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Evaluating the Impact of Drag Coefficient Changes on Driving Energy Using a Probability Distribution Model of Yaw Angle Based on Empirical Data from North American Highways2026-01-0615To be published on 04/07/2026
This study estimates the impact on driving energy of differences in aerodynamic characteristics for yaw angle from natural wind during North American Highway mode driving. A previous study[1] clarified the potential to estimate the fuel consumption impact of natural wind by integrating the CD yaw characteristics and yaw angle occurrence frequency. The natural wind was measured on a vehicle while driving a representative North American Highway test course[2]. The driving energy is predicted from the obtained yaw frequency and CD yaw sweep data in a wind tunnel. Measurements were conducted every weekday for 8 hours in 2023, covering 70% of the traffic volume. The validity of the measurement period was evaluated by the deviation from the annual average of wind direction and speed. Since yaw frequency varies depending on the road environment, it is necessary to weight the road environment type frequency when calculating the driving energy. The frequency was calculated using machine
Onishi, Yasuyuki, Nucera, Fortunato, Nichols, Larry, Metka, Matt
An Efficient Approach to Key Negotiation in an Automotive Environment2026-01-0087To be published on 04/07/2026
Negotiating Keys for applications such as message authentication within a vehicle presents many problems as, in designing the algorithm; the algorithm must be able to be utilized by small, fixed-point processors. In addition, if there is a desire to do this algorithm in the manufacturing environment, there are severe time constraints placed on how long this algorithm can take, as there are strict station time requirements, which are expensive to change, and any time utilized in the plant can negatively affect vehicle throughput. Additionally, negotiating these keys between many ECUs can greatly increase the time required to negotiate a common key using standard multi-party Diffie-Hellman. Timing would also be an issue in the case of using pair-wise Diffie-Hellman for encryption and distribution of keys utilizing a key master. To solve these problems in multi-party key negotiation, we have utilized the Elliptic Curve variation of the Burmester-Desmedt (ECBD) algorithm. ECBD is
Van Dam, Theo, Mazzara, Bill
Collaborative Development Framework for electric-based Software-Defined Vehicles – The European Research project CODE4EV2026-01-0113To be published on 04/07/2026
The automotive industry is subject to major transformation initiated by societal and economical pull (reducing emissions, zero fatalities, European competitiveness) and accelerated by technology push (electrification, CCAM, C-ITS). Following this trend, the Software-Defined Vehicle (SDV) targets the integration of SW development methodologies for vehicle development as well as the value delivery shift toward customers along the entire lifecycle. In the context of the Industrial Action Plan for the European automotive sector , different funding mechanisms have been designed to accelerate development and uptake of SDV. It is the target of this paper to introduce different European programs on SDV - focusing on their main objectives, expected benefits for the R&D&I community, and complementarity of these initiatives. Especially, this paper will introduce Chips-JU programs targeting the creation of a vivid ecosystem for European Software Defined Vehicle of the Future (SDVoF) Initiative
Armengaud, Eric, Permann, Robert, Joergler, Sabrina, Barcelona, Miguel Angel, García, Laura, Rodriguez, José Manuel, Ivanov, Valentin, Li, Zhenqian, Nguyen Quoc, Trieu, Rodrigues, Sandy, Kowalczyk, Bogdan, Avdić Čaušević, Amra
ENERGY AND OPERATIONAL EFFICIENCY OF SHARED AUTONOMOUS FLEET2026-01-0464To be published on 04/07/2026
Electrifying shared autonomous fleets (Robotaxis) presents challenges in balancing decarbonization, service quality, and operational costs, given the limited driving range, long charging times, and suboptimal planning of charging infrastructure. This study develops an integrated energy management and fleet dispatching simulation framework to support cost-effective, low-carbon Robotaxi deployment. The proposed system models both battery electric vehicles (BEV) and internal combustion engine vehicles (ICEV) technologies, and is extensible to other powertrain types. The study also integrates a life cycle assessment module to evaluate well-to-wheel carbon emissions. A total of 1,440 scenarios are designed to test the performance of two service modes (ride-hailing vs. ride-pooling) in terms of energy consumption, emissions, service quality, and operational costs, across varying levels of trip demand and market penetration of different powertrain technologies. The test aims to verify the
Tang, Kang, Abdulsattar, Harith, Yang, Hao, Wang, Jinghui
Assessing Energy Use, Cost, and Emissions of Small Regional Rail Vehicles: Methodology and Case Study on a German Track2026-01-0419To be published on 04/07/2026
The decarbonization of regional rail remains a pressing challenge in the European Union, where nearly half of the 200,000 km network remains unelectrified. Lightweight, single-car railbuses historically provided efficient service on such lines, but modern replacements are scarce. This work evaluates a standardized 30-ton, 16 m railbus platform for unelectrified regional service, focusing on propulsion system design and trade-offs between range, cost, and emissions. A MATLAB/Simulink drive-cycle model was developed to simulate energy consumption under realistic operating conditions. The Erfurt–Rennsteig route in Germany (130 km round trip, gradients up to 6 %) was selected as a representative case study. The model incorporates sub-models for traction motors, lithium-ion batteries (LFP and LTO), fuel storage, fuel cells, and ICE gensets across multiple fuel options (diesel, gasoline, methane, ethanol, methanol, HVO, FAME, and hydrogen). Battery lifetime is estimated using a combined
Ahrling, Christoffer, Tuner, Martin, Gainey, Brian, Torkiharchegani, Amir, Scharmach, Marcel, Hertel, Benedikt, ALAKÜLA, Mats
Optimizing EV Battery Models for Full Vehicle Simulations2026-01-0389To be published on 04/07/2026
The increasing adoption of electric vehicles (EVs) demands accurate yet computationally efficient battery models that can be integrated into full vehicle simulations. At the cell level, mechanical battery models often employ fine-scale elements to capture localized deformation and failure phenomena. While such detailed discretization enables high-fidelity predictions, it also imposes significant computational costs that become prohibitive when scaling up to pack-level or full-vehicle crash and durability simulations. This research addresses the challenge by systematically simplifying cell-level mechanical models to reduce computational burden while preserving predictive accuracy. We propose an approach in which larger elements and reduced complexity representations are introduced without compromising the model’s ability to replicate experimentally observed behaviors. The methodology emphasizes model validation against targeted loading conditions, ensuring that the essential mechanics
Sahraei, Elham, Brar, Bavneet, Parmar, Dhruv, Muralidharan, Umachandran
Aerodynamic Proximity Effects Between the DrivAer and AeroSUV Standard Models, Part 1 – Same-Lane Interactions2026-01-0605To be published on 04/07/2026
