Browse Topic: Vehicle dynamics

Items (7,869)

Heavy Tracked Vehicles Preliminary Design for Mobility

2025-01-8337To be published on 04/01/2025

Modern military operations prove that increased terrain mobility is critical for heavy tracked vehicles’ (HTVs) survivability and lethality. HTV major system packaging as a component of preliminary design with many physical constraints and assumptions poses great challenges for mobility. This paper develops an approach and a method that accounts for such constraints/assumptions and optimizes the packaging of the HTV system assembly, including vehicle armor, armament and munition, powertrain, and fuel tanks. The optimization purpose is to accommodate the center of gravity for improving ground pressure distribution and then reducing the sinkage. This work is based on a literature review and combines numerous techniques rooted in Western literature and Eastern Soviet- and post-Soviet-era literature. The optimization process is developed using a genetic algorithm. The Mean Relative Design (MRD) parameter is proposed to study the average system rearrangement (i.e., re-packing) that is

Vardi, Haggay, Vantsevich, Vladimir, Gorsich, David

Verification of the Impact of Coefficient of Drag Variation due to Natural Wind on Fuel Consumption based on Actual Driving Data

2025-01-8778To be published on 04/01/2025

It is often assumed that the actual fuel economy on public roads is affected by natural wind and that this could be contributing to discrepancy between catalog fuel economy and actual fuel economy, owing to the increased yaw angle and drag coefficient (CD). However, the impact of yaw characteristics alone on fuel economy during actual driving has not been verified or proven as it is difficult to obtain actual driving data under uniform conditions. For this reason, shape optimization is normally performed at zero-yaw through the aerodynamic development phases. In this paper, two vehicles with different yaw sensitivity characteristics are driven simultaneously, and fuel economy measurements are performed simultaneously with ambient airflow, environment, and vehicle conditions, and the results where the conditions of the two vehicles match are extracted to clarify the impact of the differences of yaw characteristics on fuel economy. The obtained results matched the values predicted by

Onishi, Yasuyuki, Nichols, Larry, Metka, Matt, masumitsu, Yasutaka, Inoue, Taisuke

Disturbance Estimation Approach for minimizing Control Windup in Target Engine Speed Profile on Electrified Powertrains with a Low Voltage Belt Starter Generator and a Disconnect Clutch

2025-01-8584To be published on 04/01/2025

In cost- effective P2 hybrid vehicles with low voltage electric machines connected to the engine, an interesting control problem arises during the transition to a locked driveline state. This occurs when the engine connects to the wheels via a separation clutch. The two primary torque sources, the engine and the clutch, are traditionally imperfect estimators of applied and transferred torques. The Hybrid Supervisor’s feedforward constraints model relies on these imperfect inputs to determine torque and acceleration limits for the engine’s desired acceleration profiles and to specify engine feedforward commands, aiming for synchronization speed. Due to the inaccuracies in the torque estimates of the engine and clutch, the Hybrid Supervisor is susceptible to control windup, increased jerk to the driveline during synchronization, and inaccurate computation of its target acceleration profile, speed, and torque targets for the engine to achieve synchronization speed. This paper presents a

Banuso, Abdulquadri, Sha, Hangxing, Karogal, Indrasen, Madireddy, Krishna Chaitanya, Patel, Nadirsh

Driver’s Pedal Control for Detecting Pedal Misapplication

2025-01-8675To be published on 04/01/2025

Drivers sometimes operate the accelerator pedal instead of the brake pedal due to driver error, potentially resulting in serious accidents. Acceleration Control for Pedal Error (ACPE) has been developed, a system that detects such errors and controls vehicle acceleration to prevent these incidents. The United Nations is already considering regulations for this technology. If ACPE can detect errors based on the operations of the accelerator pedal at various driving speeds, the system will be even more effective in terms of safety. The purpose of this study is to investigate the operation characteristics of the accelerator pedal and brake pedal, focusing on the pedal operation characteristics of pedal stroke speed and pedal force speed used as thresholds for the operation of ACPE. We believe that if there is a significant difference in the operations of the accelerator pedal and brake pedals while driving, it can be used as a threshold for judging misstep. In this study, we utilized a

