Search Results

This paper presents a simultaneous longitudinal and lateral motion control strategy for a full drive-by-wire autonomous vehicle. A nonlinear model predictive control (NMPC) problem is formulated in which the nonlinear prediction model utilizes a spatial transformation to derive the dynamics of the vehicle about the reference trajectory, which facilitates the acquisition of the tracking errors at varying speeds. A reference speed profile generator is adopted by taking account of the road geometry information, such that the lateral stability is guaranteed and the lane guidance performance is improved. Finally, the nonlinear multi-variable optimization problem is simplified by considering only three motion control efforts, which are strictly confined within a convex set and are readily distributed to the four tires of a full drive-by-wire vehicle.

Tire lag property is a basic property of tire dynamics, and it has significant influence on the performance of vehicle dynamics. In distance domain, the side force and moments produced by a massless tire are basically displacement or path frequency dependent, rather than time dependent. In the paper, on the basis of the stretched-string model, the first-order filtering of deflection for the front point of the contact print and the first-order filtering of side force have been introduced. Tire system can be regarded as a first-order linear system under small slip angle. The force response of tire has the characteristics of the responses of first-order linear system under small angle. The relaxation length is an important parameter in studying tire lag property. It decreases with increasing slip angle. It plays an important role in the study of tire transient properties.

This paper presents a study of the influence of intake valve closing (IVC) timing on the performance of the high-speed spark ignition (SI) engine, such as the output of torque and power, fuel consumption and emissions. An electrically controlled Variable Valve Timing (VVT) system based on the variable working position belt extender was developed and its pro-type was successfully set up in a 5-valve, double overhead cam (DOHC) SI engine. Test results showed that the IVC timing plays an important role in increasing the power output, decreasing the fuel consumption and CO and HC emissions under both high- and low-speed conditions as compared to the fixed IVC timing. The control of intake valve closing timing is a simple and effective means to improve engine's performance.

Toyota Prius is the first commercialized hybrid electric vehicle (HEV) in the world, while ADVISOR is one of the most widely used computer simulation tools for HEVs. We believe that it will be helpful to validate the model of Toyota Prius in ADVISOR against the measured data to reach a better understanding of the control strategy of the vehicle and to find out a good control strategy for HEVs. Therefore, in this paper the model of Toyota Prius in ADVISOR 3.1 is validated and revised according to the results of a few tests accomplished with a Japanese Prius.

Vehicle detection has been a fundamental problem in the research of Intelligent Traffic System (ITS), especially in urban driving environment. Over the past decades, vision-based vehicle detection has got a considerable attention. In addition to the rich appearance information, the stereo vision method also provides depth information, which could achieve higher accuracy and precision. In this paper, a hybrid method for stereo vision-based real-time vehicle detection in urban environment is proposed. Firstly, we extract vehicle features and generate the Region of Interest (ROI). Semi-global Matching (SGM) algorithm is then utilized on the ROIs to generate disparity maps and get the depth information, which could be used to compute the width of each ROI. The noise regions, always with obvious depth variation in the disparity maps are excluded by the clustering approach.

For diesel/natural gas dual fuel engines, the combustion of pilot diesel injection plays an important role to subsequent mixture combustion process. To better understand the effects of multiple injections, a detailed study was conducted on a 6-cylinder turbocharged intercooler diesel/natural gas dual fuel heavy-duty engine at low loads. Multiple variables were tested, including the single injection timings, the multiple injections timings and the mass ratios. The investigated results showed that the multiple pilot diesel injections have an obvious effect on not only pilot diesel combustion process but also natural gas mixture combustion process. Early injection leads to a pilot-diesel-ignition-mode and it is a two-stage auto ignition mode. This mode differs from the compression ignition mode of traditional diesel engine in regard to its random occurrence location within the spray.

Ternary blends of butanol-biodiesel-diesel with different blending ratios were tested inside a constant volume chamber under various ambient temperatures so as to investigate the spray and combustion characteristics of the fuels. Applying the high speed imaging, a sudden drop in spray penetration was observed at ambient temperature of 800 K and 900 K for fuels with certain blending ratio, but not at 1000 K and 1200 K. When the spray penetration of the butanol-biodiesel-diesel blends was compared to that of the biodiesel-diesel blends under non-combusting environment, a sudden drop in spray penetration length was also observed at 1100 K. The results indicated that for the non-combusting case, the tip of the spray jet erupted into a plume sometime after injection for the butanol-biodiesel-diesel blend at an ambient temperature of 1100 K. Such phenomenon was not seen with the biodiesel-diesel blend, neither with the same fuel but at a lower ambient temperature of 900 K.

