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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
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. This part of SAE J551 specifies off-vehicle radiated source test methods and procedures for testing passenger cars and commercial vehicles within a Reverberation Chamber. The method is used to evaluate the immunity of vehicle mounted electronic devices in the frequency range of 80 MHz to 2 GHz, with possible extensions 20 MHz to 10 GHz, depending upon chamber size and construction. Three methods for calibrating and applying electromagnetic fields are described in the document: 1) Mode Tuned Reverberation Chamber method, 2) Mode Stir (Standard) Reverberation Chamber method and 3) Mode Stir (Hybrid) Reverberation Chamber method. Optional pulse modulation testing at HIRF (High Intensity Radiated Fields) test levels, based upon currently known environmental
Electromagnetic Compatibility (EMC) Standards
This Technical Information Report defines the proprietary diagnostic communication protocol for ABS or VSA ECU (Electronic Control Unit) implemented on some Honda vehicles. This protocol does not apply to all Honda vehicles. This document should be used in conjunction with SAE J2534-2 in order to fully implement the communication protocol in an enhanced SAE J2534 interface. The purpose of this document is to specify the requirements necessary to implement the communication protocol in an enhanced SAE J2534 interface.
Vehicle E E System Diagnostic Standards Committee
This standard covers standardized basic tests, test methods, and requirements applicable to many of the lighting devices and components covered by SAE Standards, Recommended Practices, and Information Reports.
Test Methods and Equipment Stds Committee
This SAE Standard establishes the requirements for a Class B Data Communication Network Interface applicable to all On-and OffRoad Land-Based Vehicles. It defines a minimum set of data communication requirements such that the resulting network is cost effective for simple applications and flexible enough to use in complex applications. Taken in total, the requirements contained in this document specify a data communications network that satisfies the needs of automotive manufacturers. This specification describes two specific implementations of the network, based on media/Physical Layer differences. One Physical Layer is optimized for a data rate of 10.4 Kbps while the other Physical Layer is optimized for a data rate of 41.6 Kbps (see Appendix A for a checklist of application-specific features). The Physical Layer parameters are specified as they would be detected on the network media, not within any particular module or integrated circuit implementation. Although devices may be
Vehicle Architecture For Data Communications 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 document provides design guidelines, test procedure references, and performance requirements for omnidirectional and selective coverage optical warning devices used on authorized emergency, maintenance and service vehicles. It is intended to apply to, but is not limited to, surface land vehicles.
Emergency Warning Lights and Devices Standards Committee
This document is intended to define the standardized Diagnostic Trouble Codes (DTCs) that On-Board Diagnostic (OBD) systems in vehicles are required to report when malfunctions are detected. SAE J2012 may also be used for decoding of enhanced diagnostic DTCs and specifies the ranges reserved for vehicle manufacturer specific usage.
Vehicle E E System Diagnostic Standards Committee
This SAE Information Report identifies and defines the preferred technical guidelines relating to safety for vehicles that contain High Voltage (HV), such as Electric Vehicles (EV), Hybrid Electric Vehicles (HEV), Plug-In Hybrid Electric Vehicle (PHEV), Fuel Cell Vehicles (FCV) and Plug-In Fuel Cell Vehicles (PFCV) during normal operation and charging, as applicable. Guidelines in this document do not necessarily address maintenance, repair, or assembly safety issues.
Hybrid - EV 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 Recommended Practice provides uniform definitions and classifications for motorcycles.
Motorcycle Technical Steering Committee
This SAE Standard provides installation requirements, test procedures, design guidelines, and performance requirements for backup/reversing lamp.
Signaling and Marking Devices Stds Comm
This SAE Standard specifies the test methods and procedures for testing passenger cars and commercial vehicles to magnetic fields generated by power transmission lines and generating stations. SAE J551-1 specifies general information, definitions, practical use, and basic principles of the test procedure.
Electromagnetic Compatibility (EMC) Standards
This Technical Information Report defines the diagnostic communication protocol Keyword Protocol 1281 (KWP1281). This document should be used in conjunction with SAE J2534-2 in order to fully implement the communication protocol in an SAE J2534 interface. Some Volkswagen of America and Audi of America vehicles are equipped with ECUs, in which a KWP1281 proprietary diagnostic communication protocol is implemented. The purpose of this document is to specify the KWP1281 protocol in enough detail to support the requirements necessary to implement the communication protocol in an SAE J2534 interface device.
Vehicle E E System Diagnostic Standards Committee
This document provides design guidelines, test procedure references, and performance requirements for directional, single color, flashing optical warning devices used on authorized emergency, maintenance, and service vehicles. It is intended to apply to, but is not limited to, surface land vehicles.
Emergency Warning Lights and Devices Standards Committee
This SAE Recommended Practice provides definitions of common terms used in SAE Documents pertaining to motor vehicle lighting. It covers not only basic lighting terms but also terms which identify major segments of technical reports.
Lighting Standard Practices Committee
The methods included in this document are: a Voltage-Temperature Design Margins. b Voltage Interruptions and Transients. c Voltage Dropouts and Dips. d Current Draw Under a Number of Conditions. e Switch Input Noise These methods are best applied during the Development stage but can be used at all stages (e.g., Pre-Qualification, Qualification or Conformity).
Electromagnetic Compatibility (EMC) Standards
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 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
This SAE Standard establishes the requirements for a Class B Data Communication Network Interface applicable to all On- and Off-Road Land-Based Vehicles. It defines a minimum set of data communication requirements such that the resulting network is cost effective for simple applications and flexible enough to use in complex applications. Taken in total, the requirements contained in this document specify a data communications network that satisfies the needs of automotive manufacturers. This specification describes two specific implementations of the network, based on media/Physical Layer differences. One Physical Layer is optimized for a data rate of 10.4 Kbps while the other Physical Layer is optimized for a data rate of 41.6 Kbps (see Appendix A for a checklist of application-specific features). The Physical Layer parameters are specified as they would be detected on the network media, not within any particular module or integrated circuit implementation. Although devices may be
Vehicle Architecture For Data Communications Standards