Natsume, Hayato, Shen, Shuncong, Hirose, Toshiya

A Torque Distribution Strategy for the Six-Wheeled Lunar Rover

2025-01-8308To be published on 04/01/2025

As a crucial tool for lunar exploration, lunar rovers are highly susceptible to instability due to the rough lunar terrain, making control of driving stability essential during operation. This paper focuses on a six-wheel lunar rover and develops a torque distribution strategy to improve vehicle handling stability. Based on a layered control structure, firstly, the strategy establishes a two-degree-of-freedom single-track model with front and rear axle steering at the state reference layer to compute the ideal yaw rate and center of gravity side slip angle. In the desired torque decision layer, a sliding mode control-based strategy is used to calculate the desired total driving torque. In the torque distribution layer, optimal control allocation is employed to maximize tire stability margins. Finally, a multi-body dynamics model of the six-wheel lunar rover is built using the open-source multi-physics simulation engine Chrono, exploring its dynamic behavior on soft terrain. Various

liu, pengcheng, Zhang, Kaidi, Shi, Junwei, Yang, Wenmiao, Zhang, Yunqing, Wu, Jinglai

Stability Control for Distributed Drive Electric Vehicles Using Particle Filter and Fuzzy Integral Sliding Mode Control

2025-01-8811To be published on 04/01/2025

The Distributed Drive Electric Vehicles (DDEVs) features independently controllable torque at each wheel, with motors that respond quickly and precisely, effectively enhancing vehicle stability. Traditional vehicles typically employ hydraulic braking systems as actuators for Electronic Stability Control (ESC). In contrast, DDEVs can also achieve ESC control requirements with four independent drive motors. However, there are significant differences in control precision and response speed between the two types of actuators, rendering traditional ESC control strategies unsuitable for DDEVs. This paper proposes a layered ESC control strategy for DDEVs based on Particle Filte (PF) and Fuzzy Integral Sliding Mode Control (FISMC). First, the state estimation layer utilizes the PF algorithm to accurately estimate the center-of-gravity sideslip angle. The target torque decision layer consists of a PI vehicle speed tracking controller and a yaw moment controller. The yaw moment controller uses

Li, Xiaolong, Zheng, Hongyu, Kaku, Chuyo

Study on the Impact of Vehicle Pitch During Braking on Pedestrian Leg Injuries

2025-01-8741To be published on 04/01/2025

With the increasing prevalence of Automatic Emergency Braking Systems (AEB) in vehicles, their performance in actual collision accidents has garnered increasing attention. In the context of Active Emergency Braking (AEB) systems, the pitch angle of a vehicle can significantly alter the nature of collisions with pedestrians. Typically, during such collisions, the pedestrian's legs are the first to come into contact with the vehicle's front structure, leading to a noticeable change in the point of impact. Thus, to investigate the differences in leg injuries to pedestrians under various pitch angles of vehicles when AEB is activated, this study employs the Total Human Model for Safety (THUMS) pedestrian finite element model, sensors were established at the leg location based on the Advanced Pedestrian Legform Impactor (aPLI), and a corresponding vehicle finite element model was used for simulation, analyzing the dynamic responses of the pedestrian finite element model at different pitch

Hong, Cheng, YE, BIN, Zhan, Zhenfei, Liu, Yu, Wan, Xinming, Hao, Haizhou

Fuzzy Sliding Mode Control of Intelligent Electric Vehicles Based on Phase Plane Stability Domain Boundaries

2025-01-8802To be published on 04/01/2025

In order to effectively improve the chassis handling stability and driving safety of intelligent electric vehicles (IEVs), especially in combing nonlinear observer and chassis control for improving road handling. Simultaneously, uncertainty with system input, are always existing, e.g., variable control boundary, varying road input or control parameters. Due to the higher fatality rate caused by variable factors, how to precisely chose and enforce the reasonable chassis prescribed performance control strategy of IEVs become a hot topic in both academia and industry. To issue the above mentioned, a fuzzy sliding mode control method based on phase plane stability domain is proposed to enhance the vehicle’s chassis performance during complex driving scenarios. Firstly, a two-degree-of-freedom vehicle dynamics model, accounting for tire non-linearity, was established. Secondly, combing with phase plane theory, the stability domain boundary of vehicle yaw rate and side-slip phase plane based

