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Trajectory tracking control is a core technology in intelligent vehicle autonomous driving systems, directly influencing both driving safety and control accuracy. To overcome the limitations of traditional model predictive control (MPC) in real-time performance under complex operating conditions, as well as the limited robustness of linear quadratic regulators (LQR) against system uncertainties, this article proposes a hybrid iterative LQR–MPC (ILQR-MPC) control strategy. First, a dynamic model of the intelligent vehicle is developed to capture its behavior during high-speed driving and cornering. Next, an ILQR-MPC hybrid framework is designed. By exploiting the rapid iterative optimization capabilities of the ILQR algorithm, an initial control sequence is generated for the MPC, thereby reducing the computational load during MPC’s online rolling-horizon optimization. This approach preserves MPC’s advantages in handling constraints and maintaining robustness against parameter variations
Lai, FeiSun, JunhaoHuang, Chaoqun
The SAE J1962 diagnostic connector consists of two mating connectors, the vehicle connector (see Figure 1) and the test equipment connector (see Figure 2). This document: a Defines the functional requirements for the vehicle connector. These functional requirements are separated into three principal areas: connector location/access, connector design, and connector terminal assignments. b Defines the functional requirements for the test equipment connector. These functional requirements are separated into two principal areas: connector design and connector terminal assignments.
Vehicle E E System Diagnostic Standards Committee
This SAE Recommended Practice is applicable to all light-duty and medium-duty passenger vehicles and trucks with feedback fuel control system. Specific applications of this document include diagnostic, service and repair manuals, repair data bases, and off-board readout devices. This document focuses on a diagnostic code format and code messages for automotive electronic control systems. The use and appropriate updating of this document is strongly encouraged; however, this document does not prohibit the use of additional codes for additional diagnostics.
Vehicle E E System Diagnostic Standards Committee
This SAE Recommended Practice defines the requirements of OBD II Scan Tools, i.e., test equipment that will interface with vehicle modules in support of the OBD II diagnostic requirements. It covers the required capabilities of and conformance criteria for OBD II Scan Tools.
Vehicle E E System Diagnostic Standards Committee
This SAE Recommended Practice is applicable to all light-duty and medium-duty passenger vehicles and trucks with feedback fuel control system. Specific applications of this document include diagnostic, service and repair manuals, repair databases, and off-board readout devices. This document focuses on a diagnostic code format and code messages for automotive electronic control systems. The use and appropriate updating of this document is strongly encouraged; however, this document does not prohibit the use of additional codes for additional diagnostics.
Vehicle E E System Diagnostic Standards Committee
The main purpose of this Recommended Practice is to verify that vehicles are capable of communicating a minimum subset of information, in accordance with the diagnostic test services specified in SAE J1979: E/E Diagnostic Test Modes, or the equivalent document ISO 15031-5: Communication Between Vehicle and External Equipment for Emissions-Related Diagnostics – Part 5: Emissions-related diagnostic services. Any software meeting these specifications will utilize the vehicle interface that is defined in SAE J2534, Recommended Practice for Pass-Thru Vehicle Programming.
Vehicle E E System Diagnostic Standards Committee
Vehicle electrical/electronic systems may be affected when immersed in an electromagnetic field generated by sources such as radio and TV broadcast stations, radar and communication sites, mobile transmitters, cellular phones, etc. The reverberation method is used to evaluate the immunity of electronic devices in the frequency range of 500 MHz to 2.0 GHz, with possible extensions to 200 MHz and 10 GHz, depending upon chamber size and construction. Optional pulse modulation testing at HIRF (High Intensity Radiated Fields) test levels, based upon currently known environmental threats, has been added to this revision of the standard. This document addresses the Mode Stir (Continuous Stirring) Reverberation testing method which has been successfully utilized as a design and production stage development tool for many years. The Mode Tuned (Stepped Tuner) Reverberation testing method is covered in the SAE J1113-28 document.