A very competitive alcohol for use in diesel engines is butanol. Butanol is of particular interest as a renewable bio-fuel, as it is less hydrophilic and it possesses higher heating value, higher cetane number, lower vapor pressure, and higher miscibility than ethanol or methanol. These properties make butanol preferable to ethanol or methanol for blending with conventional diesel or gasoline fuel. In this paper, the spray and combustion characteristics of pure n-butanol fuel was experimentally investigated in a constant volume combustion chamber. The ambient temperatures were set to 1000 K, and three different oxygen concentrations were set to 21%, 16%, and 10.5%. The results indicate that the penetration length reduces with the increase of ambient oxygen concentration. The combustion pressure and heat release rate demonstrate the auto-ignition delay becomes longer with decreasing of oxygen concentrations.

The quality of the brake system is a significant safety factor in commercial vehicles on the roads. With the development of automobile technology, the single function ABS system didn't meet active safety requirements of the user. The Electronically Controlled Brake System (EBS) system will replace the ABS system to become the standard safety equipment of commercial vehicles in the near future. EBS can be said an enhanced ABS system, it contains load sensor, brake valve sensor and pressure sensor of chamber, etc, and it is more advantages than ABS. This paper describes a flexible integrated test bench for ABS/EBS Electronic Control Unit (ECU) based on Hardware-In-the-Loop (HIL) simulation technique. It consists of most commercial vehicle pneumatic braking system components (from brake pedal valve, brake caliper to brake chambers), and uses the dSPACE real-time simulation system to communicate to the hardware I/O interface.

In order to improve the braking energy recovery, a parallel hybrid electric bus simulation model with electric braking system (EBS) was established by co-simulation platform for the TruckSim and Matlab/Simulink in this paper. EBS makes the front and rear shaft braking force arbitrarily distributed, which is more effective to improve the rate of energy recovery and the braking stability. A braking force distribution algorithm for hybrid electric bus based on EBS was designed in this paper. Under the premise to meet the driver's needs and the ECE regulations, this braking force distribution method focuses on making the braking force distribute to the drive shaft to a maximum extent, so as to obtain the maximum energy recovery rate by the utilization of the motor regenerative braking. At last, the simulation in different operating conditions was used to analyze the braking energy utilization and the braking performance based on the simulation model.

Steering-By-Wire (SBW) system has advantages of advanced vehicle control system, which has no mechanical linkage to control the steering wheel and front wheels. It is possible to control the steering wheel actuator and front wheels actuator steering independently. The goal of this paper is to use a joystick to substitute the conventional steering wheel with typical vehicle SBW system and to study a variable steering ratio design method. A 2-DOF vehicle dynamic reference model is built and focused on the vehicle steering performance of drivers control joystick. By verifying the results with a hardware-in-the-loop simulation test bench, it shows this proposed strategy can improve vehicle maneuverability and comfort.

With rapid increase of vehicles on the road, safety concerns have become increasingly prominent. Since the leading cause of many traffic accidents is known to be by human drivers, developing autonomous vehicles is considered to be an effective approach to solve the problems above. Although trajectory tracking plays one of the most important roles on autonomous driving, handling the coupling between trajectory-tracking control and ESP under certain driving scenarios remains to be challenging. This paper focuses on trajectory-tracking control considering the role of ESP. A vehicle model is developed with two degrees of freedom, including vehicle lateral, and yaw motions. Based on the proposed model, the vehicle trajectory is separated into both longitudinal and lateral motion. The coupling effect of the vehicle and ESP is analyzed in the paper. The lateral trajectory-tracking algorithm is developed based on the preview follower theory.

In order to improve the braking energy recovery and ensure the braking comfort, a new type of regenerative braking coordinated control algorithm is designed in this paper. The hierarchical control theory is used to the regenerative braking control algorithm. First, the front axle braking force and rear axle braking force are distributed. Then the rear axle motor braking force and mechanical braking force are distributed. Finally, the dynamic coordinated control strategy is designed to control pneumatic braking system and motor braking system. Aimed at keeping the fluctuation of the total braking force of friction and the regenerative braking force small during braking modes switch, a coordinated controller was designed to control the pneumatic braking system to compensate the error of the motor braking force. Based on Matlab/Simulink platform, a parallel hybrid electric bus simulation model with electric braking system (EBS) was established.

In order to improve the performance of low temperature combustion of diesel engines to achieve ultra-low emissions and load condition expansions, exhaust gas recirculation (EGR) stratification in the cylinder was proposed to further intensify local EGR concentration and reduce the amount of EGR to acquire high average oxygen concentration within cylinder. In this study, the intake/exhaust port and combustion chamber models were explored by CFD software on a four-valve HD diesel engine, and fresh air and EGR respectively replaced by O2 and CO2 were introduced with division and timing intake strategies during the intake process for stratification optimization.

