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This paper introduces the characteristics of the 4 wheel independent driving/4 wheel independent steering (4WID/4WIS) electric vehicle (EV). Models of Subsystems and the vehicle are constructed based on Matlab/simulink. The vehicle model allows the inputs of different drive torques and steer angles of four wheels. The dynamic characteristics of drive motors and steer motors are considered, and also it can reflect the vehicle longitudinal dynamics change due to the increase of the mass and inertia of the four wheels. Besides, drive mode selection function that is unique to this type vehicle is involved. Simulations and analyses of crab, oblique driving and zero radius turning which are the special conditions of 4WID/4WIS EV are conducted. The results show that the model can reflect the dynamic response characteristics. The model can be used to the simulation analyses of handling, stability, energy saving and control strategies verification of 4WID/4WIS EVs.

A new dynamic tire model for estimating the longitudinal/lateral road-tire friction force was derived in this paper. The model was based on the previous Dugoff tire model, in consideration of its drawback that it does not reflect the actual change trend that the tire friction force decreases with the increment of wheel slip ratio when it enters into the nonlinear region. The Dugoff model was modified by fitting a series of tire force data and compared with the commonly used Magic Formula model. This new dynamic friction model is able to capture accurately the transient behavior of the friction force observed during pure longitudinal wheel slip, lateral sideslip and combined slip situation. Simulation has been done under different situations, while the results validate the accuracy of the new tire friction model in predicting tire/road friction force during transient vehicle motion.

The accuracy of tire forces directly affects the vehicle dynamics model precision and determines the ability of the model to develop the simulation platform or design the control strategy. In the high slip angle, due to the complex interactions at tire-road interfaces, the forces generated by the tires are high nonlinearity and uncertainty, which pose issues in calculating tire force accurately. This paper presents a hybrid physical and data-driven tire force calculation framework, which can satisfy the high nonlinearity and uncertainty condition, improve the model accuracy and effectively leverage prior knowledge of physical laws. The parameter identification for the physical tire model and the data-based compensation for the unknown errors between the physical tire model and actual tire force data are contained in this framework. First, the parameters in the selected combined-slip Burckhardt tire model are identified by the nonlinear least square method with tire test data.

Transport vehicles consume a large amount of fuel with low efficiency, which is significantly affected by drivers' behaviors. An assessment system of eco-driving pattern for buses could identify the deficiencies of driver operation as well as assist transportation enterprises in driver management. This paper proposes an assessment method regarding drivers' economic efficiency, considering driving conditions. To this end, assessment indexes are extracted from driving economy theories and ranked according to their effect on fuel consumption, derived from a database of 135 buses using multiple regression. A layered structure of assessment indexes is developed with application of AHP, and the weight of each index is estimated. The driving pattern score could be calculated with these weights.

The earth's fossil energy is not limitless, and we should be taking advantage of the highly developed fields of science and technology to utilize it more efficiently and to create a fully environmentally friendly life. Considering the prodigious amount of vehicles in the world today, even a small improvement in their energy-saving performance could have a significant impact. In this paper, a new type of electro-hydraulic power steering (EHPS) system is described. It has two main advantages. First, it can significantly decrease the demand on the motor so that it can be used for a wider range of vehicles. Second, its pressure-flow characteristic can be programmed and is more flexible than hydraulic power steering (HPS) system. A prototype with a 500 W motor was applied to a truck with a front load of 2,700 kg, and static steer sweep tests were conducted to validate its feasibility.

Knowledge of the tire slip ratio can greatly improve vehicle longitudinal stability and its dynamic performance. Most conventional slip ratio observers were mainly designed based on input of non-driven wheel speed and estimated vehicle speed. However, they are not applicable for electric vehicles (EVs) with four in-wheel motors. Also conventional methods on speed estimation via integration of accelerometer signals can often lead to large offset by long-time integral calculation. Further, model uncertainties, including steady state error and unmodeled dynamics, are considered as additive disturbances, and may affect the stability of the system with estimated state error. This paper proposes a novel slip ratio observer based on input-to-state stability (ISS) method for electric vehicles with four-wheel independent driving motors.

A high-precision steady state tire model is critical in the tire and vehicle matching research. For the moment, the popular Magic Formula model is an empirical model, which requires the pure and combined test data to identify the model parameters. Although MTS Flat-trac is an efficient tire test rig, the long test period and high test cost of a complete tire model tests for handling are yet to be solved. Therefore, it is necessary to explore a high accuracy method for predicting tire complex mechanical properties with as few test data as possible. In this study, a method for predicting tire combined slip characteristics from pure cornering and pure longitudinal test data has been investigated, and verified by comparing with the test data. Firstly, the prediction theory of UniTire model is introduced, and the formula for predicting combined slip characteristics based on constant friction coefficient is derived.