Liao, Yinsheng, Wang, Zhenfeng, Guo, Fenghuan, Deng, Weili, Zhang, Zhijie, Zhao, Binggen, Zhao, Gaoming

A drive anti-slip and lateral stability control technique for distributed three-axis drive vehicle

2025-01-8303To be published on 04/01/2025

The research object of this project is the longitudinal and lateral control of the distributed three-axis drive tractor. Which is different from the traditional four motors power system layout is that the third axel have two motors while the second axel only have one motor. Compared with the traditional design, it can reduce the dependence on battery performance and maintain motor operation in high efficiency range by switching different working model. For example, when driving at high speed, only the two-axis motor works, which can improve motor efficiency. When accelerate or climb, all motors work to provide a large power output. In the research, established the vehicle model in Simulink firstly, and then Co-simulated with Trucksim. The longitudinal control identified the optimal slip rate of the road firstly, then used the adaptive sliding mode control to obtain the driving torque of each wheel, which can achieve well control effect under various road conditions and motion modes

Shen, Ruiteng, Zheng, Hongyu, Kaku, Chuyo, Zong, Changfu

A Sled Test Methodology for 25% Offset Crash Tests

2025-01-8737To be published on 04/01/2025

Sled crash tests are an important tool to develop automotive restraint systems. Compared with full-scale crash tests, the sled test has a shorter development cycle of the restraint system and lower cost. The objective of the present study is to create a cost-effective sled test methodology, calculate the optimal static yaw angle and loading curves, and analyze the motion response and injuries of the dummy in the small-offset crash test. The effectiveness of the proposed methodology was verified under two typical Small Overlap Frontal Crash (SOFC) modes “energy-absorption” and “sideswipe”. The results show that with the calculated yaw angle α, the head HIC was different from the SOFC model, but all remaining indices were within 5% of the injury criteria . All International Organization for Standardization (ISO) values between the combined accelerations of all parts of the dummy and those of the basic model exceeded 0.75, and some values were above 0.8. Therefore, the proposed sled test

Yu, Liu, Chen, Jianzhuo, Wan, Ming Xin, Fan, Tiqiang, Yang, Peilong, Nie, Zhenlong, Ren, Lihai, Cheng, James Chih

Sensitivity Analysis of the Vehicle Dynamic Simulation Software Package Within Virtual Crash 5 Using Design of Experiments (DOE

2025-01-8693To be published on 04/01/2025

Previous papers have utilized a design of experiments (DOE) to evaluate the sensitivity of vehicle dynamics simulation of the postimpact motion of a vehicle that included high initial rotational rates. The previous papers analyzed four vehicle dynamic simulation softwares; HVE (SIMON and EDSMAC4), PC-Crash and VCRware, and applied the DOE to determine the most sensitive factors present in each simulation software. This paper will include Virtual Crash 5 into this methodology to better understand the significant variables present within this simulation model. This paper will follow a similar DOE to that which was conducted in the previous paper. 32 trials were conducted which analyzed ten factors. Aerodynamics, a factor included in the previous DOE, was not included within this DOE due to Virtual Crash 5 not accounting for that factor. The same three response variables from the previous DOE were measured to determine the effect of the various factors. These response variables are the x

Roberts, Julius, Civitanova, Nicholas, Stegemann, Jacob, Buzdygon, David, Thobe, Keith

Differential Steering Vehicle Dynamics Control with Rule-Based Unilateral Fault-Tolerant Control Strategy

