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The objective of the project was to conduct controlled test-track studies of solutions for achieving higher fuel efficiency and lower greenhouse gas emissions in the trucking industry. Using vehicles from five Canadian fleets, technologies from 12 suppliers were chosen for testing, including aerodynamic devices and low rolling resistance tires. The participating fleets also decided to conduct tests for evaluating the impact on fuel consumption of vehicle speed, close-following between vehicles, and lifting trailer axles on unloaded B-trains. Other tests targeted comparisons between trans-container road-trains and van semi-trailers road-trains, between curtain-sided semi-trailers, trans-containers and van semi-trailers, and between tractors pulling logging semi-trailers loaded with tree-length wood and short wood. The impact of a heavy-duty bumper on fuel consumption and the influence of B5 biodiesel blend on fuel consumption were also assessed.

Diesel Particulate Filters (DPF) are a key component in many on- and off-road aftertreatment systems to meet increasingly stringent particle emissions limits. Efficient thermal management and regeneration control is critical for reliable and cost-effective operation of the combined engine and aftertreatment system. Conventional DPF control systems predominantly rely on a combination of filter pressure drop measurements and predictive models to indirectly estimate the soot loading state of the filter. Over time, the build-up of incombustible ash, primarily derived from metal-containing lubricant additives, accumulates in the filter to levels far exceeding the DPF's soot storage limit. The combined effects of soot and ash build-up dynamically impact the filter's pressure drop response, service life, and fuel consumption, and must be accurately accounted for in order to optimize engine and aftertreatment system performance.

The objective of this project was to compare the fuel consumption and traction performances of 6 × 2 and 6 × 4 Class 8 tractors. Two approaches have been considered: evaluation of 6 × 2 tractors, modified from 6 × 4 tractors, and evaluation of OEM 6 × 2 tractors. Compared to the 6 × 4 tractors, which are equipped with a rear tandem with both drive axles, the 6 × 2 tractors have a rear tandem axle with one drive axle, and one non-drive axle, also called dead axle. The 6 × 2 tractor configurations are available from the majority of Class 8 tractor manufacturers. The SAE Fuel Consumption Test Procedures Type II (J1321) and Type III (J1526) were used for fuel consumption track test evaluations. Traction performances were assessed using pull sled tests to compare pulling distance, maximum speed, and acceleration when pulling the same set sled on similar surface.

Comparison studies have been conducted on a 1:16th scale model and a full scale tractor trailer of a variety of sealed aft cavity devices as a means to develop or enhance commercial drag reduction technology for class 8 vehicles. Various base cavity geometries with pressure taps were created for the scale model. The studies confirmed that length has an important effect on performance. The interaction of the boat-tailed aft cavity with other drag reduction devices, specifically side skirts, was investigated with results showing no discernable drag performance interaction between them. Overall, the experiments show that a boat-tailed aft cavity can reduce the drag up to 13%. Full-scale tests of a commercially derived product based on these scale tests were also completed using SAE Type II testing procedures. Full-scale tests indicated a fuel savings of over 6.5%.

Implementation of EPA's heavy-duty engine NOx standard of 0.20 g/bhp-hr has resulted in the introduction of a new generation of emission control systems for on-highway heavy-duty diesel engines. These new control systems are predominantly based around aftertreatment systems utilizing urea-based selective catalytic reduction (SCR) techniques, with only one manufacturer relying solely on in-cylinder NOx emission reduction techniques. As with any new technology, EPA is interested in evaluating whether these systems are delivering the expected emissions reductions under real-world conditions and where areas for improvement may lie. To accomplish these goals, an in-situ gaseous emissions measurement study was conducted using portable emissions measurement devices. The first stage of this study, and subject of this paper, focused on engines typically used in line-haul trucking applications (12-15L displacement).

Researches for automated construction machinery have been conducted for labor-saving, improved work efficiency and worker's safety, where a tracking control function was proposed as one of the key control system strategies for highly automated productive hydraulic excavators. An optimized digging trajectory that assures as much soils scooped as possible and less energy consumption is critical for an automated hydraulic excavator to improve work efficiency. Simulation models that we used to seek an optimized digging trajectory in this study consist of soil models and front linkage models of a hydraulic excavator. We developed two types of soil models. One is called wedge models used to calculate reaction forces from soils acting on a bucket during digging operation, based on the earth pressure theory. The other is called Distinct Element Method (DEM) model used to analyze soil behaviors and estimate amounts of soils scooped and reaction forces quantitatively.