Road-vehicle platooning is traditionally defined as close-distance longitudinal following in laterally-aligned formation. In this paper, the effects of aerodynamic interactions on the drag of a two-vehicle system are examined by considering the influence of separation distance, cross winds, vehicle size and shape. Testing was undertaken at 30% scale in a large wind tunnel with road-representative freestream turbulence. Separation distances of 0.5, 1.0, and 2.0 vehicle lengths were examined over a range of yaw angles between ±15deg. A highlight of the current study is the characterization of platoon drag-reduction benefits for different sizes and shapes of the lead and follower models, by using a DrivAer model and an AeroSUV model, each with slant-back (Notchback or Fastback) and square-back (Estateback) variants, providing four distinct model pairings. Drag reduction for the lead model appears to be affected mainly by the size of the follower vehicle, while the follower model shows a
McAuliffe, Brian, Ghorbanishohrat, Faegheh
A Large Language Model-Based Database for Analyzing the Electric Vehicle Battery Supply Chain2026-01-0471To be published on 04/07/2026
Global geopolitical volatility poses a critical threat to the resilience of the electric vehicle battery supply chain. Static, manually updated databases fail to capture the sector's rapid dynamics, creating significant information gaps for strategic planning. This study proposes an Artificial Intelligence-driven methodology to construct a comprehensive and dynamic knowledge base. An automated pipeline is implemented, beginning with specialized web crawlers that harvest real-time textual data from curated news and industry sources. This unstructured data is preprocessed through deduplication and cleansing to ensure quality. The core innovation involves applying fine-tuned Large Language Models (LLMs) to perform deep semantic parsing and extract structured information. These models precisely identify key entities—corporations, facilities, production capacities—and delineate the complex multi-tier relationships from raw material extraction to final distribution. The output is an
Zhu, Juntong, Luo, Wei, Zhang, Xiang, Yang, Zhifeng, Ou, Shiqi(Shawn), He, Xin
Target Cascading Kinematics and Compliance Tables to Suspension Design2026-01-0584To be published on 04/07/2026
During the initial design phase, automotive Original Equipment Manufacturers (OEMs) require the adaptability to examine various suspension system architectures while maintaining focus on the specific performance objectives. Those requirements are expressed by Kinematics and Compliance (K&C) look-up tables and represent the footprint of what the suspension should look like in real-world applications. However, translating those requirements into the full geometric hardpoint layout is not straightforward. This process often relies on trial-and-error approaches, making it time consuming and requiring significant expertise. This challenge, known as "target cascading," remains a major hurdle for many engineers. The main objective of this paper is to cascade the suspension requirements from K&C look-up tables to hardpoint locations by adopting an automatic workflow and ensuring respect for constructive and feasibility constraints. Design space exploration was conducted using a robust
Brigida, Piero, Di Carlo, Paolo, Di Gioia, Niccolò, Geluk, Theo, Tong, Son, Alirand, Marc, Gorgoretti, Davide, Occhineri, Marco, Tassini, Nicola, Berzi, Lorenzo
Combustion and Emission Characteristics of Biodiesel and Renewable Diesel in a 4-Stroke Locomotive Engine2026-01-0315To be published on 04/07/2026
Rail transportation in North America consumes substantial amounts of fossil fuel, raising energy security and supply chain resilience concerns. Adopting renewable or alternative fuels is a practical approach to reduce petroleum dependence and improve supply security. The objective of this paper is to investigate the combustion and emission characteristics of biodiesel and renewable diesel as a drop-in fuel without engine modification. In this study, a single-cylinder, four-stroke locomotive engine was employed to investigate the combustion and emissions characteristics of four fuels: conventional Diesel No. 2, plant-based biodiesel, animal-based biodiesel, and renewable diesel. The experimental campaign was carried out under both part-load and full-load operating conditions at the constant load, with injection duration adjusted to achieve the targeted engine’s load and speed. Results indicate that biodiesel and renewable diesel deliver comparable peak in-cylinder pressure, indicated
Ewphun, Pop-Paul, Biruduganti, Munidhar, El-Hannouny, Essam, Longman, Douglas, Fu, Xiao, Subramanya, Raghavendra
In-Use Life Digital Twin and Swappable Use Case for Battery Durability2026-01-0397To be published on 04/07/2026
In-Use Life Digital Twin and Swappable Use Case for Battery Durability By: Patricia Laskowsky, Josue Albarran, Justin Bunnell, and Andrew Zettel Abstract The UN GTR 22 is required as part of the Environmental Protection Agency’s legislative rulemaking for multi-pollutants emission standards for model years 2027 and later light-duty and medium duty vehicles. The EPA claims it has the right to govern requirements on ZEVs and BEVs. ZEVs, in their viewpoint, are “emission related” because it enables the vehicle to produce zero emissions. With the adoption by the EPA under its Tier 4 regulations of the UN GTR 22, comes several new tracking DIDs, Data Identifiers. These DIDs are tied battery durability and energy tracking They track conditions and usages of electric vehicles that may accelerate the loss of electric range and/or loss of efficiency of the propulsion energy storage and delivery. More specifically, tying these trackers to EPA emission related discussion, the loss of electric
Laskowsky, Patricia, Bunnell, Justin, Zettel, Andrew, Albarran, Josue
An Integrated Methodology for Sustainable Mobility Infrastructure Planning: The Atlanta Aerotropolis Case Study2026-01-0097To be published on 04/07/2026
By the early 2020s, more than 4.5 billion people have been living in urban areas worldwide, compared to just 1 billion in 1960. Rising growth in urban populations present challenges to infrastructure and transportation systems. Higher traffic levels and reliance on conventional vehicles have contributed to heightened greenhouse gas (GHG) emissions, rising global temperatures, and irreversible environmental degradation. In response, emerging transportation solutions—including intelligent ridesharing, autonomous vehicles, zero-tailpipe-emission transport, and urban air mobility—offer opportunities for safer and more sustainable transportation ecosystems. However, their widespread adoption depends not only on technological performance and efficiency, but also on integration with current infrastructure, safety, resilience to unexpected disruptions, and economic viability. A dynamic, agent-based System-of-Systems (SoS) transportation model is developed to simulate vehicle traffic and human
Rana, Vishva, Balchanos, Michael, Mavris, Dimitri, Valenzuela Del Rio, Jose
Understanding Adversarial Transferability in Vision-Language Models for Autonomous Driving: A Cross-Architecture Analysis2026-01-0170To be published on 04/07/2026
Vision-language models (VLMs) offer a promising end-to-end approach for autonomous driving, but their robustness to physical adversarial attacks remains an unaddressed gap for safety-critical deployment. This paper introduces a systematic framework for evaluating these attacks using the Dolphins VLM and CARLA simulator. We employ Natural Evolution Strategies (NES), a black-box optimization method, to generate adversarial patches without internal model access. Our approach uses semantic similarity loss and Expectation over Transformation (EoT) to ensure physical realizability under varying viewing conditions. Patches are strategically placed on realistic advertising infrastructure (bus shelter panels and highway billboards), reflecting a plausible threat model. We establish two complementary scenarios: crosswalk pedestrian detection suppression and highway steering manipulation. Our evaluation reveals critical vulnerabilities. Adversarial patches achieved a 76.0% overall attack success
Fernandez, David, MohajerAnsari, Pedram, Salarpour, Amir, Pese, Mert D.
