Browse Topic: Steering systems

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Intelligent Steering System to Improve Fuel Efficiency in Heavy Duty Vehicles2026-28-0103To be published on 02/12/2026
In commercial vehicles, conventional engine-driven hydraulic steering systems result in continuous energy consumption, contributing to parasitic losses and reduced overall powertrain efficiency. This study introduces an Electric Powered Hydraulic Steering (EPHS) system that decouples steering actuation from the engine and operates only on demand, thereby optimizing energy usage. Field trials conducted under loaded conditions demonstrated a 3–6% improvement in fuel economy, confirming the system’s effectiveness in real-world applications. A MATLAB-based simulation model was developed to replicate dynamic steering loads and vehicle operating conditions, with results closely aligning with field data, thereby validating the model’s predictive accuracy. The reduction in fuel consumption directly translates to lower CO₂ emissions, supporting regulatory compliance and sustainability goals, particularly in the context of tightening emission norms for commercial fleets. These findings position
T, Aravind Muthu Suthan, Mani, Kishore, Ayyappan, Rakshna, D, Senthil Kumar, S, Mathankumar
STEERING AUTOMATION FOR LANE KEEP ASSISTANCE2026-28-0117To be published on 02/12/2026
The design of advanced driver-assistance systems (ADAS) is essential to improve the safety and autonomy of vehicles in harsh conditions. This work introduces the design and development of a steering automation system for Lane Keep Assistance (LKA) in a vehicle with a parallel steering system. The system utilizes an ArduCam module to take real-time images of the ground in front, and these are processed via machine learning techniques on a Raspberry Pi in order to identify lane edges with great precision. The corrective steering maneuvers are carried out by a motorized steering actuator based on the visual data after processing, and an encoder that is built into the actuator constantly tracks the steering angle and position. This closed-loop feedback affords accurate, real-time corrections to ensure lane discipline without driver intervention. Extensive calculations for steering effort, torque, and gear design confirm the system's mechanical viability. Combining low-cost vision sensing
A R, Arundas, Sadique, Anwar
Indirect Road Departure Mitigation System for Passenger Vehicle2026-26-0669To be published on 01/16/2026
Road departures remain a major cause of fatal accidents in passenger vehicles, especially on highways, driving the demand for robust and accessible active safety technologies. Conventional Road Departure Mitigation Systems (RDMS) typically depend on camera- or LiDAR-based sensing, which can be cost-prohibitive and challenging to integrate across diverse vehicle platforms. While existing RDMS solutions have enhanced vehicle safety, their dependency on expensive, specialized sensors limits broader adoption, particularly in cost-sensitive market segments. This study introduces a sensor-less, cost-effective Road Departure Mitigation (RDM) system that utilizes existing vehicle sensors accessed through CAN channels. A threshold-based logic algorithm processes key parameters such as vehicle speed, steering angle, yaw rate, and lateral acceleration to detect potential road departure events. Upon detection, the system initiates a two-stage intervention: a driver alert followed by automatic
Iqbal, Shoaib, Adsul, Sourabh
Investigation of Fatigue Durability Failure Mechanisms in High-Pressure Hydraulic Pipes of Power Steering Systems2026-26-0542To be published on 01/16/2026
Abstract—The high-pressure hydraulic pipeline in the power steering system is a vital component for ensuring optimal performance. During warranty analysis, leakage incidents were observed at the customer end within the warranty period. The primary factors contributing to these failures include pipe material thickness, material composition, mechanical properties, and engine-induced vibrations. This study investigates fatigue-related failures through detailed material characterization and Computer-Aided Engineering (CAE) based on real world usage road load data collected. The objective is to identify the root causes by examining the influence of varying pipe thickness on fatigue life. The investigation discovered that crack initiation predominantly occurred on the concave side of bent pipe sections, specifically on the engine-side high-pressure steering line, which is connected to the power steering pump mounted on the engine. Fracture surfaces exhibited characteristics consistent with
Survade, Lalit, Koulage, Dasharath Baliram, Biswas, Kaushik
A study on the thermal degradation of chlorinated Polyethylene rubber2026-26-0276To be published on 01/16/2026
Elastomeric materials are essential in advanced automotive engineering for mobility, isolation, damping, fluid transfer (cooling, steering, fuel, and brake), and sealing because of their unique physio mechanical properties. Elastomers are commonly used in both static and dynamic components, such as hoses, mounts, bushes, and tires. Engine emission standards and weight optimization have caused higher temperature exposure conditions for automotive components. The steering system uses special purpose elastomers like Chlorinated Polyethylene that can deteriorate under abnormal conditions during vehicle operation or manufacturing process due to the high temperature exposure. Therefore, it is crucial to comprehend the causes and consequences of thermal degradation of elastomers. Thermal degradation is a significant phenomenon that changes the physical and chemical properties of elastomers, which results in a product not meeting functional requirements. This study investigates the thermal
Thiruppathi, Anandhi, Mishra, Nitish, Krishnamoorthy, Kunju
Novel Approach for Predicting Steering Rack Load Using Multibody Simulation2026-26-0378To be published on 01/16/2026
In the initial stages of a vehicle development program, the sizing of various components is a critical deliverable. The steering system, in particular, requires a precise estimation of the rack load for the appropriate sizing of the rack and assist units. Accurately predicting the load on the system during the early stages of development is challenging, especially in the absence of benchmark or legacy data. Commonly used processes for estimating parking steering effort often employ simplistic approaches that may fail to account for parameters such as tire size, vertical stiffness, and steering geometry, leading to reduced accuracy. This paper introduces an advanced methodology for predicting steering rack loads, which incorporates considerations such as contact patch size and pressure variation, as well as the tire jacking effect. The methodology involves mathematical modeling of the contact patch using mesh-grids, utilizing common inputs available in the early stages of vehicle