The incorporation of hydrogen fuel cells into heavy duty tactical mobility vehicles can bring about great opportunities in reducing the pollutant emissions of this kind of platforms (GVW > 30,000 kg). Furthermore the transportation of fuel to operational areas has become a key aspect for any deployment therefore optimal use of this resource is of paramount importance. Finally, it is also quite common for such platforms to serve additional purposes, besides freight delivery, such as powering external equipment (i.e. field hospitals or mobile artillery pieces). This work will describe the intelligent energy management system for a PEM Fuel Cell-Battery-Ultracapacitor Hybrid 8×8 heavy truck of the aforementioned weight class which also contemplates an internal electric/traction power generation unit. It will describe how the system optimizes the use of battery and hydrogen fuel energy while keeping system efficiency and performance at a maximum.

This paper discusses the test setup and methodology required to validate complete lift axle assembly for simulating the real time test track data. The correlation of rig vs track is discussed. The approach for reduction of validation time by eliminating few of the non-damaging tracks/events, its correlation with real life condition is discussed, and details are presented. With increased competition, vehicle development time has reduced drastically in recent past. Bench test procedure using accelerated test cycle discussed in this paper will help to reduce development time and cost. Process briefed in this paper can also be used for similar test specification for other structural parts or complete suspension system of heavy commercial vehicles.

Lift axle is essentially provided in commercial vehicles to increase the vehicle’s load-carrying capacity. The axle is lowered in the case of a high payload and the load is evenly distributed among the wheels both on fixed axles and the lift axle. This ability to lift the axle implies better maneuverability in turns, better fuel consumption, and less wear and tear on the tires and brake shoes. Also, it will reduce the damage to the road surfaces. This lowering and lifting of the lift axle are controlled by a series of valves together called the Lift Axle Control System (LACS). This LACS must consider the vehicle load condition, the ignition state, and gear state to decide if the axle must be lifted or lowered. This paper deals with the modeling and simulation of the LACS system at the vehicle level and optimize the design for the respective desired design solution.

CONVENIENT is a project where prediction and integrated control are applied on several subsystems with electrified actuators. The technologies developed in this project are applied to a long-haul tractor and semi-trailer combination. A Volvo truck meeting the Eu6 emission standard is rebuilt with a number of controllable electrified actuators. An e-Horizon system collects information about future road topography and speed limits. Controllable aerodynamic wind deflectors reduce the wind drag. The tractor is also equipped with a full digital cluster for human machine interface development. A primary project goal is to develop a model-based optimal controller that uses predictive information from the e-Horizon system in order to minimize fuel consumption. Several energy buffers are controlled in an integrated and optimal way using model predictive control. Several buffers are considered, such as the cooling system, the battery, and the vehicle kinetic energy.

Displacement joystick controls are considered as most suitable for manual controls wherever proportional outputs are required for dynamic applications such as when variable speed sensitivity or position are required. These joysticks are being used widely in both open loop as well as in close loop controls. The operator applies force to either the joystick itself or to its proportional linear displacement thumb wheel switches. This movement is then detected by either resistive or Hall Effect sensors, placed right inside joystick, and converted into an electrical signal. These joysticks, along with proportional linear displacement thumb wheel switches, find a wide range of applications in off-road vehicles such construction and forestry vehicles, harvester machines, and etc. for applications like attachment speed controls, boom position control, rotation speed control, and etc.

Access method design for entry and egress of medium and heavy duty truck cabs and bodies is a critical aspect of vehicle design. Occupational injuries due to entering or exiting the truck cab, or climbing onto and off of the truck body, can be a significant percentage of a fleet's lost-time incident rate. Many vocational trucks operate in both off-road and on-road conditions, and the slip resistance of the stepping surface is an important design aspect. Examples of vocational vehicles that involve off-road operation include dump, refuse, utility, tree-trimming, and concrete trucks. Stepping surfaces in these applications must provide a balance between traction and the ability to shed water, snow, and mud. While there are a few methods and devices for measuring walking surface slip resistance, they are either complicated, or not well suited to measuring aggressive surfaces.

The winter of 2013-2014 provided an opportunity to operate off-road vehicles in cold weather for extended time as part of a vehicle/tier 4 diesel engine validation program. An unexpected area of study was the performance of high efficiency, on engine, fuel filters during continuous vehicle operation in cold weather. During the program we observed unexpected premature fuel filter plugging as indicated by an increase in pressure drop across the filter while in service. Field and laboratory testing was completed at John Deere and Donaldson to understand the cause of filter plugging. Although conditions were found where winter fuel additives could cause plugging of high efficiency filters, premature filter plugging occurred even when testing with #1 diesel fuel. This fuel contained no additives and was used at temperatures well above its cloud point.