Impact of Instantaneous Center of Rotation Variability on Path Planning and Performance of Park Assist Systems2026-01-0053To be published on 04/07/2026
Parking assist systems are among the most widely adopted driver-assistance features in modern vehicles. A key component of these systems is the path planning module, which ensures accurate vehicle alignment within a parking slot while satisfying various constraints such as maintaining slot centering, avoiding collisions in confined spaces, minimizing maneuver count, and achieving the shortest feasible path. Multiple path generation techniques—such as geometric, polynomial-based, and search-based methods—have been developed to enable safe and efficient parking maneuvers. However, most of these approaches rely on the simplifying assumption that the vehicle’s instantaneous center of rotation (ICR) is fixed, typically located on the non-steering axle. In practice, the ICR is not constant and can vary significantly across vehicles due to several physical and kinematic factors, including steering geometry, tire slip characteristics, suspension configuration, and weight distribution
Awathe, Arpit, Patanwala, Abizer, Jain, Arihant, Varunjikar, Tejas
Ensemble of Experts for Generating Digital Parking Maps from Remote Sensing Images2026-01-0107To be published on 04/07/2026
Being a vital component of transportation, parking and parking-related research are gaining increasing attention from the intelligent transportation and automotive industry research communities. A digital parking map with precise parking spot geospatial information is crucial for research such as automatic valet parking, parking spot recommendations, and parking route optimization. Currently, these maps are generated through costly and resource-intensive human annotation. To address the challenges of insufficient parking maps and the high costs of manual map creation, researchers have proposed the following two strategies for generating parking maps. The SLAM-based map generation for indoor parking lots and the remote sensing image-based map generation for outdoor parking lot. Our work mainly focuses on the outdoor high-definition parking map generation from remote sensing images. These images often suffer from occlusion, inconsistent resolution, and varying luminosity conditions. To
Shukla, Ajitesh, Cao, Xiaofei, Liu, Yongkang, Takeuchi, Yusuke, Sisbot, Akin
High Order Control Lyapunov Function - Control Barrier Function - Quadratic Programming Based Autonomous Driving Controller for Bicyclist Safety2026-01-0034To be published on 04/07/2026
Ensuring the safety of vulnerable road users is a critical challenge in the development of advanced autonomous driving systems. Among vulnerable road users, bicyclists present unique characteristics that make their safety both critical and manageable. Compared to pedestrians, vehicles often travel at significantly higher relative speeds when interacting with bicyclists, yet bicyclist motion is generally more predictable and governed by clear traffic rules, offering opportunities for model-based control strategies. To address bicyclist safety in complex traffic environments, this study proposes a High-Order Control Lyapunov Function–High-Order Control Barrier Function–Quadratic Programming (HOCLF-HOCBF-QP) control framework. By using this approach, CLFs enforce system stability, ensuring the vehicle follows a desired trajectory, while CBFs define safety boundaries, preventing collisions between the ego-vehicle and other road users. The optimal control input is then obtained by solving a
Chen, Haochong, Cao, Xincheng, Guvenc, Levent, Aksun Guvenc, Bilin
The New Era for Automotive Cybersecurity An Opportunity for Standardization of Automotive Cybersecurity2026-01-0086To be published on 04/07/2026
The automotive industry is moving from a reactive, self-determined approach to cybersecurity to a standardized, regulated one. This document, an update on collaborative work from the SAE TEVEES18B Committee and GlobalPlatform Automotive Task Force, outlines this transition. In the past, cybersecurity challenges in the automotive industry were seen as novel, and each company handled them individually. This era was characterized by self-determination of security mitigations and a unique justification for solutions. Companies often developed cybersecurity concepts based on past incidents and their own risk tolerance. A key tool during this time was the TARA (Threat Analysis and Risk Assessment), which organizations used to justify their security concepts or lack thereof. This led to company-specific policies and a lack of a global standard. The result was a fragmented market where every new project required a novel cybersecurity concept, hindering the development of a robust market for
Mazzara, Bill, Rawlings, Craig
Enhancing Traditional Adaptive Cruise Control through Map-Based Feature Integration: A Performance evaluation Study on Stationary Vehicle Response at High Speeds2026-01-0056To be published on 04/07/2026
Adaptive Cruise Control (ACC) has become a widely adopted driver-assist technology, designed primarily to regulate a vehicle’s longitudinal movement while maintaining a safe following distance from the preceding vehicle. A key performance criterion is the system’s ability to detect and respond to both moving and stationary target vehicles within the ego vehicle’s path. While manufacturers typically validate ACC performance within specific speed ranges, responding to stationary objects remains particularly challenging due to limited sensor range, difficulty in detecting distant stationary targets, and constrained deceleration capabilities. Beyond certified operating limits, overall system reliability may degrade. Nonetheless, increasing industry and regulatory expectations are driving the need to extend ACC functionality across wider and more clearly defined speed domains. Modern ACC systems are further evolving to recognize and respond to various road features, including traffic lights
Awathe, Arpit, Patel, Darsh, Mathur, Dhruv, Raut, Abhinandan Vijay
Multi-Body Dynamics Control Integration Tool Application in Hybrid Vehicle System Identification2026-01-0417To be published on 04/07/2026
The multi-body dynamics (MBD) model and the MATLAB Simulink model can be integrated to create a control-integration model. Using a high-fidelity MBD model to represent the vehicle as the plant, this integrated model can be used to analyze vehicle system physics and develop control strategies. For hybrid vehicles, this process is more complex because the powertrain and other vehicle systems are often built as separate MBD models. This paper describes a method for integrating a powertrain model developed in AMESIM, a vehicle model developed in SIMPACK, and a control model developed in MATLAB Simulink. The resulting integrated model was then used to perform frequency sweep analysis to identify driveline system properties. In particular, the driveline frequency and the amplitude of the transfer function between motor speed and motor torque are critical parameters. By applying active damping control to the driveline system, the peak amplitude and driveline vibrations can be reduced. The
