers are devices that use rheological fluids to modify the mechanical properties of fluid absorber. The mechanical simplicity, high dynamic range, large force capacity, lower power requirements, robustness and safe manner of operation have made MR dampers attractive devices for semi-active real-time control in civil, aerospace and automotive applications. Landing gear is one of the most essential components of the aircraft, which plays an extreme important role in preventing the airframe from vibration and excessive impact forces, improving passenger comfortable characteristics and increasing aircraft flight safety. In this paper, the semi-active system used in landing gear damping controller design, simulation, and the vibration test-bed are discussed and researched. The MR dampers employed in landing gear system were designed, manufactured and characterized as available semi-active actuators.

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.

Semi-active suspension has been widely applied in commercial vehicle suspension in order to get good riding comfortableness. Fuzzy logic control (FLC) has been widely applied in the field of kinetic control because control rule of FLC is easy to understand. But the gain of fuzzy rules and adjustment of membership functions usually depend on experts' experiences and repeated experiments, thus the fuzzy rules and membership functions has strong subjectivity, also are easily affected by environment of experiments, so the main problem of fuzzy logic controller design is selection and optimization of fuzzy rules and membership functions. Genetic Algorithms (GA) is the algorithm that searches the optimal solution through simulating natural evolutionary process and is one of the evolution algorithms which have most extensive impact.

Hydraulic retarder has been widely applied on military vehicles and heavy commercial vehicles because of it could provide great brake torque and has lasting working time [1]. In order to reduce driver's frequent actions in braking process and prevent hydraulic retarder system from overheating, it is need to apply constant braking torque control, this control target has a strict requirement to hydraulic control system design. Many parameters often require repeated test to determine, which increases the R&D cost and extends the research cycle. This paper tries to find a time-efficient research method of hydraulic retarder control system through studying on a heavy military vehicle hydraulic retarder system. Hydraulic retarder model is set up through test data. The hydraulic control system is built based on AMESim. Controller model is set up based on PID control. The whole vehicle brake model is built based on MATLAB/Simulink.

On road simulation, both the traditional iterative method based on frequency response function (FRF) and adaptive control method based on the CARMA model are realized by using linear model to identify the target test system. However the real test system is very complicated because of various nonlinear factors. Linear models approximately describe the system only in a small range. Therefore, system simulation methods can not be used to validate the developed control algorithm and the uncertainty of test accordingly increases. As mentioned above, this paper presents a model to identify the nonlinear test system using NARMA dynamic neural network and discusses how to make the model parameters in detail. Using the test input-output series data, this network was trained by Levenberg-Marquardt method. Results of verification simulation show the validation of the nonlinear model.

In this paper, a Magneto-Rheological (MR) fluid semi-active suspension system was tested on a commercial vehicle, a domestic light bus, to determine the performance improvements compared to passive suspensions. MR fluid is a material that responds to an applied magnetic field with a significant change in its rheological behavior. When the magnetic field is applied, the properties of such a fluid can change from a free-flowing, low viscosity fluid to a near solid, and this change in properties takes place in a few milliseconds and is fully reversible. A quarter suspension test rig was built out to test the nonlinear performance of MR damper. Based on a large number of experimental data, a phenomenological model of MR damper based on the Bouc-Wen hysteresis model was adopted to predict both the force-displacement behavior and the complex nonlinear force-velocity response.

Vehicle hydraulic retarders are applied in heavy-duty trucks and buses as an auxiliary braking device. In traditional cooling systems of hydraulic retarders, the working fluid is introduced into the heat exchanger to transfer heat to the cooling liquid in circulation, whose heat is then dissipated by the engine cooling system. This prevents the waste heat of the working fluid from being used effectively. In hydraulic retarder cooling system based on the Organic Rankine Cycle, the organic working fluid first transfers heat with the hydraulic retarder working fluid in Rankine cycle, and then outputs power through expansion machine. It can both reduce heat load of the engine cooling system, and enhance thermal stability of the hydraulic retarder while recovering and utilizing braking energy. First of all, according to the target vehicle model, hydraulic retarder cooling system model based on Rankine cycle is established.

With the continuous increasing requirements of commercial vehicle weight and speed on highway transportation, conventional friction brake is difficult to meet the braking performance. To ensure the driving safety of the vehicle in the hilly region, the eddy current retarder (ECR) has been widely used due to its fast response, lower prices and convenient installation. ECR brakes the vehicle through the electromagnetic force generated by the current, and converted vehicle mechanical energy into heat through magnetic field. Air cooling structure is often used in the traditional ECR and cooling performance is limited, which causes low braking torque, thermal recession, and low reliability and so on. The water jacket has been equipped outside the eddy current region in this study, and the electric ECR is cooled through the water circulating in the circuit, which prolongs its working time.