Shirke, Umesh, Dabholkar, Aniruddh, Bardia, Vivek, Srivastava, Harshit, Prasad, Tej Pratap
Comprehensive Analysis and Mitigation Strategies to minimize torque Steer phenomenon for FWD vehicles during the vehicle development2026-26-0097To be published on 01/16/2026
Born Electric SUVs is gaining immense popularity due to enhanced ride and handling characteristics, advanced tech features elevating both performance and customer experience to an elite standard. Due to the platform constraints, the vehicle adopts a Front Wheel Drive (FWD) layout with a rear twist beam configuration, housing the electric motor at the front to deliver drive torque directly to the front wheels. Torque steer is a phenomenon often found in FWD cars, which can be unsettling to a driver where the steering wheel could be pulled hard to one side when there is aggressive throttle input potentially leading to deviation of the vehicle from its desired path. In contrast to internal combustion engines (ICEs), electric motors provide an instantaneous torque, something that can worsen torque steer if not well addressed. However, torque steer remains a key concern, with high torque output of electric motors especially for a front wheel drive vehicle. This paper introduces a
Prabhakara Rao, Vageesh, Wankhade, Krishna, Thakur, Pragyesh, Rasal, Shraddhesh, Asthana, Shivam
Path Planning and Control Strategies for a Semi-Autonomous Light Commercial Vehicle Navigating and Avoiding Static Obstacles in Urban Environments2026-26-0134To be published on 01/16/2026
This paper presents the design and implementation of a Semi-Autonomous Light Commercial Vehicle (LCV) capable of following a person while performing obstacle avoidance in urban and controlled environments. The LCV leverages its onboard 360-degree view camera, RTK-GNSS, Ultrasonic sensors, and algorithms to independently navigate the environment, avoiding obstacles and maintaining a safe distance from the person it is following. The proposed system employs a path planning algorithm that generates a secondary lateral path originating from the primary driving path to navigate around static obstacles. A Behavior Planner is utilized to decide when to generate the path and avoid obstacles, ensuring timely and efficient navigation adjustments. The primary objective is to ensure seamless and safe navigation in environments where obstacles are present. The LCV's path tracking is achieved using a combination of Pure Pursuit and Proportional-Integral (PI) controllers. The Pure Pursuit controller
Ayyappan, Vimal Raj, Dhanopia, Rashmi, Ali, Ashpak, N, Ragesh, Sato, Hiromitsu
Systematic Study To Understand And Resolve Brake Pull In Commercial Vehicles Using Simulation And Proving Ground Tests2026-26-0083To be published on 01/16/2026
In traditional commercial vehicles with leaf spring suspension and Recirculating Ball Joint (RCBT) steering systems often experience undesirable pulling due to unsymmetrical steering mechanism during braking, especially when the suspension and steering hardpoints are not properly tuned. This study investigates the causes behind such pulling behavior, specifically focusing on brake steer and bump steer, which occur due to misalignments in the suspension and steering geometries. Brake steer happens when the braking forces generate a torque, causing the vehicle to pull towards one side. On the other hand, bump steer refers to the unwanted changes in the wheel alignment when the suspension undergoes travel, leading to instability or unintended steering input. These two phenomena, if not controlled, can result in undesirable vehicle handling, especially under heavy braking conditions. The study aims to understand and quantify these mechanisms, providing insights into how they can be
Pandhare, Vinay Ramakant, M, Anantha Padmnabhan, Nizampatnam, Balaramakrishna, Londhe, Abhijit, Doundkar, Vikas
Refinement of Road Induced Steering Wheel Vibration in Electric Vehicle2026-26-0337To be published on 01/16/2026
Nowadays, customers expect excellent cabin insulation and superior ride comfort in electric vehicle. OEMs focuses on fine tuning the suspension system in electric vehicle to isolate the road shocks which finally offers superior ride quality. This paper focuses on the enhancing the ride comfort by reducing the steering wheel vibration which mainly originates due to road inputs. Higher steering wheel vibrations are perceived on the test vehicle when driven on rough road at the speed of 50 kmph. To determine the predominant force transfer path, Multi reference Transfer Path Analysis (MTPA) is performed on the front and rear suspension. Based on the finding from MTPA, various recommendations are explored and the effect of each modification is discussed. Apart from this, Operational Deflection Shape (ODS) analysis is carried out on the entire steering system to identify the deflection shape at the operating condition. Based on ODS findings, recommendations like dynamic stiffness
S, Nataraja Moorthy, Rao, Manchi, Selvam, Ebinezer, Raghavendran, Prasath
Digital Rack Load Estimation Methodology for Electric Power Steering to Optimize Motor Sizing2026-26-0383To be published on 01/16/2026
Electric Power Assisted Steering (EPAS) systems are integral to modern passenger vehicles, contributing to improved steering performance, enhanced safety, and enabling the integration of advanced driver assistance systems (ADAS). A critical aspect of EPAS design is precise motor sizing, which has a direct impact on steering dynamics, driver input effort, and overall system efficiency. The selection of an appropriate motor is governed by several parameters, including peak rack load, maximum steering speed, electrical supply constraints, thermal limitations, and spatial packaging considerations. This study specifically addresses the accurate estimation of rack force, a primary parameter guiding motor selection and assist control calibration. Previous researchers have explored multiple EPAS motor sizing methodologies such as iterative physical testing and simplified analytical modelling. Out of these, iterative physical testing incurs high resource costs and may hamper the development
Adsul, Sourabh, Iqbal, Shoaib
Algorithm development for AI driven Path planning using Augmented reality for navigating in Indian complex road scenarios2026-26-0038To be published on 01/16/2026
The road infrastructure in India has complex navigational challenges, with 82% roads being unstructured according to Ministry of Roads Transports and Highways (MoRTH). Decision-making becomes a challenge for drivers in unpredictable environments such as narrow roads or sometimes flooded roads and heavy traffic. In this paper, an augmented reality (AR) driver assistance algorithm has been proposed that improves awareness to safely maneuver in these conditions.The methodology for development and validation of this AR algorithm contains multiple steps. Firstly, extensive data collection is conducted using real time capture and benchmark datasets like Berkeley Deep Drive (BDD) and Indian Driving Dataset (IDD). Secondly, A machine learning model consisting of the collected data are labelled and trained to rightly identify the complex scenario. In third step, an AR navigation algorithm is developed, integrating these models to accurately detect floods and estimate road widths and provide
