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Journal Article

Cybersecurity Considerations for Heavy Vehicle Event Data Recorders

Abstract Trust in the digital data from heavy vehicle event data recorders (HVEDRs) is paramount to using the data in legal contests. Ensuring the trust in the HVEDR data requires an examination of the ways the digital information can be attacked, both purposefully and inadvertently. The goal or objective of an attack on HVEDR data will be to have the data omitted in a case. To this end, we developed an attack tree and establish a model for violating the trust needed for HVEDR data. The attack tree provides context for mitigations and also for functional requirements. A trust model is introduced as well as a discussion on what constitutes forensically sound data. The main contribution of this article is an attack tree-based model of both malicious and accidental events contributing to compromised event data recorder (EDR) data. A comprehensive list of mitigations for HVEDR systems results from this analysis.
Journal Article

Assessing Road Load Coefficients of a Semi-Trailer Combination Using a Mechanical Simulation Software with Calibration Corrections

Abstract The study of road loads on trucks plays a major role in assessing the effect of heavy-vehicle design on fuel conservation measures. Coastdown testing with full-scale vehicles in the field offers a good avenue to extract drag components, provided that random instrumentation faults and biased environmental conditions do not introduce errors into the results. However, full-scale coastdown testing is expensive, and environmental biases which are ever-present are difficult to control in the results reduction. Procedures introduced to overcome the shortcomings of full-scale field testing, such as wind tunnels and computational fluid dynamics (CFD), though very reliable, mainly focus on estimating the effects of aerodynamic drag forces to the neglect of other road loads which should be considered.
Journal Article

An Approach for Heavy-Duty Vehicle-Level Engine Brake Performance Evaluation

Abstract An innovative analysis approach to evaluate heavy-duty vehicle downhill engine brake performance was developed. The vehicle model developed with GT-Drive simulates vehicle downhill control speeds with different engine brake retarding powers, transmission gears, and vehicle weights at sea level or high altitude. The outputs are then used to construct multi-factor parametric design charts. The charts can be used to analyze the vehicle-level engine brake capabilities or compare braking performance difference between different engine brake configurations to quantify the risk of engine retarding power deficiency at both sea level and high altitude downhill driving conditions.
Journal Article

Onboard Natural Gas Reforming for Heavy Duty Vehicles

Abstract Powertrain simulations and catalyst studies showed the efficiency credits and feasibility of onboard reforming as a way to recover waste heat from heavy duty vehicles (HDVs) fueled by natural gas (NG). Onboard reforming involves 1) injecting NG into the exhaust gas recycle (EGR) loop of the HDV, 2) reforming NG on a catalyst in the EGR loop to hydrogen and carbon monoxide, and 3) combusting the reformed fuel in the engine. The reformed fuel has increased heating value (4-10% higher LHV) and flame speed over NG, allowing stable flames in spark ignition (SI) engines at EGR levels up to 25-30%. A sulfur-tolerant reforming catalyst was shown to reform a significant amount of NG (15-30% conversion) using amounts of precious metal near the current practice for HDV emissions control (10 g rhodium). Engine simulations showed that the high EGR levels enabled by onboard reforming are used most effectively to control engine load instead of waste-gating or throttling.
Journal Article

Fatigue Evaluation of Multi-Degree of Freedom, Frequency Domain, Stochastic, Truck Road Load Models

Abstract A number of semi-deterministic and stochastic formulations of multi-degree of freedom, frequency domain load models for heavy truck chassis are proposed and evaluated. The semi-deterministic models aim at reproducing the damage of a specific vehicle, while the stochastic ones aim to describe a collection of vehicle loads. The stochastic models are divided into two groups: Monte Carlo based and models based on single spectrum matrices. In both cases, the objective is to provide a load model that may be used to produce a design with a certain probability of survival. The goodness of the models is evaluated through a comparison of their damage outcomes with the corresponding damages of a set of time domain loads. This original time domain load set consists of chassis accelerations collected from seven physical trucks.
Journal Article

