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Robust data association is a core problem of visual odometry, where image-to-image correspondences provide constraints for camera pose and map estimation. Current state-of-the-art visual semantic odometry uses local map points semantics, building semantic residuals associated with all classes to realize medium-term tracking of points. Considering the problem of inefficient semantic data associations and redundant semantic observation likelihood model in the visual semantic odometry, we propose a visual odometry, Local Semantic Odometry (LVSO), which is integrated with medium-term semantic constraints based on local nearest neighbor distance model.

Electric vehicle motors have the characteristics of fast torque response, large amplitude, and braking feedback torque. Therefore, the excitation of the electric vehicle powertrain has obvious transient impact characteristics, which put forward new requirements for the design of the mounting system. This article carried out the real vehicle test of rapid acceleration and rapid deceleration. A 12-degree-of-freedom nonlinear dynamic model of the electric vehicle mounting system is established. The model is used to calculate the vibration acceleration of the active side and the passive side of the mount, and compared with the test value to verify the correctness of the simulation model. The impact degree, the maximum pitch angle of the powertrain, and the longitudinal acceleration of the powertrain centroid are used as evaluation indicators to analyze the transient response of the electric vehicle mounting system under rapid acceleration and rapid deceleration conditions.

For the improvement of the vehicle yaw stability, this paper studies the control problem of the active front steering (AFS) system with actuator input delay. A novel sliding mode predictive control method to handle actuator input delay is proposed for the AFS system. Firstly, considering the nonlinearities of the vehicle system, a linear parameter varying vehicle system model with two-level structure is proposed to capture the vehicle dynamic behaviors. Secondly, to deal with the issues of actuator input delay and system constraints, a novel sliding mode predictive control method is put forward. In the process of controller design, a sliding mode control algorithm is employed for the improvement of the robustness of the control system, and then a model predictive control algorithm is employed to deal with system constraints.

The influence of the channels of a liquid-cooled plate on the heat dissipation performance of battery module is investigated in this paper. A topology optimization method for obtaining channel configurations of the liquid cooled plate is presented. Firstly, the battery pack cooling system test platform is built to test the flow resistance of the liquid-cooled plate under different flow rates and the maximum temperature and temperature difference of the battery under different working conditions. Secondly, the geometric model of the battery pack is established, and CFD software is used to simulate according to the test conditions. The test results validate the correctness of the model. Then, taking the average surface temperature of the liquid-cooled plate as the optimization objective, the topology optimization structure of the liquid-cooled plate is obtained by variable density method.

The breaking torque is an essential property that identifies the strength of driveshafts under high torque loads. In the breaking torsion test, the constant velocity joint of the driveshafts is usually loaded slowly at a very slow rotating speed under a specific joint angle until it breaks. Under different joint angles, the Rzeppa type constant velocity joint, namely ball joints (BJ), will break at different positions and with different torques. Common results of fracture position include the shaft of the outer race, the shell of the outer race, and the cage column. Simultaneously, the plastic deformation caused by compressive stress occurs at the specific position of the ball track and the cage. In order to analyze the failure reason of the ball joint under a larger joint angle, the quasi-static finite element simulations and test methods are used to analyze the damage caused by stress distribution based on material properties.

The trajectory planning and the accurate path tracking are the two key technologies to realize the intelligent driving. The research of the steering wheel angle plays an important role in the path tracking. The purpose of this study is to optimize the steering wheel angle input during the automated lane changing. A dynamic programming approach to trajectory planning is proposed in this study, which is expected to not only achieve a quick reaction to the changing driving environment, but also optimize the balance between vehicle performance and driving efficiency. First of all, the lane changing trajectory is planned based on the positive and negative trapezoidal lateral acceleration method. In addition, the multi-objective optimization function is built which includes such indexes: lateral acceleration, lateral acceleration rate, yaw rate, lane changing time and lane changing distance.

The working principle and performance test method of the gerotor pump with multi-arc combined profile are introduced. According to the formation method of the rotor tooth profile, the calculation method of the inner rotor tooth profile is introduced, and the meshing characteristics of the inner and outer rotors are analyzed. On this basis, a calculation method for the displacement and instantaneous flow rate of the gerotor pump with multi-arc combined profile is proposed. In addition, a calculation model of the flow field characteristics of the gerotor pump with multi-arc combined profile is established, and the validity of the model is verified by experiments. Based on the model of traditional single-arc gerotor pump and the model of the gerotor pump with multi-arc combined profile, the flow rate, internal flow velocity, pressure distribution and gas volume fraction distribution under different working conditions are calculated respectively.