2025-01-8808To be published on 04/01/2025

Abstracts A rule-based one-side fault-tolerant control strategy is proposed to improve the vehicle's traverse stability and dynamics in case of drive system failure for multi-axle differential steering vehicles due to various unpredictable factors during driving. Meanwhile, based on the conditional integration algorithm, a multi-axis differential steering vehicle dynamics control is designed to resist integration saturation, which ensures that the vehicle tracks the reference signal accurately. In order to test the designed fault-tolerant control strategy, the first wheel drive motor in the left is set to be in a state of complete failure after the 10th second on the basis of the vehicle's forward-steering driving condition in order to construct a failure test condition; deviation angle error without fault-tolerant control is 0.77727 rad and the extreme value of the yaw velocity error is 0.05771 rad/s. After fault-tolerant control, the extreme value of the center-of-mass lateral

Zou, Mingyu, lu, jun, Zeng, Dequan, Yu, Yinquan, Yang, Jinwen, Hu, Yiming, Yu, Qin, Wang, Xiaoliang

Research on Torque Management Safety Monitoring Control for Hybrid Vehicles

2025-01-8579To be published on 04/01/2025

Hybrid vehicles are driven by the vehicle controller, engine controller and motor controller through torque control, and there may be unexpected acceleration or deceleration of the vehicle beyond the driver's expectation due to systematic failure and random hardware failure. Based on the torque control strategy of hybrid vehicles, the safety monitoring model design of torque control is carried out according to the ISO 26262 safety analysis method. Through the establishment of safety goals and the analysis of safety concepts, this paper conducts designs including the driver allowable torque design for safety monitoring, the driver torque prediction design for safety monitoring, the rationality judgment design of driver torque for safety monitoring, the functional safety degradation design and the engine start-stop status monitoring, enabling the system to transition to a safe state when errors occur. Among them, the design of the driver's allowable torque includes the allowable

Jing, Junchao, Wang, Ruiguang, Liu, Yiqiang, Huang, Weishan, Dai, Zhengxing

YRSRA: Yaw and Roll Stable Region Analytics for Ground Vehicle System

2025-01-8799To be published on 04/01/2025

This article presents a software tool YRSRA for calculating both the yaw and roll stable region for ground vehicle system. Firstly, the iterative model of yaw rate and slip angle is constructed through deducing the two-degree-of-freedom vehicle dynamics. Secondly, the load transfer ratio (LTR) is coded with given yaw rate and slip angle. Thirdly, several Illustrative examples are depicted, such as variation of steer angle, road adhesion coefficient and vehicle speed. The software features an easy to generate yaw and roll stability region by on-demand configuring vehicle parameters, but can also be scripted and used as a library

Tu, Lihong, Zeng, Dequan, Zhang, Zhouping, He, Qixiao, Zhao, Shuqi, Sun, Jing, Wang, Aichun, Yu, Qin, Ming, Jinghong, Wang, Xiaoliang, Hu, Yiming

Research on Seakeeping Performance of Amphibious Rescue Vehicle Based on CFD

2025-01-8795To be published on 04/01/2025

Amphibious vehicles are widely used in civil and military scenarios due to their excellent driving performance in water and on land, unique application scenarios and rapid response capabilities. In the field of civil rescue, the hydrodynamic performance of amphibious vehicles directly affects the speed and accuracy of rescue, and is also related to the life safety of rescuers. In the existing research on the hydrodynamic performance of amphibious vehicles, seakeeping performance has always been the focus of research by researchers and amphibious vehicle manufacturers, but most of the existing research focuses on the navigation performance of amphibious vehicles in still water. In actual application scenarios, amphibious vehicles often face complex water conditions when performing emergency rescue tasks, so it is very important to study the navigation performance of amphibious vehicles in waves. Aiming at the goal of studying the navigation performance of amphibious vehicles in waves