Xing, Xing, Mathew, Vino
Energy Efficiency Analysis of U-Haul Truck and Trailer Systems: Impact of Tongue Weight and Load Variations2026-01-0466To be published on 04/07/2026
The demand for improved energy efficiency in real-world vehicle operations continues to grow with technology enhancement. When transporting large cargos with passenger pickup trucks and rental trailers, the interaction between vehicle payload, towing configuration, and fuel consumption becomes a key factor in overall system efficiency. Understanding how towing configurations and trailer loading influence fuel consumption and vehicle performance is critical for both consumer guidance and vehicle system design. This study investigates the energy efficiency of U-Haul truck and trailer systems, with a particular focus on the influence of trailer tongue weight. U-Haul truck and trailer simulation models were developed using AVL Vehicle Simulation Model (VSM) software, with an F-350 engine brake-specific fuel consumption (BSFC) map integrated to represent realistic engine performance. Two configurations with equal payload were evaluated: (1) a U-Haul truck alone, and (2) a U-Haul truck
Wang, Gang, Yang, Allan, Chen, Yan
NVH characterization of new PWM strategies2026-01-0224To be published on 04/07/2026
Pulse Width Modulation (PWM) technique is widely used to drive AC machines at variable speed, however it generates high frequency harmonics which degrade sound quality. In the last decades, different PWM strategies have been designed to limit switching loss, and/or harmonic generation. Among them, discontinuous strategies are based on the injection of a zero-sequence signal, that strongly impacts the resulting voltage spectrum. An analytic formulation of the zero-sequence signal is proposed by the authors. It allows the creation of new PWM strategies, that can be easily experimented. In this paper, a preliminary study is performed with six new PWM strategies based on this analytic formulation. They are implemented on a basic test bench to perform a NVH characterization. Sound quality metrics are used to qualify the sound signature they produce. The resulting SPL is comparable with that of existing strategies, however their timbre is different in terms of low-frequency content and
Wanty, Salomé, Delpoux, Romain, Glesser, Martin, Totaro, Nicolas, Parizet, Etienne, Degrendele, Karine
Mechanical Performance and Deformation Mechanisms of Hybrid Cylindrical TPMS Lattices with Gradient Wall Thickness2026-01-0484To be published on 04/07/2026
Lattice metamaterials possess lightweight, high strength, and excellent energy absorption, making them promising for engineering applications. Their mechanical properties can be tuned by cell topology and structural design. This study proposes a multi-degree-of-freedom hybrid strategy for cylindrical TPMS lattices. Three uniform types (Primitive, Gyroid, IWP) were fabricated and validated through experiments and simulations. Radial, axial, and circumferential hybridizations were then explored, revealing distinct deformation and energy absorption mechanisms: CMA structures showed multi-stage behavior, while CMR and CMC offered longer plateau stages and higher stresses. Inspired by biological architectures, gradient wall thickness designs were introduced, significantly improving performance. Notably, CMR-GPI213 and CMC-PIG312 increased specific energy absorption by 24% and 14.8%, and CMA-GIP312 reduced peak force by 37.7% without sacrificing absorption. These results demonstrate that
Liu, Zhe, Guo, Pengbo, Zhong, Gaoshuo, Lian, Yuehui, Li, Youguang
Survivability, Lethality, and Mobility Requirements of Military Vehicles Conducting Future Wet Gap Crossings2026-01-0264To be published on 04/07/2026
Wet gap crossings, which involve moving military forces across rivers and other water obstacles, are among the most difficult maneuvers that units can perform. These operations are complicated by choke points, fast-flowing water, and the exposure of forces to enemy fire. Despite these challenges, wet gap crossings remain critical to battlefield success, particularly during large-scale combat operations. Consequently, military vehicles must be designed with these operations in mind. This study examines doctrinal approaches to wet gap crossings and the trade-offs between mobility, survivability, and lethality in relation to fording, floating, rafting, and bridging. The analysis incorporates open-source data from the Institute for the Study of War, which provides daily updates on the Russia-Ukraine conflict, and Oryxspioenkop, which collates open-source images of Russian and Ukrainian battle-damaged equipment. This data is used to assess additional challenges encountered during wet gap
Lynch, Benjamin, Dosan, Logan, Mittal, Vikram
Elucidation of Flow Mechanisms Modulating Vehicle Wind Noise by using Large-Scale CFD Simulation2026-01-0614To be published on 04/07/2026
In vehicle development, noise reduction is critical for ensuring passenger comfort. As electric vehicles become prevalent and engine noise is minimized, wind noise becomes more noticeable. Modulated wind noise, which causes a sense of fluctuation due to atmospheric turbulence, wind gusts, and preceding vehicle wakes, causes significant discomfort. This noise is characterized as a high-frequency sound above 1 kHz, modulated at low frequencies owing to the wind velocity and direction fluctuating at several Hz. However, the mechanisms behind wind noise modulation are not fully understood, and no established countermeasures have been developed. This is because wind noise perceived through the side window is primarily caused by the A-pillar vortex and door mirror wake, which coexist as complex turbulent flows around the vehicle. Therefore, identifying the source of modulated wind noise around vehicles under fluctuating wind conditions is difficult. This study aims to identify the source of
Tajima, Atsushi, Hirata, Takumi, Ikeda, Jun, Kamiwaki, Takahiro, Wakamatsu, Junichi, Tsubokura, Makoto
A Cooperative AFS/DYC Control for FWDIEV Based on Dissipative Energy Method2026-01-0619To be published on 04/07/2026
To enhance the lateral stability of four-wheel-drive intelligent electric vehicles (FWDIEV) under extreme operating conditions, this paper proposes a cooperative control strategy integrating active front steering (AFS) and direct yaw moment control (DYC) based on dissipative energy method. A nonlinear three-degree-of-freedom vehicle model is established to analyze the evolution of the vehicle state phase trajectory. A quantitative lateral stability index is constructed using dissipative energy to accurately evaluate the vehicle's lateral dynamics. Utilizing dissipative energy and its gradient information, a time-varying stability boundary is defined under dynamic constraints, and adaptive weighting coordination between the AFS and DYC systems is designed to achieve coordinated control of front steering angle and additional yaw moment. A feedforward–model predictive control (FF-MPC) framework is developed, in which a feedforward module generates compensation based on driver intent to