Electric vehicle battery thermal management based on liquid cooling is the mainstream form of cooling for new energy vehicles. According to energy consumption, the system is divided into active cooling system and passive cooling system. The cooling of battery modules in these two cooling systems is carried out by liquid-cooled plate, which is connected in series in the cooling system. Therefore, the design of the liquid-cooled plate has a great impact on the effect of battery heat dissipation. In this paper, considering the advantages of existing liquid-cooled plates, the author proposed a series-parallel hybrid dc channel liquid-cooled plate structure, taking square lithium iron phosphate battery pack as the research object. Finally, the effects of different inlet flows and temperatures of the liquid-cooled plate on the thermal performance of the liquid-cooled plate were investigated by using single factor analysis.

A non-linear viscoelastic constitutive model composed of Mooney-Rivlin model and multiple Maxwell models is used to calculate the high frequency dynamic characteristics of rubber mounts. The equivalent mechanical model of the rubber vibration mount is established and the difference between the drive-point dynamic stiffness and the cross-point dynamic stiffness is analyzed. The analysis shows that the use of the cross-point dynamic characteristic test method can eliminate the influence of the additional inertial force in the test, which is suitable for rubber mounts’ high-frequency dynamic characteristics test; at the same time, a finite element model of the rubber mount is built to analyze its cross- point dynamic stiffness and drive-point dynamic stiffness. The analysis results are compared with the experimental results which verifies the finite element model and the correctness of the mechanical model.

A set of enthalpy difference test equipment is set up to test flow and heat exchange performance of chillers. The empirical correlations for the convective heat transfer coefficients on the coolant side and the refrigerant side are obtained by fitting the test data, and a two-particle lumped parameter model of the chiller is established. Based on this, the heat exchange performance of the chiller under different operating conditions is given. The effects of herringbone corrugated plate parameters, including angle, pitch, and depth, on flow and heat exchange performance of chillers under different flow rates are further studied. Using the Wilson plot method in test design, the thermal resistance of convective heat transfer on each side is separated from the total thermal resistance to calculate the convective heat transfer coefficient.

To solve the contradiction between model complexity and the warning accuracy of the algorithm of the vehicle rollover warning, a rollover state warning method based on the secondary predictive zero-moment point position for vehicles is proposed herein. Taking a sport utility vehicle(SUV) as the research object, a linear three-degrees-of-freedom vehicle rollover dynamics model is established. On the basis of the model, the lateral position of the zero-moment point and its primary and secondary rates of change are calculated. Then, the theoretical solution of time-to-rollover of the vehicles is deduced from the lateral position of the secondary predictive zero-moment point. When the rollover warning index, the lateral position of the zero-moment point, is greater than the set threshold, the active anti-rollover control system will be triggered. The active anti-rollover braking control system adopts a hierarchical control strategy.

The vehicle will produce certain shock and vibration during the braking process, which will affect the driving experience of the driver. Aiming at the problems of pitch vibration, longitudinal vibration and shock during the braking process, this paper proposes a planning and following control method for target longitudinal acceleration in post-braking phase, and designs control trigger strategies. Target longitudinal acceleration planning takes minimizing longitudinal shock as the design goal. The following control takes the brake pressure as the control object, and adopts the “feedforward +PID feedback” method to follow the target longitudinal acceleration. Besides, considering the safety of braking process, the trigger condition of control is designed which utilizes BP neural network method to judge whether the control has to be triggered. Based on Simulink software, the simulation model of straight-line braking is established.

With the popularity of battery electric vehicles, the engine of the vehicle disappears, so the problem of road noise in cars is becoming more and more prominent. Road noise into the car can be divided into structure-borne noise and airborne noise, this paper only focuses on the airborne noise above 500Hz, completely ignoring the structure-borne noise. A transfer path analysis model with “Intermediate Response Points” is proposed to accurately represent the transfer path of each airborne noise through the setting of “Intermediate Points”. In the Vehicle Semi-Anechoic Room With 4×4 NVH Chassis Dyno, it is possible to create a working condition with only four tires running, so only the tire noise is considered in this paper. The frequency response function is tested in the Semi-Anechoic Chamber and the operating data is tested in the Vehicle Semi-Anechoic Room With 4×4 NVH Chassis Dyno.

In order to improve the ride comfort and road friendliness of heavy commercial vehicles, a lateral interconnected air suspension system is developed. Based on the theory of thermodynamics and vehicle dynamics, a Ten-degree-of-freedom vehicle dynamics model with lateral interconnected air suspension is established. Interconnected pipeline parameters’ influence on characteristics of air suspension system in whole vehicle are calculated and analyzed. Simulation results show that the stiffness of air suspension decreases gradually with the increase of interconnected pipeline diameter. The designed interconnected air spring experiments verify the simulation results. Simulation on vehicle dynamics models is carried out by building random road models with different roughness levels in MATLAB.