Anandaraj, Prem Raj, Sivakumar, Vishnu, Thanikachalam, Ganesh, L, Radhakrishnan, Motoki, Yaginuma, Selvam, Dinesh Kumar
Advance techniques to optimize Variable Gear Ratio steering for high Centre of Gravity vehicles.2026-26-0086To be published on 01/16/2026
High center of gravity (CG) and moderate Wheel track vehicles such compact SUVs has comparatively low static stability factor (SSF). Making them unstable and highly susceptible for rollover. On the top of that, to enhance the ease of maneuverability in densely populated areas, it is required to have a minimal turning circle diameter (TCD). To do so, variable gear ratio (VGR) steering stands superior to conventional constant gear ratio (CGR) steering, benefiting in both improved roll stability and agility to manoeuvre in compact spaces. To fine-tune VGR steering for specific vehicle requirements, Driver-in-the-Loop (DIL) simulation is used. This method allows for precise adjustments based on real-world driving conditions, ensuring the VGR steering C-factor curve is optimized for ideal vehicle handling performance in on-center, off-center, and transition regions of the steering wheel angle (SWA). Metrics such as SWA gradient at different lateral accelerations and C-factor transitions for
Rewale, Pratik, Kopiec, Jakub, Kumar, Deva, Rasal, Shraddhesh, Hussain, Inzamam, Nehal, S B
A Scientific approach to identify the source of intermittent steering rattle noise and implementing the design solutions2026-26-0346To be published on 01/16/2026
Body-on-frame vehicles are well-regarded for their durability and off-road capabilities, but their structural design often makes them more vulnerable to noise, vibration, and harshness (NVH) issues. Vibrations originating from uneven roads are transmitted through the suspension and steering assemblies, sometimes resulting in rattles or other disturbances. These vibrations can be amplified by the inherent flexibility in the body-to-frame mounting system. In such vehicles, the steering system plays a critical role in driver comfort and is highly sensitive to vibrational inputs from the road surface, especially on coarse or uneven terrain. Occasionally, these inputs result in subtle rattle noises that are perceptible only to the driver and may not be detected under controlled testing environments. This poses a challenge for engineers trying to isolate and resolve such intermittent NVH phenomena. Identifying the source requires a combination of real-world driving evaluations, structural
Ramesh Chand, Karan Kumar, Gopinathan, Haridoss, Kabdal, Amit
Curvature-Continuous Trajectory Refinement for Autonomous Vehicles Using a Pure Pursuit Based Path Smoothing Framework2026-26-0135To be published on 01/16/2026
Path planning is a key element of autonomous vehicle navigation, allowing vehicles to calculate feasible paths in challenging environments. Algorithms such as Hybrid A*, Reeds-Shepp, and Dubins paths effectively generate collision-free paths but tend to create curvature discontinuities. These discontinuities result in sudden steering transitions, which create control instabilities, higher mechanical stress, and lower passenger comfort. To overcome these issues, this paper suggests a path-smoothing technique based on the pure-pursuit algorithm to produce curvature-continuous, distortion-free paths appropriate for real-world driving. This method utilizes the practical approach of the original path but removes sudden transitions that destabilize control. By ensuring smooth curvature, the vehicle undergoes fewer jerky steering actions, enhanced energy efficiency, less actuator wear, and improved high-speed tracking. Experimental verifications, such as real-time tests on autonomous vehicles
S, Shriniyathi, A, Josana, Edwin J, Joel, T, Akshayaa, M, Senthil Vel, Kumar, Vimal
Low-speed steering returnability analysis and improvements through mathematical modeling and CAE simulation for SUV2026-26-0573To be published on 01/16/2026
In driving, steering serves as the input mechanism to control the vehicle's direction. The driver adjusts the steering input to guide the vehicle along the desired path. During maneuvers such as parking or U-turns, the steering wheel is often turned fully from lock to lock and then released. It is expected that the steering wheel quickly returns to its original position. Steering returnability is defined as the ratio of the difference between the steering wheel position at lock to lock and the steering wheel angle after 3 seconds of release, to the steering wheel angle at the lock position, under steady-state cornering conditions at 10 km/h. Industry standards dictate that the steering system should achieve 75% returnability under these conditions within 3 seconds. Achieving proper steering returnability characteristics is a critical aspect of vehicle design. Vehicles equipped with Electric Power-Assisted Steering (EPS) systems can more easily meet returnability targets since the
Singh, Ram Krishnan, ahire, Manoj, JAIN, PRIYA, Vellandi, Vikraman, SUNDARAM, RAGHUPATHI, Paua, Ketan
Methodology for optimizing the bench testing of Steering I shaft using vehicle level data to reduce overall product development time and cost.2026-26-0560To be published on 01/16/2026
Steering I-shaft with rubber coupling (or hardy disc) is an important part of complete steering system mainly in body on frame vehicles. Hardy discs are used to dampen the vibrations that transmit to steering wheel through frame, steering gear and I-shaft. They also support to accommodate the variation between frame and BIW of body on frame vehicles. They are made up of rubber or other polymer composites, which have less torsional stiffness as compared to metals. The overall torsional stiffness of steering system reduces since the hardy disc is used in series in steering system, that impacts on the overall performance of steering system. So, during development I shafts with different design, stiffness of hardy discs are used to optimize the steering and NVH performance of vehicle. Considering the development time and cost, each design of I-shaft cannot be validated at vehicle level. The torsional and axial force or displacement of hardy disc is measured at vehicle level on different
Kabdal, Amit
Unique methodology to cluster and reuse the “Hazard Analysis and Risk Assessment” across different E/E systems and features2026-26-0004To be published on 01/16/2026
