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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.

Performance testing and evaluation always plays an important role in the developmental process of a vehicle, which also applies to autonomous vehicles. The complex nature of an autonomous vehicle from architecture to functionality demands even more quality-and-quantity controlled testing and evaluation than ever before. Most of the existing testing methodologies are task-or-scenario based and can only support single or partial functional testing. These approaches may be helpful at the initial stage of autonomous vehicle development. However, as the integrated autonomous system gets mature, these approaches fall short of supporting comprehensive performance evaluation. This paper proposes a novel hierarchical and systematic testing and evaluation approach to bridge the above-mentioned gap.

Due to the high cost of torque sensors, a calculation model of transient torque is required for real-time coordinating control purpose, especially in hybrid electric powertrains. This paper presents a feedforward calculation method based on mean value model of turbocharged non-EGR diesel engines. A fitting variable called fuel coefficient is defined in an affine relation between brake torque and fuel mass. The fitting of fuel coefficient is simplified to depend only on three variables (engine speed, boost pressure, injected fuel mass). And a two-layer feedforward neural network is utilized to fit the experimental data. The model is validated by load response test and ETC (European Transient Cycle) transient test. The RMSE (root mean square error) of the brake torque is less than 3%.

Electromagnetic Valve Actuation (EVA) is considered to be a potential substitute of conventional valvetrains for automotive engines. However, valve quiet-seating (soft-landing) is difficult to be achieved. The EVA system and hence its’ mathematic model is nonlinear. Therefore, when linear control is used for EVA, firstly, the model has to be linearized at an equilibrium point through Taylor expansion. Consequently, the linearized model and control are valid only for a small range around the equilibrium point. This paper presents a control strategy for the whole transition of EVA, which combines exact linearization with Linear Quadratic Regulator (LQR). Firstly, the nonlinear EVA model is transformed to be linear in a new coordinate by using exact linearization, so the nonlinear model is not involved. Then the exact-linearized model is used for the EVA control with LQR.

The driving behaviors of young drivers under the influence of anger are analyzed by driving simulator in this paper. A total of 12 subjects are enrolled during the experiment. Standardized videos are utilized to induce the driver's anger emotion. And the driver's electrocardiogram (ECG) signal is collected synchronously and compared before and after emotional trigger, which prove the validity of emotional trigger. Based on the result, the driver's driving performance under the straight road and the curve under normal state and angry state are compared and analyzed. The results of independent sample t-test show that there are significant differences in the running time of straight sections and the standard deviation of steering wheel angle in curves between normal and angry states. In conclusion, the longitudinal and lateral operation of drivers is unstable in angry state and the driver will be more destructive to the regular driving behavior.

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.

A HIL simulator for developing vehicle adaptive cruise control systems is presented in this paper. The xPC target is used to establish real-time simulation environment. The simulator is composed of a virtual vehicle model, real components of an ACC system like ECU, electronic throttle and braking modulator, a user interface to facilitate simulation, and brake and accelerator pedals to make interactive driver inputs easier. The vehicle model is validated against data from field test. Tests of an ACC controller in the real-time are conducted on the simulator.

A multitude of recent studies are suggestive of the EV as a paramount representative of the NEV, its development direction is transformed from “individuals adapt to vehicles” to “vehicles serve for occupants”. The multi-mode drive control technology is relatively mature in traditional auto control sphere, however, a host of EV continues to use a single control strategy, which lacks of flexibility and diversity, little if nothing interprets the vehicle performances. Furthermore, due to the complex road environment and peculiarity of vehicle occupants that different requirement has been made for vehicle performance. To solve above problems, this paper uses the key technology of mathematical statistics process in MATLAB, such as the mean, linear fitting and discrete algorithms to clean up, screening and classification the original data in general rules, and based on short trips in the segments of kinematics analysis method to establish a representative of quintessential driving cycle.

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.

Road test simulation on test rig is widely used in the automobile industry to shorten the development circles. However, there is still room for further improving the time cost of current road simulation test. This paper described a new method considering both the damage error and the runtime of the test on a multi-axial test rig. First, the fatigue editing technique is applied to cut the small load in road data to reduce the runtime initially. The edited road load data could be reproduced on a multi-axial test rig successfully. Second, the rainflow matrices of strains on different proving ground roads are established and transformed into damage matrices based on the S-N curve and Miner rules using a reduction method. A standard simulation test for vehicle reliability procedure is established according to the proving ground schedule as a target to be accelerated.