Velocity prediction on hilly road can be applied to the energy-saving predictive control of intelligent vehicles. However, the existing methods do not deeply analyze the difference and diversity of road slope driving characteristics, which affects prediction performance of some prediction method. To further improve the prediction performance on road slope, and different road slope driving features are fully exploited and integrated with the common prediction method. A rolling prediction-based multi-scale fusion prediction considering road slope transition driving characteristics is proposed in this study. Amounts of driving data in hilly sections were collected by the advanced technology and equipment. The Markov chain model was used to construct the velocity and acceleration joint state transition characteristics under each road slope transition pair, which expresses the obvious driving difference characteristics when the road slope changes.

In this paper, a sliding mode observer for estimating vehicle slip angle and tire forces is developed. Firstly, the sliding mode observer design approach is presented. A system damping is included in the sliding mode observer to speed the observer convergence and to decrease the observer chattering. Secondly, the sliding mode observer for vehicle states is developed based on a 7 DOF embedded vehicle model with a nonlinear tire model ‘UniTire’. In addition, since the tire lateral stiffness is sensitive to the vertical load, the load transfers are considered in the embedded model with a set of algebraic equations. Finally, a simulation evaluation of the proposed sliding mode observer is conducted on a validated 14 DOF vehicle model. The simulation results show the model outputs closely match the estimations by the proposed sliding mode observer.

Internal combustion engines, as the dominant power source in the transportation sector and the primary contributor to carbon emissions, face both significant challenges and opportunities in the context of achieving carbon neutral goal. Biofuels, such as biodiesel produced from biomass, and zero-carbon fuel ammonia, can serve as alternative fuels for achieving cleaner combustion in internal combustion engines. The dual-fuel combustion of ammonia-biodiesel not only effectively reduces carbon emissions but also exhibits promising combustion performance, offering a favorable avenue for future applications. However, challenges arise in the form of unburned ammonia (NH3) and N2O emissions. This study, based on a ammonia-biodiesel duel-fuel engine modified from a heavy-duty diesel engine, delves into the impact of adjustments in the two-stage injection strategy on the combustion and emission characteristics.

With the development of intelligent and electric vehicles, higher requirements are put forward for the active braking and regenerative braking ability of the braking system. The traditional braking system equipped with vacuum booster has difficulty meeting the demand, therefore it has gradually been replaced by the integrated braking system. In this paper, a novel Integrated Braking System (IBS) is presented, which mainly contains a pedal feel simulator, a permanent magnet synchronous motor (PMSM), a series of transmission mechanisms, and the hydraulic control unit. As an integrative system of mechanics-electronics-hydraulics, the IBS has complex nonlinear characteristics, which challenge the accurate pressure control. Furthermore, it is a completely decoupled braking system, the pedal force doesn’t participate in pressure-building, so it is necessary to precisely identify driver’s braking intention.

The vehicle pull problem is very important to driving safety. Major factors that may cause the pull problem related to tire include variations of geometric dimension (e.g. RPK) and stiffness (e.g. cornering stiffness, aligning stiffness), plysteer and conicity. In previous research, the influencing mechanism of these factors was well studied. But in fact, vehicle pull problem caused by tire is probabilistic. When we assemble four tires onto the car, there could be 384 different assembly arrangements. If there are significant differences among these four tires, there will also be significant differences in the influence of different tire assembly schemes on vehicle pull, which has not been systematically discussed in previous studies. If we want to evaluate the pull performance of all these arrangements by vehicle test, it will be a time consuming process which will take almost 24 working days, along with a high test expense.

It's important to monitor the longitudinal friction at the tire/road interface for automotive dynamic control systems like ABS and ASR. Of all the tire friction models the empirical model provides a good illustration on longitudinal wheel forces. An improved exponential friction model based on vehicle driving states was proposed in this paper, the model can monitor the friction characteristics between the tire and road surface for longitudinal braking. Its validity was proven using experiments and comparison with the Pacejka Magic Formula (MF) model and others.