As software-defined vehicles advance in complexity, achieving robust functional safety in line with ISO 26262 becomes increasingly vital. This growing need has led to a significant increase in Hazard Analysis and Risk Assessment (HARA) activities across numerous electrical and electronic (E/E) systems and features. Traditionally, HARA is performed separately for each E/E system, feature, or component. This approach often results in redundant analyses of the same function in multiple places, which leads to inconsistent risk categorizations and even conflicting safety goals, such as assigning different Automotive Safety Integrity Levels (ASIL) to similar features. As a result, the overall engineering effort and risk of inconsistency increase. To address these challenges, this paper proposes a unique approach: performing consolidated HARA for a group of vehicle-level functions (termed “platform HARA”). Rather than deriving safety goals for each E/E system or feature individually, this
Somasundaram, Manickam, Vijayakumar, Melvin
"Parametric Evaluation of Rolling Resistance in Bias & Radial Tyres and influence of key operational parameters under varying conditions."2026-26-0606To be published on 01/16/2026
Tyre rolling resistance is a fundamental parameter in automotive engineering, directly impacting vehicle fuel efficiency and overall performance. The Rolling Resistance Coefficient (CRR) is influenced by tyre construction, material properties, and operational conditions such as inflation pressure, vehicle speed, load, ambient temperature, and road surface roughness. This study investigates the influence of critical parameters—including test speed, inflation pressure, load, temperature, and slip angle—on the rolling resistance of tyres of various sizes. While previous research has predominantly focused on radial tyres, this paper extends the analysis to include bias-ply tyres, which remain widely used in ASEAN countries, including India. The findings aim to offer valuable insights for policymakers and researchers by examining the behaviour of bias tyres under real-world conditions. Special focus is given to the influence of slip and camber angles, with experiments conducted on passenger
Joshi, Amol, Khairatkar, Vyankatesh, Belavadi Venkataramaiah, Shamsundara
Coordinated Control of DYC/ABS for Cornering Braking Based on Driver Intention2025-01-734012/31/2025
This paper proposes a DYC/ABS coordinated control strategy for cornering and braking based on driver intention. A hierarchical control structure is established, where the upper-level controller uses a vehicle dynamics model to calculate the additional yaw moment required by the DYC controller to track the desired yaw rate and sideslip angle, as well as the driver’s intended braking intensity. Taking multiple constraints into account, a quadratic programming algorithm is employed to optimize the distribution of braking forces among the four wheels. The lower-level ABS controller is designed with multiple thresholds and corresponding control phases to precisely regulate the hydraulic pressure of individual wheel cylinders. In emergency braking scenarios where ABS intervention may conflict with the upper-layer braking force allocation, a rule-based, stepwise diagonal pressure reduction compensation strategy is proposed. This strategy fully considers the influence of longitudinal and
Zou, Yan, Ma, Yao, Kong, Yan, Pei, Xiaofei
Centralized Control of Distributed Drive Steer-by-Wire Chassis Considering Tire Force Zoning Constraints2025-01-732912/31/2025
Distributed drive steer-by-wire chassis has significant potential for enhancing vehicle dynamics performance, while also presenting great challenges to vehicle dynamics control. To address the coordination among multiple chassis subsystems and the coupled control allocation of longitudinal and lateral tire forces, this paper proposes a centralized control framework based on optimal yaw moment control. By analyzing the impact of longitudinal and lateral tire forces on vehicle yaw moments, a method for allocating longitudinal and lateral forces with maximum yaw moment as the objective is proposed. On this basis, a hierarchical control architecture is designed, including the driver control layer, motion control layer, tire force allocation layer, and actuator execution layer, to achieve centralized domain control of longitudinal and lateral dynamics in distributed drive steer-by-wire chassis. Finally, the proposed centralized controller is validated using offline simulation and real-time
Wu, Dongmei, Guo, Chunzhi, Liu, Changsheng, Xia, Xin, Li, Miao, Liu, Wei
Modeling on Self-Learning Driver Model under Extreme Driving Conditions2025-01-731512/31/2025
Ensuring the safe and stable operation of autonomous vehicles under extreme driving conditions requires the capability to approach the vehicle’s dynamic limits. Inspired by the adaptability and trial and error learning ability of expert human drivers, this study proposes a Self-Learning Driver Model (SLDM) that integrates trajectory planning and path tracking control. The framework consists of two core modules: In the trajectory planning stage, an iterative trajectory planning method based on vehicle dynamics constraints is employed to generate dynamically feasible limit trajectories while reducing sensitivity to initial conditions; In the control stage, a neural network enhanced nonlinear model predictive controller (NN-NMPC) is designed, which incorporates a self-learning mechanism to continuously update the internal vehicle model using trial-and-error data on top of mechanistic physical constraints, thereby improving predictive accuracy and path-tracking performance. By combining
Zhang, Xinjie, Xu, Long, Guo, Konghui, Zhuang, Ye, Hu, Tiegang, Mao, JingGang, Zeng, Qingqiang
Research and HIL Test of Rear Wheel Steering Control Strategy Based on Zero Sideslip Angle2025-01-732312/31/2025
This paper briefly introduces the vehicle characteristics of four-wheel steering. Based on the parameters of an electric SUV, a linear two-degree-of-freedom vehicle dynamics model is established, and the transfer function of the rear wheel steering angle is derived to keep the sideslip angle at the center of gravity(CoG) constant at zero and proportional to the front wheel steering angle under steady state. The active rear wheel steering control strategy based on zero sideslip angle is established by MATLAB/Simulink, and a co-simulation model is built with CarSim and the HIL test bench to simulate and analyze the proposed control strategy. Subsequently, through classic handling stability test conditions such as the snake test, steering angle step test, and double lane change test, the influence of active rear wheel steering on vehicle dynamic response indicators such as sideslip angle, lateral acceleration, and yaw rate is studied, and the control effect is compared with that of the
Xu, Xiangfei, Qu, Yuan, Liu, Jiabao
Dual Steering Gear System Applied in Commercial Vehicles with Axle Forward and Axle Back Configuration2025-36-016812/18/2025