Selective Catalytic Reduction (SCR) systems have been demonstrated as effective solutions for controlling NOx emissions from Heavy Duty diesel engines. Future HD diesel engines are being designed for higher engine out NOx to improve fuel economy, while discussions are in progress for tightening NOx emissions from HD engines post 2020. This will require increasingly higher NOx conversions across the emission control system and will challenge the current aftertreatment designs. Typical 2010/2013 Heavy Duty systems include a diesel oxidation catalyst (DOC) along with a catalyzed diesel particulate filter (CDPF) in addition to the SCR sub-assembly. For future aftertreatment designs, advanced technologies such as cold start concept (dCSC™) catalyst, SCR coated on filter (SCRF® hereafter referred to as SCR-DPF) and SCR coated on high porous flow through substrates can be utilized to achieve high NOx conversions, in combination with improved control strategies.

Using lift axles enables fleet to increase the load capacity of a vehicle, eliminating the need for multiple trips, thus reducing operational costs. In a project to assess the potential of reducing fuel consumption and greenhouse gas (GHG) emissions by lifting axles on unloaded semi-trailers, lift axle regulations in various jurisdictions and the studies that led to these regulations were analyzed. The SAE Fuel Consumption Test Procedures Type II (J1321) was used for fuel consumption track test evaluations. The tests were conducted on unloaded two-axle van semi-trailers, four-axle van semitrailers, and B-trains, and resulted in fuel savings of 1.3% to 4.8%, depending on vehicle configuration and the number of axles lifted during the test.

The performance of several aerodynamic technologies and approaches, such as trailer skirts, trailer boat tails, gap reduction, was evaluated using track testing, model wind tunnel testing, and CFD simulation, in order to assess the influence of the design, position and combination of various aerodynamic devices. The track test procedure followed the SAE J1321 SAE Fuel Consumption Test Procedure - Type II. Scale model wind tunnel tests were conducted to have direct performance comparisons among several possible configurations. The wind tunnel tests were conducted on a 1/8 scale model of a tractor in combination with a 53-foot semi-trailer. Among others, the wind tunnel tests and CFD simulations confirmed the influences of trailer skirts' length observed during the track tests and that the wider skirt closer to the ground offer better results. The differences in the shape, dimensions and position of rear deflectors and trailer skirts on the trailer are reflected in the test results.

For applying ISO 26262 to motorcycles, controllability classification (C class evaluation) by expert riders is considered an appropriate technique. Expert riders have evaluated commercial product development for years and can appropriately conduct vehicle tests while observing safety restrictions (such as avoiding the risk of falling). Moreover, expert riders can ride safely and can stably evaluate motorcycle performance even if the test conditions are close to the limits of vehicle performance. This study aims to construct a motorcycle C class evaluation method based on an expert rider’s subjective evaluation. On the premise that expert riders can rate the C class, we improved a test procedure that used a subjective evaluation sheet as the concrete C class evaluation method for an actual hazardous event.

The rapid innovation underway with vehicle brake safety systems leads to extensive evaluation and testing by system developers and regulatory agencies. The ability to evaluate complex heavy truck braking systems is potentially more rapid and economical through hardware-in-the-loop (HiL) simulation which employs the actual electronics and vehicle hardware. Though the initial HiL system development is time consuming and expensive, tests conducted on the completed system do not require track time, fuel, vehicle maintenance, or technician labor for driving or truck configuration changes. Truck and trailer configuration and loading as well as test scenarios can be rapidly adjusted within the vehicle dynamics simulation software to evaluate the performance of automated safety interventions (such as ESC) over a wide range of conditions.

This paper outlines a real-time hierarchical control allocation algorithm for multi-axle land vehicles with independent hub motor wheel drives. At the top level, the driver’s input such as pedal position or steering wheel position are interpreted into desired global state responses based on a reference model. Then, a locally linearized rigid body model is used to design a linear quadratic regulator that generates the desired global control efforts, i.e., the total tire forces and moments required track the desired state responses. At the lower level, an optimal control allocation algorithm coordinates the motor torques in such a manner that the forces generated at tire-road contacts produce the desired global control efforts under some physical constraints of the actuation and the tire/wheel dynamics. The performance of the proposed control system design is verified via simulation analysis of a 3-axle heavy vehicle with independent hub-motor drives.

The way to autonomous driving is closely connected to the capability of verifying and validating Advanced Driver Assistance Systems (ADAS), as it is one of the main challenges to achieve secure, reliable and thereby socially accepted self-driving cars. Hardware-in-the-Loop (HiL) based testing methods offer the great advantage of validating components and systems in an early stage of the development cycle, and they are established in automotive industry. When validating ADAS using HiL test benches, engineers face different barriers and conceptual difficulties: How to pipe simulated signals into multiple sensors including radar, ultrasonic, video, or lidar? How to combine classical physical simulations, e.g. vehicle dynamics, with sophisticated three-dimensional, GPU-based environmental simulations? In this article, we present current approaches of how to master these challenges and provide guidance by showing the advantages and drawbacks of each approach.