Failure of high voltage cables (HVCs) which sometimes occurs in electric vehicle collision is one of the fuses that leads to severe thermal runaway of the traction battery system, which has not gotten thorough investigations. This paper presents an experiment and simulation study on the failure behaviors of HVCs under indentation loadings. Tests were performed with different combinations of indenter (cylinder indenter with a diameter of 5 mm which was labeled as D5, cylinder indenter with a diameter of 15 mm which was labeled as D15 and wedge indenter with an angle of 60° which was labeled as V60) and loading speed (1.5 mm/min for quasi-static and 2m/s for dynamic). Experimental results indicated that the failure behavior of HVCs was both influenced by the indenter shape and loading speeds. Sharp indenter will led to a component failure sequence from outmost to innermost.

With the development of intelligent vehicle and active vehicle safety systems, the demand of sensors is increasing, especially in-tire sensors. Tire parameters are essential for vehicle dynamic control, including tire pressure, tire temperature, slip angle, longitudinal force, etc.. The diversification and growth of in-tire sensors require adequate power supply. Traditionally, embedded batteries are used to power sensors in tire, however, they must be replaced periodically because of the limited energy storage. The power limitation of the batteries would reduce the real-time data transmission frequency and deteriorate the vehicle safety. Heightened interest focuses on generating power through energy harvesting systems in replace of the batteries. Current in-tire energy harvesting devices include piezoelectric, electromagnetic, electrostatic and electromechanical mechanism, whose energy sources include tire deformations, vibrations and rotations.

Active collision avoidance can assist drivers to avoid longitudinal collision through active brake. Regenerative braking can improve the driving range and braking response speed. At this stage, conventional hydraulic braking system limits the implements of above technologies because of its poor performance of response speed and coordinated control. While the brake-by-wire system is a better actuator that can fulfill requirements of automotive electric and intelligent development due to its rapid response and flexible adjustment. However, the system control algorithm becomes more complicated with introduction of regenerative braking and active collision avoidance function, which is also the main problem solved in this paper.

The traditional vacuum booster is gradually replaced by Brake-by-Wire system (BBW) in modern passenger car, especially Electric Vehicle (EV). Some mechanical and hydraulic components are replaced by electronic components in Brake-by-Wire system. Using BBW system in modern passenger vehicles can not only improve the automotive safety performance, reliability and stability, but also promote vehicle maneuverability, comfort, fuel economy and environmental protection. Although vehicle's braking performance is greatly improved by using BBW, the system will inevitably consume some energy of the vehicle power supply, thus introducing unexpected drawback in comparison with the traditional vacuum assist braking system, since it doesn't need any electric power. Therefore, the analysis of energy consumption on typical main cylinder booster based BBW system under typical driving cycles will contribute to advanced design of current advanced braking system.

Ambient temperature is a very sensitive use condition for electric vehicles (EVs), so it is imperative to ensure the maintenance of suitable temperature. This is particularly important in regions characterized by prolonged exposure to unfavorable temperature conditions. In such cases, it becomes necessary to implement insulation measures within parking facilities and allocate energy resources to sustain a desired temperature level. Solar energy is a renewable and environmentally friendly source of energy that is widely available. However, the effectiveness of utilizing solar energy is influenced by various factors, such as the time of day and weather conditions. The use of phase change material (PCM) in a latent heat energy storage (LHES) system has gained significant attention in this field. In contrast to single-phase energy storage materials, PCM offer a more effective heat storage capacity.

The pia-arachnoid complex (PAC) covering the brain plays an important role in the mechanical response of the brain due to impact or inertial loading. The mechanical properties of the bovine PAC under tensile loading have been characterized previously. However, the transverse properties of this structure, such as shear and normal traction which are equally important to understanding the skull/brain interaction under traumatic loading, have not been investigated. These material properties are essential information needed to adequately define the material model of the PAC in a finite element (FE) model of human brain. The purpose of this study was to determine, experimentally, the material properties of the PAC under normal traction loading. PAC specimens were obtained from freshly slaughtered bovine subjects from various locations.

A vehicle’s NVH performance has a significant impact on the user experience of the driver and passengers. About one-third of the vehicle complaints are related to NVH performance. As the core component of the vehicle, the drivetrain’s NVH characteristics have a significant impact on vehicle comfort. How to reliably and stably reproduce the specific condition of the whole vehicle through the test method, and obtain the highly consistent objective data for analyzing and improving the NVH characteristics of the drivetrain is of great significance in engineering. For this purpose, China Automotive Technology Research Center Co., Ltd. (CATARC) designed and built a new type drivetrain NVH test facility, which consists of five dynamometers, and can carry horizontal/vertical, front/rear drive or four-wheel drive structures including powertrain, transmission, and rear axle, or even a whole vehicle.