Zhao, Kun, Zhao, Zhiguo, Wang, Yutao, Xia, Xue, Chen, Xi, Hu, Yingjia
An Adaptive Brake Force Allocation Strategy for Rear-Wheel Driven EVs2026-01-0636To be published on 04/07/2026
Due to changed requirements compared to conventional propulsion concepts, electromobility demands new and innovative strategies for energy-efficient vehicle motion control. For example, the challenge in purely rear-wheel drive (RWD) electric vehicles (EVs) is to achieve a maximum of regenerative braking power in order to increase energy recovery and to ensure, that this does not impair the braking stability. Within this conflict between energy efficiency and braking dynamics, it is necessary to design an intelligent strategy to optimise recuperation. This paper presents such a strategy, which improves an existing approach formerly presented by the authors, but specifically optimises it to overcome weaknesses. The previous approach had two major limitations: First, the efficiency map of the in-wheel machines (IWMs) was not considered. Second, there was no possibility of switching flexibly between different brake force distributions to guarantee both, maximized recovery potential and
Mitsching, Thomas, Heydrich, Marius, Ivanov, Valentin
Design, Fabrication, and Assessment of a User-Friendly Suspension System for a 2025 BAJA Vehicle2026-01-0588To be published on 04/07/2026
A suspension system was designed, fabricated, and tested following a systems design approach by the Desert Hare Off-road Team from South Dakota State University (SDSU). Compared to previous suspensions, the new suspension system is more reparable and contains a minimal number of custom parts, while still maintaining sufficient strength to withstand dynamic loads experienced when operating the vehicle. Modifications were also made to fit the newly designed vehicle body frame. As an integral part of the team’s 2025 Baja vehicle, the redesigned suspension system contributed to the vehicle’s improved performance during the 2025 SAE (Society of Automotive Engineers) Baja Competition. This paper presents a detailed account of the design, development, and fabrication process of the suspension system. The final design was tested and evaluated via both computer simulations and physical tests, whose efficiency and reliability were finally demonstrated by the team’s improved ranking in the 2025
Liu, Yucheng, Anderson, Matthew, Larson, Cody, Rodgers, Joshua, Seberger, Aaron, Letcher, Todd
Backlash Evasion Strategy for Enhancing Vehicle Cornering Performance2026-01-0640To be published on 04/07/2026
This study presents a torque distribution control strategy for EVs with e4WD powertrain to overcome the trade-off between ensuring vehicle acceleration and deceleration responsiveness and mitigating backlash shock in the driving system. The deterioration of the drivability which occurs from the intrinsic hardware characteristics of the drivetrain is prevented by designing a response-priority drive mode in which neither front or rear motor torque is allowed to change its sign. Instead, in such drive mode, the front motor torque is only allowed to perform regenerative braking while the rear motor torque is only allowed to produce positive acceleration torque. In order to avoid sacrificing the maximum acceleration by applying such strategy, the mode transition function is implemented as well. In addition, in order to prevent backlash impact due to drivetrain compliance, variable offset torque based on drivetrain compliance model is evaluated in real time and applied to each motor command
Oh, JIWON, Lee, Ho Wook
Integrating Optimization and Model Fidelity Selection Methods for Real-Time Driver-in-the-Loop Vehicle Simulators2026-01-0621To be published on 04/07/2026
Automotive OEMs perform extensive prototype testing to configure vehicles for objective criteria (performance), and subjective criteria (handling and comfort). To reduce testing time and costs, OEMs rely on real-time Driver-In-the-Loop Simulators (DIL) running complex Multi-Body Dynamics (MBD) models. Recent advances in simulation technology have increased model accuracy but also operating costs, possibly limiting the viability of real-time DIL applications. Running high fidelity MBD models in real-time is computationally intensive and often requires re-configuration, CAE model de-contenting, solver setting optimization, which can introduce significant analysis errors. This presents a core challenge: selecting model fidelity levels that result in computationally efficient simulations, while maintaining sufficient predictive accuracy. This study introduces a methodology that integrates optimization algorithms with decision-making techniques to select the right fidelity within a
Balchanos, Michael, Emara, Mariam, Zarate Villazon, Angel, Mavris, Dimitri
Research on Vehicle Lateral Stability Under Flow Impact During Wading2026-01-0624To be published on 04/07/2026
The growing frequency of extreme rainfall events attributable to global climate change has heightened concerns regarding flood-related hazards to road traffic safety. Under wading conditions, vehicles become susceptible to lateral sliding, flotation, or rollover when exposed to lateral hydrodynamic impacts, jeopardizing both occupant safety and infrastructure integrity. Previous studies have primarily focused on longitudinal sliding instability—such as the critical flow velocity for vehicle motion initiation and buoyancy-related submersion depth—under forward or backward flow, employing theoretical analyses and flume experiments. However, research on the dynamic response of vehicles under lateral flow, the underlying mechanisms of lateral skidding, and multi-degree-of-freedom instability modes remains relatively limited. To address this gap, this study establishes a multi-body vehicle dynamics model for lateral flow conditions, incorporating lateral hydraulic forces and tire-road
Wei, Haoting, Tan, Gangfeng, Lang, Tao, Liu, chongjian, Tang, Jingning
Application of reliability growth techniques in conjunction with DfR framework to validate heavy truck design2026-01-0137To be published on 04/07/2026
Why have the recalls and field campaigns in the automotive industry been going up over the years despite the strong development of technical knowledge, tools and techniques to design products that meet higher reliability standards? One explanation that stands out and is broadly accepted in the industry is related to the challenge to effectively deal with rapid growth of uncertainties in the product development environment brought mainly by the new customers’ demands, stricter safety and emission regulations, shorter project budget and duration. To deliver trucks that meet new market demands with high reliability, the truck industry has been incorporating in their classic product development process a framework of supporting process to ensure that truck components and systems will be designed to meet the reliability requirements, this framework is known as DfR (Design for Reliability). The most recent version of DfR framework was suggested in 2008 by Mettas and encompasses 6 major
Coitinho, Marcos