Battery Run-down under the Electric Vehicle Operation (BREVO) model is a model that links the driver’s travel pattern to physics-based battery degradation and powertrain energy consumption models. The model simulates the impacts of charging behavior, charging rate, driving patterns, and multiple energy management modules on battery capacity degradation. This study implements reinforcement learning (RL) to the simplified BREVO model to optimize drivers’ decisions on charging such as charging rate, charging time, and charging capacity needed. This is done by a reward function that considers both the driver’s daily travel demands and the minimization of battery degradation over a year. It shows that using appropriate charger type (No Charge, Level 1, Level 2, direct-current Fast Charge [DCFC], extreme Fast Charging [xFC]) with an appropriate charging time can reduce battery degradation and total charging cost at the end of the year while satisfying driver’s daily travel demand.

Air springs with auxiliary chambers (ASAC) are widely used in automotive suspension systems. The introducing of the auxiliary chamber and the connecting flow passage makes the system more complex, especially in which case an additional resonance peak caused by the air inertia in a connecting pipe appears. To characterize the nonlinear dynamic characteristics, this paper proposes a novel physical-neural network hybrid modeling method for ASACs. Firstly, experiments are carried out to measure the dynamic characteristics of ASACs. Then, based on the thermodynamic principle, a nonlinear dynamic characteristic model for the ASAC is developed and a linearized process is performed to obtain a linearized physical model. Due to the amplitude dependence and frequency dependence in the dynamic characteristics of ASACs, the physical model cannot accurately characterize these nonlinearities.

As an important vibration damping element in automobile, the rubber mount can effectively reduce the vibration transmitted from the engine to the frame. In this study, a method of parameters identification of Mooney-Rivlin model by using surrogate model was proposed to more accurately describe the mechanical behavior of mount. Firstly, taking the rubber mount as the research object, the stiffness measurement was carried out. And then the calculation model of the rubber mount was established with Mooney-Rivlin model. Latin hypercube sampling was used to obtain the force and displacement calculation data in different directions. Then, the parameters of the Mooney-Rivlin model were taken as the design variables. And the error of the measured force-displacement curve and the calculated force-displacement curve was taken as the system response. Two surrogate models, the response surface model and the back-propagation neural network, were established.

As one of the key components of the heat pump system, the electronic expansion valve mainly plays the role of throttling and reducing pressure in the heat pump system. The refrigerant flowing through the orifice will produce complex phase change. It is of great significance to study the internal flow field by means of CFD calculations. Firstly, a three-dimensional fluid model is established and the mesh is divided. Secondly, the phase change model is selected, the material is defined and the boundary conditions are determined. According to the principle of the fluid passing through thin-walled small holes, the flow characteristics of electronic expansion valve are theoretically analyzed. Then the flow characteristics of expansion valve are numerically calculated, and a bench for testing mass flow rate of the expansion valve is built. Then the theoretical value, CFD value and experimental value are compared to verify the correctness of the established three-dimensional fluid model.

The silicone oil clutch is a device that uses the viscous shear force of silicone oil to transmit torque. Due to the difference in the rotational speed of the driving and driven parts, the silicone oil inside the clutch generates much heat, and the silicone oil temperature increases, resulting in a decrease in viscosity. Therefore, excellent thermal performance is necessary for silicone oil clutch to ensure torque transmission ability. This paper proposes a modeling method for analyzing the thermal performance of a silicone oil clutch. Firstly, the temperature measurement test for the silicone oil clutch is carried out by using wireless temperature measurement equipment. The driven speed, silicone oil temperature, and the temperature of different areas of the clutch shell are measured under different driving speeds.

Taking a closed airbag suspension system as studying objects, the nonlinear dynamic model of the reservoir, compressor, solenoid valve, pipeline and air spring is established. The compressor exhaust volume, solenoid valve flow rate and air spring charging and discharging rate are calculated and compared with experiment to validate the model. Taking pressure difference and height adjustment rate under different working conditions of an airbag suspension as control measures, a control strategy is developed based on the established nonlinear dynamic model. The result indicates that when the vehicle is in curb weight, design weight and GVW (gross vehicle weight), the working time of the compressor can be reduced by 13.6%, 15.1% and 46.5%, respectively, compared with the conventional mode, during a height adjustment cycle. Then a state observer is proposed to estimate the steady-height for reducing the disturbance of measured height from road excitation.