Electromagnetic Compatibility (EMC) Standards
This SAE Recommended Practice defines a method for evaluating the near field electric or magnetic component of the electromagnetic field at the surface of an integrated circuit (IC). This technique is capable of providing a detailed pattern of the RF sources internal to the IC. The resolution of the pattern is determined by the characteristics of the probes used and the precision of the mechanical probe positioner. The method is usable over the 10 MHz to 3 GHz frequency range with existing probe technology. The probe is mechanically scanned according to a programmed pattern in a plane parallel or perpendicular to the IC surface and the data is computer processed to provide a color-enhanced representation of field strength at the scan frequency. This procedure is applicable to measurements from an IC mounted on any circuit board that is accessible to the scan probe. For comparisons, the standardized test board shall be used. This diagnostic procedure is intended for IC architectural
Electromagnetic Compatibility (EMC) Standards
This SAE Standard defines a component-level test procedure to evaluate automotive electrical and electronic components for Conducted Emissions of transients, and for other electromagnetic disturbances, along battery feed (B+) or switched ignition inputs of a Device Under Test (DUT). Test apparatus specifications outlined in this procedure were developed for components installed in the 12-V passenger cars, light trucks, 12 V heavy-duty trucks, and vehicles with 24 V systems.
Electromagnetic Compatibility (EMC) Standards
This SAE Standard provides a general method for defining the acceptable function performance status classification for the functions of automotive electronic devices upon application of the test conditions specified as described in appropriate EMC immunity test standards (for example, SAE J1113 and SAE J551). Testing of devices could be performed either on or off vehicles. Appropriate test signal and methods, Function Performance status, and test signal severity level would have to be specified in the individual cases.
Electromagnetic Compatibility (EMC) Standards
This SAE Recommended Practice provides test procedures, performance requirements, and guidelines for cargo lamps intended for use on vehicles under 5443 kg (12000 pounds) Gross Vehicle Weight Rating (GVWR).
Signaling and Marking Devices Stds Comm
This part of SAE J1113 specifies test methods and procedures for testing electromagnetic immunity (of vehicle radiation sources) of electronic components for passenger cars and commercial vehicles. To perform this test method, the electronic module along with the wiring harness (prototype or standard test harness) and peripheral devices will be subjected to the electromagnetic disturbance generated inside an absorber-lined chamber. The electromagnetic disturbances considered in this part of SAE J1113 are limited to continuous narrowband electromagnetic fields. Immunity measurements of complete vehicles are generally only performed at the vehicle manufacturer. The reasons, for example, are high costs of a large absorber-lined chamber, preserving the secrecy of prototypes, or the large number of different vehicle models. Therefore, for research, development and quality control, a laboratory measuring method shall be applied by the manufacturers. Part 1 of SAE J1113 specifies the general
Electromagnetic Compatibility (EMC) Standards
This SAE Recommended Practice provides supporting information for the emission and immunity measurement procedures defined in the SAE J1752 series of documents.
Electromagnetic Compatibility (EMC) Standards
This engineering design specification provides parameters and general requirements for side turn signal lamps. It may be supplemented by a service performance requirement.
Signaling and Marking Devices Stds Comm
This SAE standard provides test procedures, performance requirements, design guidelines and installation guidelines for front fog lamps.
Road Illumination Devices Standards Committee
This SAE Standard applies to 145 mm nominal headlamp and floodlamp units.
OPTC3, Lighting and Sound Committee
This SAE Standard covers the general requirements and the test requirements for a flashing warning lamp for agricultural equipment.
Agricultural Tractor Standards Committee (ATSC)
This SAE Recommended Practice provides uniform definitions and classifications for motorcycles.
Motorcycle Technical Steering Committee
The purpose of this SAE Information Report is to specify the requirements necessary to fully define the Serial Data Communication Interface (SCI) used in the reprogramming of emission-related powertrain Electronic Control Units (ECU) in Fiat Chrysler Automobiles (FCA) vehicles. It is intended to satisfy new regulations proposed by the federal U.S. Environmental Protection Agency (EPA) and California Air Resource Board (CARB) regulatory agencies regarding “pass-thru programming” of all On-Board Diagnostic (OBD) compliant emission-related powertrain devices. These requirements are necessary to provide independent automotive service organizations and after-market scan tool suppliers the ability to reprogram emission-related powertrain ECUs for all manufacturers of automotive vehicles. Specifically, this document details the SCI physical layer and SCI data link layer requirements necessary to establish communications between a diagnostic tester and an ECU. It further specifies additional
Vehicle E E System Diagnostic Standards Committee
This SAE Standard provides installation requirements, test procedures, design guidelines, and performance requirements for backup/reversing lamp.
Signaling and Marking Devices Stds Comm
The scope of this recommended practice encompasses the range of environments which influence the performance and reliability of the electronic equipment designed for heavy duty on and off road vehicles, as well as any appropriate stationary applications which also use these vehicle derived components. A few examples of such vehicles are on and off highway trucks, trailers, buses, construction equipment and agricultural equipment including implements.
Truck and Bus Electrical Systems Committee