Collaborative Cybersecurity in a Shifting Automotive Supply Chain2026-01-0084To be published on 04/07/2026
The evolution toward software-defined vehicles (SDVs) is causing disruption to the traditional automotive supply chain and breaking down the common hierarchical OEM, tier 1 supplier, and tier 2 supplier relationships. With demands for faster software release cycles, more advanced software projects involving multi-party development, and considerations for end-to-end embedded and cloud integrations, new cybersecurity challenges are introduced that no single organization can address alone. Thus, this disruption creates new trust dependencies and requires new models for collaboration, transparency, and joint responsibility in cybersecurity. This paper presents a collaborative cybersecurity model, emphasizing shared responsibility during multi-party development between OEMs, tier 1 and 2 suppliers, engineering services organizations, and technology and services providers. As such, we explore collaborative approaches for each stage in the development lifecycle including design, development
Oka, Dennis Kengo, Vinzenz, Nico
ProGuard: A Real-time Preemptive Artificial Intelligence-Based Anti-Pinch System for Bus Entryways on Low-Power Edge Devices2026-01-0100To be published on 04/07/2026
This paper proposes ProGuard, a novel approach to preemptive pinch detection systems for buses. ProGuard utilizes state-of-the-art AI object detection algorithms to identify potential pinching events in bus entryways before pinching occurs. Modern conventional anti-pinch systems, such as pressure sensors or hall effect sensors, often rely on mechanical contact before triggering. While these systems are established safety mechanisms, they are reactive and therefore require some level of pinching before triggering. This reactive approach presents numerous safety concerns for passengers, especially when considering children on school buses. Existing preemptive detection methods, such as infrared or ultrasonic sensors, solve the problems presented by these reactive detection systems. However, these systems either lack the range or environmental resilience needed for reliable operation in buses. The critical nature of anti-pinch systems requires a robust and reliable solution that can adapt
Bradley, Hudson, Zadeh, Mehrdad, TAN, Teik-Khoon
Advanced Integrated Chassis Control for Improved Energy Efficiency and Driving Experience in Electric Vehicle Applications2026-01-0643To be published on 04/07/2026
Complexity of modern ground vehicles grows constantly, since car manufacturers want to provide functionality, while customers are expecting innovation and recent technologies to be integrated into the latest models released to the market. Recent advances in hard- and software opened the gates for new means of vehicle control and operation. Especially the transition to electric propulsion systems and decoupled chassis actuators offer completely new opportunities of dynamics control and manipulation. This paper presents an approach for integrated chassis and vehicle motion control in (battery) electric vehicle applications by using new and innovative controllers as well as mechatronic chassis systems. In several experiments on public roads with a fully instrumented vehicle demonstrator, that features in-wheel based rear-wheel drive and a hybrid brake-by-wire-system, the proposed control is tested under real environmental and traffic conditions with respect to aspects like energy
Heydrich, Marius, Mitsching, Thomas, Ivanov, Valentin
HaloBus: Edge Computing‑Enabled Real‑Time Boarding and Exit Detection for Enhanced Transportation Safety Using Lightweight AI2026-01-0555To be published on 04/07/2026
This paper proposes HaloBus, an innovative, edge‑computing solution designed to mitigate this risk by detecting student boarding and exiting in real time using lightweight AI based methods. A persistent challenge in elementary school transportation is the issue of missing students after they exit their buses, which disproportionately impacts low-income households. Current safety systems are forced upon the individual households with their own methods. Common methods include applications on a personal device or a small tracker. However, not everyone can afford these options, and every parent deserves to feel like their child is safe. That is why HaloBus was invented. The system employs YOLOv5u—an Ultralytics‑enhanced, anchor‑free, split‑head architecture that offers a superior accuracy–speed tradeoff. By providing real-time, on-device alerts, HaloBus enables immediate intervention to prevent a student from being left behind, thereby shifting the focus from reactive post-incident
Getz, Grayson, Zadeh, Mehrdad, TAN, Teik-Khoon
Typical cloud-vehicle-integration-based functional safety testing technology for intelligent chassis2026-01-0051To be published on 04/07/2026
Model-based virtual vehicle testing technology is an advanced simulation technique that significantly improves the efficiency and quality of vehicle development. It effectively addresses challenges such as complex operating conditions and experimental hazards in physical road testing. However, due to limitations in modeling accuracy, virtual vehicle parameters often remain overly idealized, resulting in limited credibility of test results. In response to the above issues, this article proposes a testing method based on vehicle-cloud fusion technology that combines the advantages of physical and virtual vehicle testing to avoid the disadvantages of both parties. Experimental validation demonstrates that the synchronization rate between virtual car and physical car data can reach 92.02%, which can safety and efficiently complete the initial vehicle testing, provide data support for subsequent physical car testing, and shorten the real car testing cycle.
Cheng, Qing Hua, Qu, Wenying, Liao, Yinsheng, Wu, Yan
A Shared Autonomy Architecture: Utilizing an Advanced Personalized Control System (APeCS) and Shared Autonomy Arbiter (SAB)2026-01-0147To be published on 04/07/2026
The shared autonomy framework has become an option with great potential in the field of autonomous vehicles. Human and machine control decisions typically demonstrate strengths in different scenarios. As a result, the robustness of systems can be enhanced by the collaboration between humans and autonomy. A shared autonomy architecture that takes into account both human and environmental factors was proposed in this work. The authority distribution between the human operator and the autonomy algorithm was determined by the Shared Autonomy Arbiter (SAB). Designed with a two-tier structure, the SAB incorporated a policy-level decision module, as well as a numerical-level arbitration tuning module. A fuzzy inference system (FIS) was incorporated to enhance the noise tolerance of the policy selection module. Furthermore, the human factor was taken into account by applying a projection to the users’ control input. The human operator’s control decision was projected by the Adaptive
Sang, I-Chen, Norris, William, Patterson, Albert, Sreenivas, Ramavarapu S., Soylemezoglu PhD, Ahmet, Nottage, Dustin S.