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.

The electromagnetic regenerative suspension has attracted much attention recently due to its potential to improve ride comfort and handling stability, at the same time recover kinetic energy which is typically dissipated in traditional shock absorbers. The key components of a ball-screw regenerative suspension system are a motor, a ball screw and a nut. For this kind of regenerative suspension, its damping character is determined by the motor's torque-speed capacity, which is different from the damping character of the traditional shock absorber. Therefore, it is necessary to establish a systematic approach for the parameter matching of ball-screw regenerative suspension, so that the damping character provided by it can ensure ride comfort and handling stability. In this paper, a 2-DOF quarter vehicle simulation model with regenerative suspension is constructed. The effects of the inertia force on ride comfort and handling stability are analyzed.

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.

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.

The Electronic Stability Program (ESP), as a key actuator of traditional automobile braking system, plays an important role in the development of intelligent vehicles by accurately controlling the pressure of wheels. However, the ESP is a highly nonlinear controlled object due to the changing of the working temperature, humidity, and hydraulic load. In this paper, an accurate pressure control strategy of single wheel during active braking of ESP is proposed, which doesn’t rely on the specific parameters of the hydraulic system and ESP. First, the structure and working principle of ESP have been introduced. Then, we discuss the possibility of Pulse Width Modulation (PWM) control based on the mathematical model of the high-speed switching valve. Subsequently, the pressure building characteristics of the inlet and outlet valves are analyzed by the hardware in the Loop (HiL) experimental platform.

This paper has designed a real time control algorithm to use ISG motor actively compensate the torque ripple produced by the engine, to reduce torsional vibration. This paper consists of 3 parts. In the first section, this paper has introduced the research object and its modification for experiments. Then the development of control strategy is presented. The engine dynamic model is built, and real-time control with a feedforward unit and a feedback unit is derived. Encoder and cylinder pressure is used for engine torque estimator. Then the ISG motor output the counter-waveform to make the overall output smooth. In order to verify the effectiveness of the control strategy, the final section has established a test bench, where two experiments are carried out. One of the experimental conditions is to set the engine at a constant operating point, while the other is to crank the engine from 0 rpm to idle speed with ISG motor.

Active control of low-frequency engine order noise helps to improve the passenger’s sense of hearing, so it has become one of the hot topics in the automotive field. Depth improvement of active noise control (ANC) performance from the perspective of novel algorithms has attracted the attention of researchers. The conventional notch dual-channel filtered-x least mean square (NDFxLMS) algorithm shows acceptable noise reduction for the elimination of engine order noise. To further enhance the steady-state ANC effect, this paper proposed two new notch algorithms: the notch dual-channel filtered-x recursive least square (NDFxRLS) algorithm and the notch dual-channel affine projection (NDAP) algorithm. Vehicle simulation tests show that both the proposed algorithms, especially the NDFxRLS algorithm, have a satisfying performance for the cancellation of interior noise from the engine.

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.

Safety of buses is crucial because of the large proportion of the public transportation sector they constitute. To improve bus safety levels, especially to avoid driver error, which is a key factor in traffic accidents, we designed and implemented an intelligent bus called iBus. A robust system architecture is crucial to iBus. Thus, in this paper, a novel self-driving system architecture with improved robustness, such as to failure of hardware (including sensors and controllers), is proposed. Unlike other self-driving vehicles that operate either in manual driving mode or in self-driving mode, iBus offers a dual-control mode. More specifically, an online hot standby mechanism is incorporated to enhance the reliability of the control system, and a software monitor is implemented to ensure that all software modules function appropriately. The results of real-world road tests conducted to validate the feasibility of the overall system confirm that iBus is reliable and robust.

The ability of actively adjusting attitude provides a great advantage for those vehicles used in special environments such as off-road environment with extreme terrains and obstacles. It can improve vehicles’ stability and performance. This paper proposes an attitude control system for realizing the active attitude adjustment and vehicle motion control in the same time. The study is based on a vehicle with six wheel independent drive and six independent suspensions (6WIDIS), which is a kind of unmanned vehicle with six in-wheel drives and six independent hydro pneumatic suspensions. With the hydro- pneumatic suspensions, the vehicle’s attitude can be actively adjusted. This paper develops a centralized- distributed control strategy with attitude information obtained by multi-sensor fusion, which can coordinate the complex relationship among the six wheels and suspensions. The attitude control system consists of three parts.