The hydraulic steering gear, in the ball & nut configuration, was introduced in series in 1985, commonly encompassing single circuits with only one hydraulic steering. In medium-sized commercial vehicles, the torque (force) required to turn the wheels through direct mechanical connection is approximately 400 Nm when the vehicle is stationary. By using hydraulic steering, the required torque is reduced to about 50 Nm. When the load of the front axle exceeds 6.7 tons, a dual steering gear system can be used, delivering 200% of the total force. Additionally, the dual steering gear system provides a better turning radius, eliminating the need for a steering assist cylinder, thus giving more space for the front wheels to turn. This article will describe the development of a dual gear for a dual steering gear for commercial vehicles. Schematic diagrams of a dual steering gear and how the system can deliver the required output torque for the steering process it will be shown. The system is
Masunaga, Natália Sayuri, Santos, Antídio, Silva, Everton, Pedroso, Hugo, Destro, Daniel, Moura, Márcio
Research on Control Strategy for Heterogeneous Traffic at Signalized Intersections2025-99-045312/10/2025
In order to reduce conflicts between vehicles at intersections and improve safety, an optimization model of traffic sequence allocation is studied and established for the heterogeneous traffic scenario of connected autonomous vehicles and manual vehicles. With the minimum safe traffic time as constraint, the right of way is allocated to vehicles according to the microscopic traffic characteristics of heterogeneous traffic flow fleet movement and the phase of signal lights, and the optimal trajectory planning control of each vehicle and evaluation indicators are established. A jointly simulation running environment is built using VISSIM and MATLAB. The simulation results indicate that at the micro level, collaborative control slows down the waiting time for manually driven vehicles and improves the utilization of green light travel time. At the macro level, as the penetration rate of connected autonomous vehicles increases, the sum of squares of vehicle acceleration gradually decreases
Yuan, Shoutong, Li, Zhiqiang, Liu, Tianyu, Yu, Zhengyang
A Research on Path Planning of Kelp Harvesting Vessel Based on Reciprocal Traversal2025-99-040712/10/2025
min
Wang, Jie, Yang, Yue, Chen, Xin, Cui, Jiaxing
Research on Trajectory Planning for Urban Traffic Inspection Using Three-Dimensional Flight of UAVs2025-99-045212/10/2025
Objective:Methods:Results:Conclusion:
Sun, Ke, Wan, Qian, Liu, Qianqian, Li, Qiuling
Robust Lateral Trajectory Tracking of Intelligent Vehicles by Using Fuzzy Adaptive Dynamic Model Predictive Control10-10-02-000912/03/2025
To further improve the smoothness and robustness of lateral trajectory tracking for intelligent vehicles under complex operating conditions, this study proposes and experimentally validates a fuzzy adaptive dynamic model predictive control (FADMPC) strategy on the basis of model predictive control (MPC) framework. Thereinto, a three-degrees-of-freedom vehicle dynamics model serves as the predictive model, and a recursive least-squares algorithm with a forgetting factor is used to estimate tire cornering stiffness, thereby improving model fidelity. A whale optimization algorithm (WOA)–based adaptive horizon scheduler is devised to address the sensitivity of the prediction horizon to vehicle speed and road friction, and a fuzzy regulator adjusts the weight on the lateral displacement error in the objective function in real time. Hardware-in-the-loop tests on jointed and split-road surfaces show that compared with adaptive dynamic MPC, traditional MPC, and linear quadratic regulator, the
Teng, Fei, Jin, Liqiang, Wang, Junnian, Yang, Chen, Fan, Jiapeng, Qiu, Neng, Li, Andong, Zhou, Yanbo
TOC99-07-06-0TOC12/02/2025
TOC
Tobolski, Sue
Research on Urban Traffic Congestion Optimisation Strategies Based on V2X Technology2025-99-011711/11/2025
This study investigates urban traffic congestion optimisation strategies based on V2X technology. V2X technology (Vehicles and Internet of Everything) aims to alleviate urban traffic congestion, improve access efficiency, and reduce tailpipe emissions through real-time collection and fusion of traffic data to optimise traffic signal control and path planning. The efficacy of the optimisation strategies under different V2X penetration rates is evaluated by conducting multi-factor orthogonal experiments in different typical congestion scenarios. The experimental results show that the V2X-based signal optimisation, path induction, and event response combination strategies exhibit significant optimisation effects in all three scenarios: node bottleneck, corridor congestion, and event induction. Under the condition of 100% penetration, the combined strategy reduces delay by 41.9% in the node bottleneck scenario, improves accessibility by 28.1% in the corridor congestion scenario, and
Xi, Chaohu, Li, Jiasheng, Qu, Fengzhen, Liu, Hongjun, Liu, Xiaorui, Wang, Chunpeng
Multimodal Intelligent Transportation Data Fusion and Application Methods in Heavy-Duty Vehicles2025-99-013911/11/2025
Heavy-duty commercial vehicles (HDCVs) are the key mobile nodes in intelligent transportation systems (ITS). However, their complex operating conditions and the diversity of data sources (such as road conditions, driver behavior, traffic signals, and on-board sensors) present considerable difficulties for accurately estimating the state and perceiving the environment using a single modality of data. This requires effective multi-modal data fusion to enhance the control and decision-making capabilities of HDCVs. This paper addresses this need by proposing a customized multi-modal intelligent transportation data fusion framework for intelligent HDCVs. This paper presents a solution for establishing a multi-modal intelligent transportation data collection platform, including real-scene collection methods and simulation scene collection methods based on the SUMO-MATLAB joint simulation platform. Through three representative case studies, the application methods of multi-modal traffic data
Chen, Zhengxian, Wang, Shaoqi, Jiang, Huiming, Zhou, Fojin, Wang, Mingqiang, Li, Jun
Intelligent Decision-Making and Trajectory Planning of Semi-Trailer Trains Under Multi-Vehicle Interference2025-99-012511/11/2025
Semi-trailer trains are the main force of highway freight. In a complex environment with multiple vehicles, accidents are easily caused by complex structures and driver operation problems. Intelligent technology is urgently needed to improve safety. In view of the shortcomings of existing research on its dedicated models and algorithms, this paper studies the intelligent decision-making and trajectory planning of semi-trailer trains under multiple vehicles. A local trajectory planning method based on global path planning and Frenet coordinate decoupling based on the improved A* algorithm is proposed. The smooth weight transition function and B-spline curve are introduced to optimize the global path. The polynomial function is combined with the acceleration rate to optimize the local trajectory. TruckSim, Prescan and Simulink are used to build a joint simulation platform for multi-condition verification. The simulation results show that the search efficiency of the improved A* algorithm