Zhang, Yu

Investigation of Skin Friction Topology on the AeroSUV Using GLOF Meter

2025-01-8782To be published on 04/01/2025

In this study, the aerodynamics and skin flow field of a 1/5 scale SUV vehicle model called “AeroSUV” were experimentally investigated. The aerodynamics and skin flow field investigations were carried out in the wind tunnel at Hiroshima University with a Reynolds number ReL = 1.2×10^6, baseline yaw angle β = 0° and crosswind conditions β = 5°, 10° and 15° for two rear ends, Estateback and Fastback. The results provide aerodynamic information and detailed skin flow field information for a standard middle-class SUV vehicle with different rear ends, which is important for automotive design. By applying GLOF measurements to automotive aerodynamics, the skin friction topology was revealed in detail as skin flow field information that is useful for understanding the physics of the flow. The skin friction topology clearly shows the separation lines, reattachment lines, and focus points associated with the separation flow, longitudinal vortices and recirculation vortices of this vehicle model

Hijikuro, Masato, Shimizu, Keigo, Nakashima, Takuji, Hiraoka, Takenori

Research on Control Algorithm for Active Rear Wheel Steering System of Passenger Cars

2025-01-8755To be published on 04/01/2025

With the continuous advancement of automotive technology, the active rear wheel steering system, serving as a crucial component for enhancing vehicle handling performance and safety, has garnered extensive attention. In this paper, the control algorithm and performance optimization of the active rear wheel steering system are deeply studied. Firstly, a complete vehicle dynamics model is established, providing a theoretical foundation for the research on control algorithms. Subsequently, the optimal control theory is adopted to achieve the control of the rear wheel steering angle, and the LQR control strategy with variable weight coefficients is proposed in response to the linear and nonlinear variations of the vehicle tire sideslip characteristics. Finally, taking the 2WS vehicle, the proportional steering control strategy for the front and rear wheels, and the proportional feedforward + yaw rate feedback control strategy as references, modeling and joint simulation based on the CarSim

Zhang, Yi, Zheng, Hongyu, Kaku, Chuyo, Zong, Changfu

Aerodynamic Effect on Vehicle Handling

2025-01-8754To be published on 04/01/2025

Vehicle handling is significantly influenced by aerodynamic forces, which alter the normal load distribution across all four wheels, affecting vehicle stability. These forces, including lift, drag, and side forces, cause complex weight transfers and vary nonlinearly with the vehicle's apparent velocity and orientation relative to wind direction. In this study, we simulate the vehicle traveling on a circular path with constant steering input, calculate the normal load on each tire using a weight transfer formula, calculate the effect of lift force on the vehicle on the front and rear, and calculate the vehicle dynamic relation at steady state because the frequency of change due to aero load is significantly less than that of yaw rate response. The wind velocity vector is constant while the vehicle drives in a circle, so the apparent wind velocity relative to the car is cyclical. Our approach focuses on the interaction between two fundamental nonlinearities: the nonlinear aerodynamic

Patil, Harshvardhan, Williams, Daniel

Validation of SynthEyes for use in Collision Reconstruction

2025-01-8688To be published on 04/01/2025

Accurate reconstruction of vehicle collisions is critical for understanding incident dynamics and informing safety improvements. Traditionally, vehicle speed from dashcam footage has been approximated by estimating the time duration and distance traveled as the vehicle passes between reference objects. This method limits the resolution of the speed profile to an average speed over given intervals, minimizing vehicle accelerations. A more detailed speed profile can be calculated by tracking the vehicle’s position in each video frame; however, this method is time-consuming, can introduce positional error and variable frame rate noise, and is often constrained by the availability of external trackable features in the surrounding environment. Motion tracking software, widely used in the visual effects industry to track camera positions, has been adopted by some collision reconstructionist for determining vehicle speed from video. This study examines the accuracy and reliability of using

Perera, Nishan, Griffiths, Harrison, Prentice, Greg

Effect of Camera and Video Parameters on the Accuracy of Vehicle Speeds and Accelerations Calculated from Onboard Dashboard Cameras

2025-01-8691To be published on 04/01/2025

The goal of this study was to evaluate the influence of camera and video parameters on the accuracy of speeds and decelerations calculated from onboard dashboard cameras (“dashcams”). We equipped a single test vehicle with 5 commercially available dashcams. We also equipped the test vehicle with a 5th-wheel, a brake pedal switch, and a synchronization light visible to the dashcams. We conducted 9 emergency braking tests from about 60 km/h and calculated the reference speed and deceleration from the 5th-wheel data. The brake pedal switch indicated the moment of brake application. The light synchronized the dashcam videos to the 5th-wheel and brake pedal data. The 5 dashcams had horizontal fields of view (FOV) ranging from 120 to 170 degrees, frame rates of 30 or 60 frames per second (FPS), and resolutions of 1080p, 2K, or 4K. For each camera and brake test, we extracted the video from the dashcam and calculated its linear and rotational motion using SynthEyes, a 3D motion tracking and

Flynn, Thomas, Ahrens, Matthew, Young, Cole, Siegmund, Gunter P.