Path planning system, which is one of driver assistance systems, can calculate the driving paths and estimate the driving time through the road information provided by information source. Traditional path planning systems calculate the driving paths through Dijsktra's algorithm or A* algorithm but only consider the road information from electronic maps. It is not safe enough for operating vehicles because of the insufficient information of vehicle performance as well as the driver's willingness. This study is based on the Dijsktra's algorithm, which comprehensively considered vehicular active safety constraints such as road information, vehicle performance and the driver's willingness to optimize the Dijsktra's algorithm. Then the path planning system can calculate the optimal driving paths that would satisfy the safety requirement of the vehicle. This study used LabVIEW as a visual host computer and MATLAB to calculate dynamic property of the vehicle.

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.

Brake pedal feel plays an important role in the driver's comprehensive subjective feeling when braking, which directly affects the active safety and riding comfort of passenger car. A systematical mathematical model of the vehicle brake system is built in according with the structure and system characteristics of hydraulic servo brake system. A complete hydraulic servo brake system simulation model composed of brake pedal, vacuum booster, brake master cylinder, brake pipe, brake wheel cylinders, brake calipers is established in AMESim. The effects of rubber reaction plate stiffness, rubber valve opening, brake master cylinder piston, brake caliper, brake pipe deformation and friction liner deformation on brake pedal feel are considered in this model. The accuracy of this model is verified by real road vehicle tests under static and dynamic two different conditions.

A dynamic controller is designed for unmanned skid-steering vehicle. The vehicle speed is controlled through driving torque of engine to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Contrary to the common approaches by considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered, based on the analysis of vehicle dynamic model and nonlinear tire model. Hence, with conditional integrators, the dynamic controller overcoming integral saturation is designed to ensure the accurate tracking for desired signals under influence of tire forces and constraint of actuators. In addition, the exponential kind filter is utilized to enhance the ability of smoothing noise of wheel speed. To perform small radius cornering maneuvers, a dynamic control strategy for steering when vehicle speed is zero is also designed.

Vehicle sideslip angle estimation is of great importance to the vehicle stability control as it could not be measured directly by ordinary vehicle-mounted sensors. As a result, researchers worldwide have carried out comprehensive research in estimating the vehicle sideslip angle. First, as the attitude would affect the acceleration information measured by the IMU directly, different kinds of vehicle attitude estimation methods with multi-sensor fusion are presented. Then, the estimation algorithms of the vehicle sideslip angle are classified into the following three aspects: kinematic model based method, dynamic model based method, and fusion method. The characteristics of different estimation algorithms are also discussed. Finally, the conclusion and development trend of the sideslip angle estimation are prospected.

In order to obtain the comprehensive evaluation of thermal management system for the retarder, the complete driveline thermal management model is built. The characteristic parameters for the thermal management system are determined and the hydromechanical characteristics for the retarder are fixed by the rig test. On the basis of the same whole vehicle driving cycle, comparing to the traditional mechanical-drive system, the independent-drive system makes the working temperature of the heat source more stable. Meanwhile the parasitic power caused by the radiator fan is decreased markedly on the condition that the heat reject requirement of the heat source is satisfied.

The hydraulic retarder used in commercial vehicles can provide hydraulic damping to generate braking torque, reducing the pressure of the braking system on the slope section and increasing the safety. In this paper, the magnetorheological fluid with fast magnetic field reflection characteristics is used to increase the response speed of the hydraulic retarder, which can effectively reduce the response time of the hydraulic retarder. In this paper, the influence of the change of circumferential magnetic field on the braking torque of the magnetorheological fluid retarder is studied.

In the Rankine cycle, the pressure differential generated by the phase change of the working fluid produces turbine output power, which enables the recovery of waste heat from the internal combustion engine. The heat transfer ability of the evaporator is the key factor that determines the quality of turbine's mechanical work. In this paper, the performance of the evaporator with two-phase zone and preheated zone is studied. After obtaining the thermal characteristics of diesel engine exhaust from the experimental data, the mathematical model of the evaporator is built according to the specific working conditions of ORC and geometrical parameters of the evaporator. Three typical engine operating conditions are used to estimate the heat transfer characteristics of the evaporator. The result shows that, in the evaporator, the heat transfer coefficient of the Rankine working fluid is much greater than the exhaust side of the engine.

The retarder is an important auxiliary braking device of heavy vehicles. However, the stirring air in the working wheels of the idle retarder would cause the transmission loss when the vehicle is traveling in non-braking state [1]. For certain driving conditions, the air-friction characteristics in the working wheels of the idle retarder are analyzed first. Then the relationship between the air density and the torque produced by stirring air is studied. The thermal characteristics of the retarder in the idle condition are also concerned according to the energy flow and heat transfer. Meanwhile, the increased transmission loss caused by the rising temperature of the stirring air and its inference on the transmission stability are also studied. Finally, the optimal range of air vacuum degrees in the working wheel of the idle retarder is determined and the evaluations for the air-friction and the heat transfer characteristics are given for the vacuum degrees.