Song, Zeyuan, Geng, Shuai
Integrating Self-Hydraulic Jacks Under the Chassis for Off-Road Vehicles, and Utility Task Vehicles2025-28-026411/06/2025
A futuristic vehicle chassis rendered in precise detail using state-of-the-art CAD software like Blender, Autodesk Alias. The chassis itself is sleek, low-slung, and aerodynamic, constructed from advanced materials such as high-strength alloys or carbon-fibre composites. Its polished, brushed-metal finish not only exudes performance but also emphasizes the refined form and engineered details. Underneath this visually captivating structure, a sophisticated system of self-hydraulic jacks is seamlessly integrated. These jacks are situated adjacent to the four shock absorber mounts. These jacks are designed to lift the chassis specifically at the tyre areas, and the total vehicle, ensuring that underbody maintenance is efficient and that, in critical situations, vital adjustments or emergency lifts can be performed quickly and safely. The design also incorporates an intuitive control system where the necessary buttons are strategically placed to optimize driver convenience. Whether
Gogula, Venkateswarlu
Ensuring The Reliability of Hydraulic Powered Steering System Through Life Data Analysis2025-28-029711/06/2025
The reliability of vehicle steering systems is extremely important to ensure safety, vehicle performance and gain customer satisfaction. Life data analysis conducted to analyze how the steering systems are performing in the field and assess whether the steering systems can meet the reliability target when deployed in the field. This article discusses about the systematic process to conduct the field data analysis of Hydraulic Powered Steering System (HPS) from the warranty claim data, usage of Weibull distribution to derive the life characteristic parameters. Based on the process described in this article, the statistical analysis of the warranty claim data performed and identified that, “the Hydraulic Power Steering Gears demonstrated more than 99% reliability in the field with statistical confidence of 90% and able meet the ZF’s Internal target for the HPS Systems”.
Ravindran, Mohan, Sugumar, Ganesh
Enhancing Tipper Stability during Descent with Dynamic Angle Adjustment2025-28-027611/06/2025
Tippers transporting loose bulk cargo during prolonged descents are subject to two critical operational challenges: cargo displacement and rear axle lifting. Uncontrolled cargo movement, often involving loose aggregates or soil, arises due to gravitational forces and insufficient restraint systems. This phenomenon can lead to cabin damage, loss of control, and hazardous discharge of materials onto roadways. Simultaneously, load imbalances during descent can cause rear axle lift, increasing stress on the front steering axle, resulting in tire slippage and compromised maneuverability. This study proposes a dynamic control strategy that adjusts the tipper lift angle in real time to align with the descent angle of the road. By synchronizing the trailer bed angle with the slope of the terrain, the system minimizes cargo instability, maintains rear axle contact, and enhances braking performance, including engine and exhaust braking systems. Computational modelling is employed to assess the
Vijeth, Abhishek, Bhosle, Devidas Ashok, Cherian, Roshni, Dash, Prasanjita
Machine Learning Based off-Road Vehicle Turn Identification Using Vehicle & GPS Parameters2025-28-034411/06/2025
Identification of different types of turns during field operation of off-road vehicles is critical in the overall vehicle development as it is helpful in identifying & optimizing machine performance, correct duty cycle, fuel economy, stability analysis, accurate path planning, customer usage pattern & designing the critical components, etc. In this study, a machine learning (ML) based methodology has been developed to detect the off-road vehicle turns using vehicle & GPS parameters. Three most common types of off-road vehicles turn conditions e.g., Straight line, Bulb turn, and Three-Point turn have been considered. Different vehicle parameters (like latitude & longitude, compass bearing, yaw rate, vehicle speed, swash plate angle, engine speed, percent load at vehicle speed, raise lower front & PTO channels) generated during field test have been used here. These vehicle parameters are further processed, analysed and used in ML learning model building. Four ML models e.g., SVM, K-NN
Rai, Rohit, Gangsar, Purushottam
On Optimal Tire Usage in the Path-Tracking Control of Four-Wheel Independent Steering Four-Wheel Independent Drive Electric Vehicles12-09-02-001410/22/2025
Four-wheel independent steering four-wheel independent drive electric vehicles have an independent steering motor and an independent driving motor for each wheel, for a total of eight motors. About 28 works in this emerging field have shown path-tracking control algorithms for these vehicles, 18 of them explicitly or implicitly aspire for a condition known as optimal tire usage. This article first defines this optimality condition and explains its significance. Second, this article identifies three indicators of tire usage that aid in assessing the existing algorithms. Third, this article performs block diagram examination of four of the 18 works, revealing significant commonalities across the 28 works and identifying areas for improvement in three of the four algorithms. Lastly, this article suggests motor control systems to fill these gaps. Furthermore, it employs these motor control systems in one of the four algorithms, and illustrates path-tracking and achievement of the
Kumar, Dileep, Potluri, Ramprasad
A Hybrid Framework for Kinematic Vehicle Prediction: YOLOv11 with Unscented Kalman Filter12-09-02-001310/22/2025
In the context of intelligent transportation systems and applications such as autonomous driving, it is essential to predict a vehicle’s immediate future states to enable precise and timely prediction of vehicles’ movements. This article proposes a hybrid short-term kinematic vehicle prediction framework that integrates a novel object detection model, You Only Look Once version 11 (YOLOv11), with an unscented Kalman filter (UKF), a reliable state estimation technique. This study provides a unique method for real-time detection of vehicles in traffic scenes, tracking and predicting their short-term kinematics. Locating the vehicle accurately and classifying it in a range of dynamic scenarios is achievable by the enhanced detection capabilities of YOLOv11. These detections are used as inputs by the UKF to estimate and predict the future positions of the vehicles while considering measurement noise and dynamic model errors. The focus of this work is on individual vehicle motion prediction