Accelerating Electrification Through Modular Propulsion: GM’s Strategy for BEV and BET Platforms2026-01-0410To be published on 04/07/2026
General Motors continues to advance its electrification strategy through the development of scalable Battery Electric Vehicle (BEV) and Battery Electric Truck (BET) platforms. This paper highlights GM’s latest BEV and BET products that leverage shared Drive Unit (DU), Rechargeable Energy Storage System (RESS), and integrated power electronic (IPE) components across multiple vehicle programs. By adopting a modular and commonized propulsion architecture, GM achieves significant benefits in manufacturing efficiency, cost optimization, and product flexibility. The shared DU, RESS, and IPE components are engineered to meet diverse performance requirements while maintaining high standards of energy efficiency, thermal management, and durability. This approach enables rapid deployment of electrified solutions across various segments, from passenger vehicles to full-size trucks, without compromising on capability or customer experience. The paper outlines the technical rationale behind
Liu, Jinming, Sevel, Kris, Anwar, Mohammad, Oury, Andrew, Welchko, Brian, Gagas, Brent
Vehicle Test Platform with Experimentally Correlated Tire Model for Torque Vectoring Control2026-01-0622To be published on 04/07/2026
This paper presents a testing platform for torque vectoring controls utilizing a 10 degree of freedom (DOF) vehicle simulation and a ⅕ scale radio control test vehicle. These vehicle simulations or “Digital Twins” have been widely adopted throughout the automotive industry for their lower operating costs and ease of implementation. Virtual models are not perfect representations of reality, however, and physical testing is still necessary to validate systems for use in the real world. This is especially true when testing safety-critical features such as Advanced Driver Assist Systems (ADAS). As a result, a simulation environment working in conjunction with a test vehicle represents an optimal hybrid approach. In this work, a 1/5 scale radio controlled vehicle with torque vectoring capability is designed and assembled. A high fidelity vehicle model is then constructed in the Matlab/Simulink environment to model test vehicle behavior. The test vehicle features independent suspension for
Petersen, Nicholas Conner, Robinette, Darrell
Pre-Crash Scenario Analysis and Generation for Integrated Safety System Virtual Testing with Real Accident Data2026-01-0062To be published on 04/07/2026
Integrated active and passive safety protection systems have made substantial contributions to reducing traffic accidents and mitigating human injuries. However, assessing such systems through vehicle collision tests is limited, as this approach can not cover the wide range of accident scenarios. To address this gap, identifying and generating representative pre-crash scenarios from real-world accidents provides key boundary conditions for the set up of virtual test scenarios. In this study, we used the Future Mobile Traffic Accident Scenario Study (FASS) dataset to reconstruct 112 two-wheeler accidents. For each case, we extracted pre-crash dynamic information, static attributes, and environmental context. An auto-encoder was employed to encode high-dimensional features of scenarios, and K-means clustering was applied to categorize the accidents into eight representative pre-crash scenarios. For each scenario, we examined the motion states of participants and further compared the
Wang, Guojie, Gao, Xin, Liu, Siyuan, Liu, Jiaxin, Li, Quan, shi, liangliang, Nie, Bingbing
Investigation of the Blockage Phenomenon in Closed Wall Wind Tunnels During the Testing of Bluff Automotive Bodies with Small Wakes in Yawed Configurations2026-01-0607To be published on 04/07/2026
The difficulties of testing a bluff automotive body of sufficient scale to match the on-road vehicle Reynolds number in a closed wall wind tunnel has led to many approaches being taken to adjust the resulting data for the inherent interference effects. But it has been very difficult to experimentally analyze the effects that are occurring on and around the vehicle when these blockage interferences are taking place. The present study is an extension of earlier works by the author and similarly to those studies uses the computational fluid dynamics analysis of five bodies that generate relatively small wakes to examine the interference phenomena in solid wall wind tunnels and the effects that they have on the pressures, and forces experienced by the vehicle model when it is in yawed conditions up to 20 degrees. This is accomplished by executing a series of CFD configurations with varying sized cross sections from 0.4% to 14% blockage enabling an approximation of free air conditions as a
Gleason, Mark, Riegel, Eugen
Efficient Embedded Control of Nonlinear Systems for Software-Defined Vehicles: A Case Study Using the Inverted Pendulum2026-01-0075To be published on 04/07/2026
Software-defined vehicles (SDVs) are reshaping automotive control architectures by shifting intelligence to embedded systems, where computational efficiency is paramount. This paper presents the implementation of multiple control strategies such as PID, LQR, and MPC for the inverted pendulum on a cart problem, a canonical example of nonlinear and unstable system control. The objective is to demonstrate how sophisticated control algorithms can be optimized for execution on microcontrollers with limited processing power and memory, reflecting the constraints typical of embedded platforms in SDVs. Each control strategy is implemented with careful consideration of algorithmic complexity, real-time responsiveness, and resource utilization. Performance is evaluated across key metrics including stability, convergence time, and computational load, enabling a comparative analysis that highlights trade-offs between control fidelity and hardware efficiency. The results provide actionable insights
Vupparige, Varun, Pandya, Vidit
Solving the Right Problem with Multi-Robot Formations2026-01-0260To be published on 04/07/2026
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and minimizing the original cost function. For example, a Diamond or Box formation shape is often used for protecting all members of the formation. When more information about the surrounding environment becomes available, a static shape often no longer minimizes the original protection cost. We propose a formation planner to reduce mismatch between a formation and the cost function while still leveraging efficient formation controllers. Our formation planner is a two-step optimization problem that identifies desired relative robot positions. We first solve a constrained problem to estimate non-linear and non-differentiable costs with a weighted sum of surrogate cost functions. We theoretically analyze this problem and identify situations where weights
Cornwall, Chaz, Bos, Jeremy
A Scalable and Accessible Remote Testing Framework for Automotive Development2026-01-0191To be published on 04/07/2026
With the rise of software-defined vehicles and the emergence of cyber threats to vehicular systems, developing teams are compelled to conduct extensive testing on both virtual and physical prototypes at an accelerated pace. This new development landscape necessitates diagnostic tools that are both precise and adaptable. However, proprietary systems dominate this field, often hindering accessibility for students and researchers due to high costs and restrictive licensing. This paper presents the design and implementation of an open-source, low-cost remote testing system tailored for automotive development and diagnostics. The proposed system utilizes Arduino and Raspberry Pi processing units, along with relay-based switching modules, to provide secure remote control of vehicle components through a web-based dashboard equipped with authentication, scheduling, and real-time synchronization capabilities. The tested prototype showcased robust scalability, secure session handling, and