In recent years, strict emission regulations, the environmental awareness, and the high price of conventional fuels have led to the creation of incentive to promote alternative fuels. Among the alternative fuels, natural gas is very promising and highly attractive for its abundant resources, clean nature of combustion and low encouraging prices. But nitrogen oxides (NOx) emissions are still a problem in natural gas engines. In order to reduce NOx emissions, carbon dioxide (CO2), nitrogen (N2) and argon (Ar) were respectively introduced to dilute fuel-air mixtures in the cylinder. To this aim a 6.62 L, 6-cylinder, turbocharged, electronic controlled large-powered NG engine was subjected to a basic performance test to observe the effects of CO2, N2 and Ar on fuel economy and NOx emissions. During the test, the engine speed and torque were separately kept at 1450 r/min and 350 Nm.

In the internal combustion engine (ICE), about 40% of fuel energy is released into the atmosphere through waste gas. To recovery the energy, the Organic Rankine Cycle (ORC) has been widely used, and lots of previous studies have selected the rotating turbine as the expander of ORC. However, the rotating turbine has disadvantages of high manufacturing cost and narrow applicable range. For the above reasons, a free piston with constant force output which functions as expander in ORC is proposed to recover the waste energy of exhaust gas from internal combustion engine (ICE). In the system, the free piston with constant force output operates reciprocally to output work under the driving of working fluid R245ca, which absorbs heat from waste gas and provides vapor power.

The passive fault-tolerant approach for four-wheel independently driven and steered (4WID/4WIS) electric vehicles has been investigated in this study. An adaptive control based passive fault-tolerant controller is designed to improve vehicle safety, performance and maneuverability when an actuator fault happens. The proposed fault tolerant control method consists of the following three parts: 1) a fault detection and diagnosis (FDD) module that monitors vehicle driving condition, detects and diagnoses actuator failures with the inequality constraints; 2) a motion controller that computes the generalized forces/moments to track the desired vehicle motion using Model Predictive Control (MPC); 3) a reconfigurable control allocator that redistributes the generalized forces/moments to four wheels with equality constrained optimization.

In order to reasonably match the variable stiffness suspension and optimize the ride comfort and stability of a light bus, a virtual prototype model of the light bus was established in Adams-Car. Before the optimization, the tyre mechanical characteristics were tested by using a plate-type tyre tester, then the magic formula model of the tyre (Pac2002) was obtained by means of the global parameter identification method. The vertical vibration of the virtual model was simulated with the simulated B-class road profile, and its handling stability performance was also studied by simulation of the pylon course slalom test and steady static circular test. After that, an optimal method of the variable stiffness suspension was put forward. In the proposed method, the two-level stiffness (k1, k2) and the damping of the rear suspension and the torsional stiffness of the pre and post stabilizer bars were taken as the optimal variables.

The purpose of this study is to investigate the possibility of acetone-butanol-ethanol (ABE) blended with diesel without further component recovery which has high costs blocking the industrial-scale production of bio-butanol. The combustion characteristics of ABE and diesel blends were studied in a constant volume chamber. In this study, 50% and 80% vol. ABE (without water) were mixed with diesel and the vol. % of acetone, butanol and ethanol were kept at 30%, 60% and 10% respectively. The in-cylinder pressure was recorded using a pressure transducer and the time-resolved natural luminosity was captured by high speed imaging. Combustion visualization using laser diagnostics would provide crucial fundamental information of the fuel's combustion characteristics. With the different percentage of the ABE blended in the diesel, the soot oxidation, the ignition delay and the soot lift-off length were studied in this work.

Automobile industry is facing the great challenge of energy conservation and emission reduction. It's necessary to do some researches on some surface components of a car body to find out which of them may affect aerodynamic drag remarkably. This will help an aerodynamic engineer modify an initial car model more clearly. We also hope to reduce the cost during the process, including time and resources. In this paper, with the purpose of developing an aerodynamic shape optimization process and realizing its automation, a MIRA reference car model was studied and three commercial softwares were integrated-Altair HyperStudy, HyperMesh and CD-adapco STAR-CCM+. The optimization strategy in this paper was: firstly, a DOE (design of experiment) matrix, which contained four design factors and thirty levels was created. The baseline model was morphed according to the DOE matrix. Then the morphed model's aerodynamic drag coefficient (Cd) and lift coefficient (Cl) were calculated via CFD software.