On the critical importance of physical modelling for the analysis of coastdown data

2025-01-8774To be published on 04/01/2025

Novel experimental and analytical methods were developed, with the objective of improving the reliability and repeatability of aerodynamic and road-load results derived from coastdown tests. The new methods were applied in the context of a coastdown test campaign conducted using a SUV and a tractor-trailer. Both vehicles had been tested in the NRC 9m Wind Tunnel, providing aerodynamic comparison-points. The rationale behind the novel techniques was to minimize the number of unknowns in the equation of motion by measuring directly the following parameters: axle mechanical resistance, rolling resistance at low speed and wheel-axle moments of inertia. This was achieved, respectively, by means of an axle-deceleration apparatus, a low-speed hauling facility and a wheel-oscillator developed for this study. In addition, the speed-dependence of tire rolling resistance was measured at a private laboratory, via rotating-drum tests, and modeled using a previously-validated exponential formulation

de Souza, Fenella, Tanguay, Bernard

Design Parameter Impact of Wind-Averaged Drag Optimization

2025-01-8772To be published on 04/01/2025

With the increasing prevalence of electric vehicles (EVs), decreasing vehicle drag is increasingly important, as range is a primary consideration for customers and has a direct bearing on the cost of the vehicle. While the relationship between drag and range is well understood, there still exists a discrepancy between the label range and the real-world range experienced by customers. One of the factors influencing the difference is the ambient wind condition that modifies the resultant air speed and yaw angle, which is typically minimized during SAE coastdown testing. Previous work has put forward a methodology to derive this wind-averaged drag (WAD) from either a full yaw sweep or a more efficient 3-point yaw curve while also showing the impact to drag coefficient as compared to the zero-yaw condition. This leads to an interesting dilemma for the vehicle aerodynamicist: whether to optimize the vehicle's exterior shape for low wind (zero yaw) conditions or for real-world conditions

Kaminski, Meghan, D'Hooge, Andrew, Borton, Zackery

Rough Road Vehicle dynamics analysis for vehicle vibration assessment

2025-01-8306To be published on 04/01/2025

Multibody dynamics analysis in vehicle development provides a few useful vehicle design guidelines in a few disciplines. The first discipline is vehicle handling simulation, where the major recommendation is suspension geometry and tuning of bushings, shocks and springs. The vehicle dynamics simulations on rough roads give insights about vehicle durability performance: vehicle components, subsystems, and the vehicle body systems. Almost all inputs to the vehicle systems come from tire to ground interactions, tire modeling is the most critical aspect in vehicle durability simulation, e.g. load prediction. The third discipline is the vehicle vibration performance assessment using vehicle dynamic simulations. This study is to demonstrate a vehicle dynamics simulation process to assess vehicle vibration performance. A vehicle dynamics model is simulated on ride roads, first. Hardware measurement can be done in a similar fashion to get the vehicle target performance or bench marking data

Hong, Hyung-Joo, Maddula, Pavan Kumar, Jun, Hyochan

Study on the Influence Mechanism of Camber and Load on the Linear zone of Tire Side-slip Mechanical Properties