Pries, Andrew, Mohammad, Utayba
Development of Tilt Test Facility2026-01-0265To be published on 04/07/2026
Mobility, fire power and protection are the three most important characteristics of an Armoured Fighting Vehicle (AFV). Transmission system facilitates mobility to the fighting vehicle. Combat Vehicles Research and Development Establishment (CVRDE) is developing Automatic Transmission for Armoured Fighting vehicles which includes gearbox, steering system, braking system and control system. In the battle field, AFVs have to operate at different gradients & side slopes. The Automatic Transmission system being developed by CVRDE is a hydro-mechanical automatic transmission in which hydraulic oil is used for lubrication & control of various systems of it. A Tilt Test Facility (TTF) has been designed, developed, and installed at CVRDE to simulate different angles of gradients from +35° to - 35° & side slopes from +20° to -20°. The TTF enables to evaluate the functional aspects of the transmission system at different angles. The TTF consists of two tiltable platforms, Rotary actuators
V, Uma, Naik, Sheshu
Predictive AEB Activation for Secondary Collision Risk Reduction2026-01-0518To be published on 04/07/2026
Although the evaluation criteria of New Car Assessment Programs (NCAP) continue to evolve, they still predominantly focus on one-to-one collision scenarios. However, accident analyses indicate that in real-world traffic environments, particularly at intersections with multi-lane arterial roads, complex situations involving multiple vehicles are common, and there exists a significant risk of secondary side collisions occurring immediately after Autonomous Emergency Braking (AEB) activation. This study aims to predict and mitigate such secondary collision risks by proposing a control strategy that adjusts braking timing and stopping position based on the motion information of multiple crossing vehicles. A control algorithm was developed to estimate the likelihood of secondary collisions and determine optimal intervention parameters. The proposed system was evaluated using a sensor-equipped test vehicle and numerical simulations. Results demonstrated a tendency to reduce secondary
Kobayashi, Fumiya, Fukuda, Kentaro, TANI, HIROAKI
The Impact of Industry 4.0 Implemenation on Operational Performance in Automtive Industry2026-01-0251To be published on 04/07/2026
This research investigates the impact of Industry 4.0 technologies on operational performance in the automotive industry, emphasizing the role of organizational culture and structure. As the sector evolves through the integration of smart technologies, understanding how these factors influence the relationship between Industry 4.0 implementation and operational improvement becomes crucial. Utilizing a mixed-methods approach, the study combines qualitative and quantitative methodologies to offer a comprehensive analysis. Qualitative data were collected through interviews with industry experts, uncovering insights into how organizational culture fosters innovation and responsiveness to change. The quantitative analysis focused on performance metrics from automotive companies that have adopted Industry 4.0 practices. The findings reveal a positive correlation between a supportive organizational culture and improved operational performance, highlighting that organizations with adaptive
El Safty, Shady Baher
Innovation Powered by High-Fidelity Multiphysics Modeling: A Holistic System Optimization of BorgWarner’s Next Generation Integrated Drive Modules2026-01-0497To be published on 04/07/2026
In the stringent market of BEV, the development of integrated Drive Modules (iDM) fitting to environmental and customer needs is mandatory. It is important to extract the best from the less. To achieve those goals, a deep insight of complex multiphysics phenomena occurring in an iDM has been achieved by accurate and validated models. This engineering methodology is applied through the development of BorgWarner products, comprising non-exhaustively iDM 180-HF, Externally Excited Synchronous Machine and Multi-Level Inverter. The paper will review the methodology development for deeper understanding involving in-house technical excellence and complemented by strategic partnerships with academic institutions and start-ups. It will present the approach of integrating advanced multiphysics models with high-quality experimental validations, specifically on loss evaluation on electrical machines and inverters. Complex models involving multiphysics such as thermal/fluid coupling or electric
Leblay PhD, Arnaud, Bossi, Adrien, Bourniche, Eric, DAVID, Pascal, Nanjundaswamy, Harsha
Dual Battery Pack System for Multi-Voltage Electric Vehicle Operation2026-01-0392To be published on 04/07/2026
Electric Vehicles (EV) have become a major focus in the automotive industry. This paper introduces a propulsion system design, which supports the Wide Torque Band (WTB) concept to boost the power density of PM (permanent magnet) motors in EV Trucks resulting in performance, efficiency, and cost benefits. The WTB drive requires an 800V battery for vehicle operation. The chosen solution combines two 400V battery packs to create a selectable 400V/800V DC bus. The electrical hardware and controls to manage the dual battery packs in either series (800V) or parallel (400V) mode are presented in this paper. A prototype battery management system (BMS) along with existing production Voltage, Current, Temperature Monitoring (VITM) hardware are applied to perform mode switching, safety, and cell balancing. The success of this dual pack hardware enables high voltage dynamometer testing of a new 800V DU (Drive Unit) and inverters for EVs. The flexibility of switching between two voltage levels (400
Zhu, Yongjie, Lee, Chunhao, Gopalakrishnan, Suresh, Namuduri, Chandra
Enhancing Track Vehicle Design Engineering Through Digital Twins: A Data-Driven Approach2026-01-0266To be published on 04/07/2026
Enhancing Track Vehicle Design Engineering Through Digital Twins: A Data-Driven Approach: Digital Twin technology can significantly improve the engineering product design process, especially when considering ground vehicle applications. Data-driven computer studies can assist engineers and key stakeholders in evaluating performance, durability, and other system design tradeoffs. To enable this process, the availability of relevant, numerically generated, laboratory, and/or field data is required. Proper data use enables the digital exploration of “what-if” scenarios, reducing necessary field testing and allowing for the examination of hard-to-test operating conditions. When considering the Digital Twin toolset, a collection of models and simulations are assembled to supplement virtual testing endeavors. These models include surrogate, CAD/CAE, and others. In this paper, an off-road track vehicle design is reviewed through the fusion of numerical and field data to evaluate future design
Suber II, Darryl, Bradley, Andrew, Singh, Shubhendra, Turner, Cameron, Castanier, Matthew P., Wagner, John
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