Pahal, Sudesh, Nandal, Priyanka
Logistics and Distribution Centre Site Selection under Dynamic Spare Parts Demand - Path Optimisation2025-99-007810/17/2025
Aiming at the dynamic customer demand for multiple products in different cycles, with the lowest total cost of the distribution system as the goal, taking into account distribution centre capacity, vehicle loading and other resource constraints, vehicle loading and other resource constraints, we constructed a two-layer objective planning model of distribution centre siting-vehicle path optimization. The upper model is solved by Gurobi to obtain the distribution centre location and customer division scheme, the greedy algorithm will be applied to solve the initial vehicle path planning, and then uses the particle swarm algorithm for optimisation to obtain the corresponding location scheme and vehicle scheduling scheme. Taking an automotive aftermarket spare parts data as an example, the distribution centre site selection and vehicle path scheme are determined in t1and t2 cycles respectively, and the findings indicate that the model can be effective in reducing the possible waste of the
Zhu, Junrong, Zhang, Liping
Research on Coastal Ship Evacuation Path Planning using Improved Artificial Potential Field Method2025-99-000410/17/2025
It is essential to plan ship refuge paths for safety of ship and reduction of accident loss considering many marine accidents have happened. This paper presents improved artificial potential field (APF) method for generating ship refuge paths planning along the coast. Relying on the APF model, this new approach takes into account the challenges brought by dynamic surroundings and obstacles in the coastal waters. The introduced model develops a multi-level potential field organization, the influence of the gravitational and the repulsive forces can be adjusted adaptively based on the real time environment data. Simultaneously, adaptive algorithm is integrated to adaptively modify the parameters of potential field and improve the convergence speed of the algorithm and avoid the popular local minimum problem in traditional APF methods. Additionally, the model includes a risk ranking functionality that provides prioritization of the evacuation route according to the distance of the ship to
Bai, Chunjiang, Gou, Zhijian, Sui, Hongbin
Research on collision Avoidance Path Planning of Inland Waterway Vessels Based on Deep Learning Technology2025-99-001510/17/2025
How to realize the intelligent collision avoidance of inland waterway ships has become a hot issue in the field of transportation. The navigation status, position information and speed of inland vessels can be obtained by using the shipborne Beidou terminal and AIS, so as to realize the real-time monitoring of the ship’s operation status and the real-time optimization of collision avoidance path planning. In the process of track classification and prediction, it is necessary to use deep learning algorithms to train and learn historical track data, so as to generate a model that can accurately predict future tracks, and make collision avoidance path planning decisions on this basis, so as to realize the intelligence of water traffic organization and ship collision avoidance.
Liu, Xingchen, Cui, Jianzhang, Kong, Lingqi
Control of Four-Wheel Independent Steering Motors under Sudden Load2025-99-003810/17/2025
This research addresses the issues of permanent - magnet synchronous motor parameter matching and sudden - load compensation in four - wheel independent steering systems and proposes a composite control strategy. By analyzing their dynamic characteristics, it is found that traditional rotational inertia identification methods and existing load observers have deficiencies. The research uses the gradient correction algorithm to construct an online rotational inertia identification model, achieving real - time parameter identification with the characteristics of adjustable parameters and low computational complexity. At the same time, a load observer is designed based on the terminal sliding - mode control theory to solve the problem of observation lag in sudden - load conditions and provide timely compensation. Simulation and experimental results show that after a sudden load is applied, the angle - tracking error of this method is reduced to ±0.12°, the convergence time of rotational
Zhou, Litao, Huang, Yan, Li, Huichen
Motion Planning Algorithm for Autonomous Driving Based on Trajectory Prediction2025-99-004710/17/2025
To solve the problems of trajectory prediction and obstacle avoidance of self-vehicles in autonomous driving, a obstacle avoidance algorithm that combines trajectory prediction and vehicle motion planning is proposed. Firstly, in this paper, Unscented Kalman filter and constant acceleration model, namely UKF + CA, as well as Hidden Markov model, namely HMM, are combined together. Predict the trajectory of the vehicle in front and integrate the prediction results obtained by these two methods, which can improve the accuracy of the prediction. Then, in the Frenet coordinate system, this paper adopts the methods of dynamic programming and quadratic programming to generate the planning trajectory of the self-aircraft. After that, this paper conducts collision detection between the fusion trajectory of the preceding vehicle and the planning trajectory of the self-vehicle. If there is a risk of collision, a virtual obstacle will be generated and the path will be re-planned to avoid the
Cao, Zheng, Shen, Yong-Feng, Hu, Hao-Dong, Ouyang, Le-Wen
Coordinated Strategy of Trajectory Tracking and Stability Control for Autonomous Vehicles with Switched Envelope and Composite Evaluation10-10-01-000310/13/2025
Trajectory tracking and lateral stability under extreme conditions are critical yet conflicting control objectives due to nonlinear tire dynamics and road adhesion limitation, where accurate characterization of vehicle dynamics for each objective is essential to enable coordinated performance. This article proposes a coordinated control strategy based on switched envelope and composite evaluation to improve both tracking accuracy and stability. Unlike previous stability envelope methods that rely solely on the vehicle’s rear tire saturation boundary to prevent instability, the switched envelope approach incorporates both front and rear tire saturation boundaries to simultaneously mitigate steering loss and instability in trajectory tracking. A critical steering angle, derived from tire slip dynamics and phase plane stability analysis, is formulated as the switching criterion. Additionally, a composite stability evaluation is developed by combining a future disturbance resistance index
Shi, Wenbo, Wang, Junlong, Ding, Haitao, Xu, Nan
Deep Reinforcement Learning with Behavioral Cloning for Path Tracking of Four-Wheel Steering Vehicles10-10-01-000110/09/2025