2025-01-8274To be published on 04/01/2025

The linear region of the side-slip mechanical properties of tires is often used in the simulation of linear monorail models of vehicles, especially in the design of active control systems. Side-slip stiffness is a key parameter of the tire side-slip, and is significantly affected by camber and load. In the context of obtaining the virtual data of tires by finite element (FE) simulation, this paper studies the mechanism of the influence of camber on the linear area of tire side-slip mechanical characteristics based on the tire FE model, and also analyzes the influence of the load according to the asymmetric distribution of the load in the contact patch caused by camber. Firstly, the FE model of the tire is established with the design parameters and the accuracy of the model is verified. Secondly, three indexes which are load proportion, load utilization rate and contribution rate of side-slip stiffness are proposed, and the influence of camber on side-slip stiffness is quantitatively

Yin, Hengfeng, Suo PhD, Yanru, Wu, Haidong, Min, Haitao, Liu, Dekuan

Terrain Environment Estimating Method for Off-Road Vehicle Anticipated Driving Area Based on Stereo Vision

2025-01-8279To be published on 04/01/2025

Off-road vehicles are required to traverse a variety of pavement environments, including asphalt roads, dirt roads, sandy terrains, snowy landscapes, rocky paths, brick roads, and gravel roads, over extended periods while maintaining stable motion. Consequently, the precise identification of pavement types, road unevenness, and other environmental information is crucial for intelligent decision-making and planning, as well as for assessing traversability risks in the autonomous driving functions of off-road vehicles. Compared to traditional perception solutions such as LiDAR and monocular cameras, stereo vision offers advantages like a simple structure, wide field of view, and robust spatial perception. However, its accuracy and computational cost in estimating complex off-road terrain environments still require further optimization. To address this challenge, this paper proposes a terrain environment estimating method for off-road vehicle anticipated driving area based on stereo

Zhao, Jian, Zhang, Xutong, Hou, Jie, Chen, Zhigang, Zheng, Wenbo, Gao, Lun, Zhu, Bing

Dynamics Analysis and Stability Control of a Lunar Unicycle Self-Balancing Robot

2025-01-8301To be published on 04/01/2025

The one-wheeled self-balancing mobile system has superior mobility and flexibility due to its unique configuration and single-wheel grounding feature, and can autonomously perform exploration and delivery missions on narrow, rough and unstructured surfaces. In this paper, a one-wheeled self-balancing robot traveling on the lunar surface is proposed for autonomous exploration on the lunar surface. Firstly, a multi-body dynamics model of the robot is derived using the quasi-coordinate-Hamilton equations. Wheels in soft ground not only generate velocity deviations due to slip and slide, but also introduce additional travel resistance moments at the dynamics level due to soil deformation during wheel sliding. Therefore, a three-dimensional terramechanics model is used to characterize the coupling between the robot wheel and the soil. To achieve stability control of the robot's attitude, a series PID method is used for pitch self-balancing and velocity control. A model predictive control

Shi, Junwei, Zhang, Kaidi, Duan, Yupeng, Wu, Jinglai, Zhang, Yunqing

An Approach Towards the Input Load Calculation for Determining Vehicle Body Durability Performance in Proving Ground

2025-01-8286To be published on 04/01/2025

In the competitive automotive market, the vehicle must be designed and validated quickly without compromising the build quality. Vehicle durability is one of the key aspects in which vehicle structure quality can be analysed. The vehicle's durability is tested either by the accelerated testing equipment e.g. multi-axial simulators in the test labs or "Proving ground" testing which depicts the same quantum of damage which occurs in actual road running conditions. In both these cases, the actual prototype vehicle must be built and evaluated which increases the cost and actual product development time. Proving Ground simulation is an alternative way to the actual endurance test running for durability evaluation. The two major steps for Proving Ground simulation are to build and extract the loads at the suspension-body attachment points and to calculate the fatigue life of the body using these loads. In this paper, two approaches of load extraction at the attachment points have been

Sri Harsha, IVN, Gupta, Praneet, Matharu, Ranjit Singh

Hydro Bushing Model Identification using Physics-Informed Neural Networks

2025-01-8263To be published on 04/01/2025

Advances in computer aided engineering and numerical methods have made modeling and analyzing vehicle dynamics a key part of vehicle design. Over time, many tools have been developed to model different vehicle components and subsystems, enabling faster and more efficient simulations. Some of these tools use simplified mathematical models to achieve the desired performance. These models depend on model identification methods to determine the parameters and structure that best represent a system based on observed data. This work focuses on the development of a model identification for hydro bushings, a crucial component in nearly all ground vehicles. It introduces an innovative approach to identifying the dynamic properties of hydro bushings using the rapidly evolving physics-informed neural networks. The developed physics-informed network incorporates physical laws into its training process, allowing for an improved mapping of a hydro bushing’s excitation to its dynamic response. The