Electrifying Long-Haul Freight—Part II: Assessment of the Battery Capacity

Abstract Recently, electric heavy-duty tractor-trailers (EHDTTs) have assumed significance as they present an immediate solution to decarbonize the transportation sector. Hence, to illustrate the economic viability of electrifying the freight industry, a detailed numerical model to estimate the battery capacity for an EHDTT is proposed for a route between Washington, DC, to Knoxville, TN. This model incorporates the effects of the terrain, climate, vehicular forces, auxiliary loads, and payload in order to select the appropriate motor and optimize the battery capacity. Additionally, current and near-future battery chemistries are simulated in the model. Along with equations describing vehicular forces based on Newton’s second law of motion, the model utilizes the Hausmann and Depcik correlation to estimate the losses caused by the capacity offset of the batteries. Here, a Newton-Raphson iterative scheme determines the minimum battery capacity for the required state of charge.
Journal Article

Prediction and Control of Response Time of the Semitrailer Air Braking System

Abstract The response time of the air braking system is the main parameter affecting the longitudinal braking distance of vehicles. In this article, in order to predict and control the response time of the braking system of semitrailers, an AMESim model of the semitrailer braking system involving the relay emergency valve (REV) and chambers was established on the basis of analyzing systematically the working characteristics of the braking system in different braking stages: feedback braking, relay braking, and emergency braking. A semitrailer braking test bench including the brake test circuit and data acquisition system was built to verify the model with typical maneuver. For further evaluating the semitrailer braking response time, an experiment under different control pressures was carried out. Experimental results revealed the necessity of controlling the response time.
Journal Article

A Kinematic Modeling Framework for Prediction of Instantaneous Status of Towing Vehicle Systems

Abstract A kinematic modeling framework was established to predict status (position, displacement, velocity, acceleration, and shape) of a towing vehicle system with different driver inputs. This framework consists of three components: (1) a state space model to decide position and velocity for the vehicle system based on Newton’s second law; (2) an angular acceleration transferring model, which leads to a hypothesis that the each towed unit follows the same path as the towing vehicle; and (3) a polygon model to draw instantaneous polygons to envelop the entire system at any time point.
Journal Article

Modeling and Optimal Design of All-Wheel-Drive Hybrid Light Trucks

Abstract Fuel economy and performance are both important in the design of hybrid pickup trucks. All-wheel drive is essential to ensure superior performance compared to two-wheel-drive designs. In this article, as a comprehensive extension work to the article published in ASME Dynamic Systems and Control Conference [1] on all-wheel-drive (AWD) hybrid truck, we investigate the modeling, design, and control problem of AWD hybrid vehicles and develop a methodology to identify optimal designs. This methodology 1) formulates an automated modeling process, 2) searches exhaustively through all possible AWD designs, and 3) employs a near-optimal energy management strategy, to obtain a family of designs with superior performance and fuel economy. A design case study for a hybrid Ford F-150 is conducted, to showcase this design process.
Journal Article

Investigation on Underhood Thermal Analysis of Truck Platooning

Abstract This paper presents a combined aero-thermal computational fluid dynamic (CFD) evaluation of platooning medium duty commercial vehicles in two highway configurations. Thermal analysis comparison is made between an approach that includes vehicle drag reduction on engine heat rejection and one that does not by assuming a constant heat rejection based on open road conditions. The paper concludes that accounting for aerodynamic drag reduction on engine heat load provides a more real world evaluation than assuming a constant heat load based on open road conditions. A 3D CFD underhood thermal simulations are performed in two different vehicle platooning configurations; (i) single-lane and (ii) two-lane traffic conditions. The vehicle platooning consists of two identical vehicles, i.e. leading and trailing vehicle. In this work, heat exchangers are modeled by two different heat rejection rate models.
Journal Article

Aerodynamic Analysis of Cooling Airflow for Different Front-End Designs of a Heavy-Duty Cab-Over-Engine Truck