When the vehicle system performs trajectory tracking control, it presents relatively complex nonlinear coupling dynamics characteristics. The traditional coordination algorithm relying on a simplified linear model is mostly unable to deal well with the actual nonlinear dynamic behaviors. In contrast, reinforcement learning (RL) method will derive the optimal strategy by means of interaction with the environment. This eliminates the need for accurate vehicle modeling. These methods use all of the nonlinear approximation capabilities of deep neural networks and can effectively reflect the complex relationship between vehicle state and control actions. The framework itself supports multidimensional input processing and continuous operation space optimization because of the development of parallel processing architectures. In order to reduce the motion jitter caused by the direct generation of front and rear wheel angles by the network, this article uses steering angle increments as
Ren, Gaotian, Wang, Yangyang
Optimization of Steering Geometry in Four-Wheel Steering Vehicles to Minimize Bump Steer and Exploit Kinematic Steering Using a Multibody Approach2025-01-506309/24/2025
This paper presents a methodology for optimizing the steering system of a multi-purpose agricultural vehicle (MPAV) equipped with four-wheel steering (4WS) and a symmetrically configured double-wishbone suspension on both axles. The MPAVs are often prone to bump steer issues due to their narrow track width and the need for long suspension travel. The objective is to define and dimension the steering geometry while maintaining the existing suspension kinematics and preserving the hard points of the wheel hubs. In the scientific literature, this issue is typically addressed by adjusting the hard points of both the steering mechanism and the suspension kinematics. The proposed optimization framework begins with a sensitivity analysis of key design parameters: the position and length of the steering actuator. Based on this analysis, the problem is formulated as an optimization task with two different objective functions, whose solutions are then compared. The functions aim to minimize bump
Belloni, Mattia, Vignati, Michele, Sabbioni, Edoardo
A Control Strategy of Path Tracking for Unmanned Mining Truck Based on Model Predictive Control and Considering Steering Delay10-09-04-003708/22/2025
To achieve accurate and stable path tracking for unmanned mining trucks in the face of changing paths and response delays in steering, this study raised a lateral control strategy for unmanned mining trucks based on MPC and considering steering delay response characteristics. Under the basis of deriving the state space equation from the commonly used two degrees of freedom truck dynamics model, this method introduces the dynamic relationship between steering angle issuance and actual response to form an augmented form of state vector to overcome the control instability caused by steering response delay. Then, based on the MPC method, a constrained objective function is constructed to solve for the optimal control law. In response to the problem of inaccurate selection of prediction and control time domains, this article proposes an adaptive selection method for prediction and control time horizon based on a modified particle swarm optimization (MPSO) algorithm, which obtains the
Mao, Libo, Wu, Guangqiang, Gui, Yuhui
Design of a Fault-Tolerant Control Algorithm for Four-Wheel Steering Vehicle Steering Locking Based on Dynamic Model Reconstruction10-09-04-003608/21/2025
The motion control system, as the core executive component of the automatic hierarchical framework, directly determines whether autonomous vehicles can reliably and stably follow planned trajectories, making it crucial for driving safety. This article focuses on steering lock faults and proposes a cross-system fault-tolerant control (C-FTC) algorithm based on dynamic model reconstruction. The algorithm uses a classic hierarchical collaborative architecture: the upper-level controller employs an MPC algorithm to solve lateral velocity and yaw rate reference values in real-time, while the lower-level controller, designed based on the reconstructed dynamic model, uses an MPC algorithm to adaptively adjust actuator control quantities. In cases where four-wheel steering vehicles lose steering ability due to locked steering axles, the locked axle’s steering angle is treated as a state variable, and healthy actuator outputs are used as control variables to dynamically reconstruct the vehicle
Hu, Hongyu, Tang, Minghong, Chen, Guoying, Gao, Zhenhai, Wang, Xinyu, Gao, Fei
Adaptive Path Planning and Control of Autonomous Sweeping Vehicle Considering the Error of Perception10-09-04-003508/19/2025
This article presents a path planning and control method for a cost-effective autonomous sweeping vehicle operating in enclosed campus. First, to address the challenges from perception, an effective obstacle filtering algorithm is proposed, considering the elimination of false detection and correction of object position. Based on it, the adaptive sampling–based path planner and pure pursuit controller are developed. Not only an adaptive cost-weighting mechanism is introduced by TOPSIS algorithm to determine the desired trajectory as a multi-objective optimization problem, but also the adaptive preview distance is designed according to the trajectory curvature and vehicle state. The real-vehicle tests are implemented in typical scenario. The results show that the 87.8% effective edge-following rate is achieved in curved paths, and 22.93% cleaning coverage is improved for cleaning coverage. Therefore, the proposed method is effective and reliable for cost-effective autonomous sweeping
Lei, WuKun, Yang, Bo, Pei, Xiaofei, Zhang, Yang, Zhou, HongLong
Mitigating High Steering Effort in Power Steering Pumps through Manufacturing Process Improvement02-19-01-000308/01/2025
Power steering pumps are the heart of any hydraulic power steering system. They provide the heavy lifting power required in the form of high-pressure fluid flow that is utilized in powered steering gears or steering racks to assist drivers in vehicle maneuvers, specifically in low-speed situations. Failure of the power steering pump will inevitably increase work needed from the driver to steer a vehicle and decrease the driver comfort at the same time. This article covers investigations into a customer return issue, affecting more than 20% of pumps, for one particular failure mode, pump input shaft seal leakage, and how the failure is not caused by failure at the input shaft nor by failure of the input shaft seal. It was found that internal damage to the pump rotating assembly allows high-pressure oil to overcome the input shaft seal sealing effect. The cause of the failure was determined to be rooted in the manufacturing process, which was re-ordered to reduce the failure rate to an
Bari, Praful Rajendra, Kintner, Jason
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