Abstract Improving the aerodynamics of heavy trucks is an important consideration in the strive for more energy-efficient vehicles. Cooling drag is one part of the total aerodynamic resistance acting on a vehicle, which arises as a consequence of air flowing through the grille area, the heat exchangers, and the irregular under-hood area. Today cooling packages of heavy trucks are dimensioned for a critical cooling case, typically when the vehicle is driving fully laden, at low speed up a steep hill. However, for long-haul trucks, mostly operating at highway speeds on mostly level roads, it may not be necessary to have all the cooling airflow from an open-grille configuration. It can therefore be desirable for fuel consumption purposes, to shut off the entire cooling airflow, or a portion of it, under certain driving conditions dictated by the cooling demands. In Europe, most trucks operating on the roads are of cab-over-engine type, as a consequence of the length legislations present.
Journal Article

Measurement and Analysis of the Operations of Drayage Trucks in the Houston Area in Terms of Activities and Exhaust Emissions

Abstract The effects of exhaust emissions on public welfare have prompted the US Environmental Protection Agency to take various actions toward understanding, modeling, and reducing air pollution from vehicles. This study was performed to better understand exhaust emissions of heavy-duty diesel-powered tractor-trailer trucks that operate in drayage service, which involves the moving of shipping containers to or from port terminals. The study involved the use of portable emissions measurement systems (PEMS) to measure both gaseous and particulate matter (PM) mass emission rates and record various vehicle and engine parameters from the test trucks as they performed their normal drayage service. These measurements were supplemented with port terminal gate entry/exit logs for all drayage trucks entering the two Port of Houston Authority container terminals.
Journal Article

Structural Optimization of a Pickup Frame Combining Thickness, Shape and Feature Parameters for Lightweighting

Abstract The methods for improving the torsion stiffness of a pickup chassis frame were discussed, including increasing the part thickness on frame, enlarging the cross section of rails, and adding bulkhead feature inside the rails. Sizing optimization was conducted to get the optimal thickness configuration for frame parts and meet the siffness requirement. The cross section of frame rails were parameterized and shape optimization was conduted to get the optimal rail cross sections for stiffness improvement. Additional bulkheads were added to the frame rails, and sizing optimization conducted to find the most effective bulkheads to add and their optimal gauge. A material efficiency ratio μ is used to evaluate the efficiency of a design change with respect to torsion stiffness. Among those torsion improvement methods, adding bulkhead feature gives the highest material efficiency ratio, but the stiffness improvement range is very limited.
Journal Article

Design, Analysis, and Optimization of a Multi-Speed Powertrain for Class-7 Electric Trucks

Abstract The development, analysis, and optimization of battery electric class-7 heavy-duty trucks equipped with multi-speed transmissions are discussed in this paper. The designs of five new traction motors-fractional-slot, concentrated winding machines-are proposed for use in heavy-duty electric trucks. The procedure for gear-ratio range selection is outlined and ranges of gear ratios for three-to six-speed transmission powertrains are calculated for each of the proposed electric traction motors. The simulation and gear-ratio optimization tasks for class-7 battery electric trucks are formulated. The energy consumption of the e-truck with the twenty possible powertrain combinations is minimized over the four driving cycles and the most efficient powertrain layouts that meet the performance criteria are recommended.
Journal Article

Energy Consumption Test and Analysis Methodology for Heavy-Duty Vehicle Engine Accessories

Abstract Fuel economy is a crucial parameter in long-haulage heavy-duty vehicles. Researchers tended to focus initially on engine combustion efficiency, while modern researchers turn their attention to the energy consumption of engine accessories in an attempt to enhance fuel economy. The accessories investigated in this study include the cooling fan, water pump, air compressor, power steering pump, air-conditioning (AC) compressor, and generator. Normally, accessory energy consumption analysis is based on rig data and simulation results. Here, we focus on the disparate test environments between the rig and vehicle to establish a novel steady power test method; the proposed method provides accurate accessory power data under different working conditions. A typical highway driving cycle is selected to collect accessory duty-cycle. The heavy-duty vehicle accessories’ energy consumption distribution under highway road conditions is obtained through the repeated road tests.
Journal Article

Investigation into the Potentials of a Dedicated Multi-Point Injection System for a Production NG Single-Point Heavy-Duty Engine

Abstract CNG is at present retaining a growing interest as a factual alternative to traditional fuels for SI engines, thanks to its high potentials in reducing the engine-out emissions. Increasing thrust into the exploitation of NG in the transport field is in fact produced by the even more stringent emission regulations that are being introduced into the worldwide scenario. Moreover, the transport sector accounts for the 27% of the overall energy consumptions and up to the 13% in terms of global emissions. The present paper aims at deeply investigating into the potentials of a heavy-duty engine running on CNG and equipped with two different injection systems, an advanced single point (SP) one and a prototype multi-point (MP) one. The considered 7.8-liter engine was designed and produced to implement a SP strategy and hence modified to run with a dedicated MP system.
Journal Article

Investigations on Drive Axle Thermal Behaviour: Power Loss and Heat-Transfer Estimations

Abstract In the present study, a truck drive axle and its gear set are analysed. As the gear set is a hypoid or a spiral bevel one, sliding and so tooth friction are an important source of dissipation. Other losses are mainly due to rolling element bearings and oil churning. The power losses are first calculated according to relationships given in ISO technical report. As comparison with test results shows great discrepancies, some modifications of the previous formulae are proposed. The thermal exchanges are also reviewed. Finally, two methods to obtain the bulk temperatures of the gear set are compared: a classical approach which focuses on the gear set only and a global approach which considers the complete axle using the thermal-network method.
Journal Article

Comparative Analysis of Performance of Neural Estimators for Diagnostics in Engine Emission System

Abstract This article describes the results of a comparative performance analysis on the use of neural estimators to accurately estimate the Differential Pressure (DP) signal from diesel engine systems equipped with a Diesel Particulate Filter (DPF) aftertreatment system. For most systems, there are known and modeled relationships between system inputs and outputs; however, in the case of nonlinear, time-varying systems a detailed modeling of the system might not be readily available. Therefore, Artificial Neural Networks (ANNs) have been used for developing critical relationship between system inputs (engine and aftertreatment parameters) and system output (DP signal). Both batch (offline) and online learning ANN estimators have been proposed. A control-oriented engine out DPF-DP model is desirable for on-board applications as a virtual DPF-DP sensor which could be used in parallel as an alternate analytical redundancy-based sensor.
Journal Article

Development, Testing, and Assessment of a Kinematic Path-Following Model for Towing Vehicle Systems

Abstract A kinematic path-following model is developed based on an existing modeling framework established by the authors [1, 2] for prediction of the paths of towing vehicle systems. The presented path-following model determines the path of the towing vehicle using the vehicle’s speed and acceleration data collected by an inertial measurement unit (IMU). An Ackerman steering model was presented to calculate instantaneous directional angles and radii for each towed vehicle based on its geometric data and steering angle. In that model the off-tracking effect is properly captured. A 1:4 scale model for a towing vehicle system was built to test the developed steering model, and it was found that the angles and radii of the towing vehicle and each towed unit calculated using the Ackerman steering model agreed very well with those measured from the scale model.
Journal Article

Performance, Fuel Economy, and Economic Assessment of a Combustion Concept Employing In-Cylinder Gasoline/Natural Gas Blending for Light-Duty Vehicle Applications

Abstract In current production natural gas/gasoline bi-fuel vehicles, fuels are supplied via port fuel injection (PFI). Injecting a gaseous fuel in the intake port significantly reduces the volumetric efficiency and consequently torque as compared to gasoline. In addition to eliminating the volumetric efficiency challenge, direct injection (DI) of natural gas (NG) can enhance the in-cylinder flow, mixing, and combustion process resulting in improved efficiency and performance. A computational fluid dynamics (CFD) approach to model high-pressure gaseous injection was developed and validated against X-ray data from Argonne’s Advanced Photon Source. NG side and central DI of various designs and injection strategies were assessed experimentally along with CFD correlation. Significant effects on combustion metrics were quantified and explained via improved understanding of the in-cylinder flow effects due to NG injection.