Koutsoupakis, Josef, Ribaric, Adrijan, Nolden, Ingo, Karyofyllas, George, Giagopoulos, Dimitrios

A Novel Hybrid Approach for Segmenting Driver Based on their Driving Style

2025-01-8205To be published on 04/01/2025

Drivers present a diverse landscape with their distinct personalities, preferences, and driving habits influenced by many factors. While drivers exhibit a wide range of behaviors, identifiable patterns in driving styles enable the classification of drivers into discrete segments. Discrete segmentation provides a practical and effective way to categorize and address the differences in driving style. The segmentation approach offers many benefits, including simplification, measurement, proven methodology, customization, and safety. Numerous studies have investigated driving style classification using real-world vehicle data. These studies employed various methods to identify and categorize distinct driving patterns, including naturalist differences in driving and field operational tests. This paper presents a novel hybrid approach for segmenting driver behavior based on their driving patterns. We leverage vehicle acceleration data to create granular driver segments by combining event

Chavan, Shakti Pradeep, Chinnam, Ratna Babu

Comparative Analysis of Mass Estimation Methods for Heavy-Duty Vehicles under Varying Payload Conditions

2025-01-8209To be published on 04/01/2025

Accurate mass estimation is essential for commercial heavy-duty vehicles (HDVs), as fluctuating payloads significantly impact energy consumption. Precise vehicle mass estimates enhance the accuracy of energy consumption models, leading to more effective energy management systems and performance optimization strategies. For example, improved energy estimates can lead to more optimized routing and refueling schedules, improving operational efficiency and reducing costs. In the context of electrification, accurate mass estimates can inform battery sizing, range predictions, and charging requirements, enabling optimized charge scheduling and seamless integration of electric HDVs into existing operations. While direct mass measurements may be obtained through external weight-in-motion or specialized onboard weighing systems, this paper focuses on methods that use data from Controller Area Network (CAN) systems for alternative real-time predictions. The challenge lies in identifying a method

Jayaprakash, Bharat, Eagon, Matthew, Fakhimi, Setayesh, Kotz, Andrew, Northrop, William

Research on Shuffle Reduction Control in Dual Motor Hybrid System based on the Motor Torque Intervention Filtering Strategy

2025-01-8517To be published on 04/01/2025

Due to the frequent and significant changes of the motor torque of hybrid vehicles during driving often occurring with the driving conditions, and the existence of the transmission tooth surface switching caused by the change in torque direction, as well as the underdamping characteristics caused by the relatively simple transmission system, the vehicle is prone to vehicle body shaking problems under conditions such as the transformation from acceleration conditions to energy recovery conditions, and exit from energy recovery. In order to ensure the ride smoothness of the hybrid vehicle while improving its power response performance, aiming at the underdamping characteristics of its transmission system, this paper develops a transmission PCM vibration suppression control strategy based on the vehicle control system to enhance the torque response and smoothness after Tip out or Tip in after braking. This strategy includes the identification of preconditions and the active intervention

Jing, Junchao, Zhang, Junzhi, Zuo, Botao, Liu, Yiqiang, Huang, Weishan, Xue, Tianjian

Cost Analysis of Battery Electric and Fuel Cell Powertrains for Class 8 Heavy-Duty Trucks in Real-World Scenarios: A 2024, 2035 and 2050 Perspective

2025-01-8592To be published on 04/01/2025

This study evaluates the performance of alternative powertrains for Class 8 heavy-duty trucks under a variety of real-world driving conditions, cargo loads, and operating ranges. Energy consumption, greenhouse gas emissions, and the Levelized Cost of Driving (LCOD) were assessed for different powertrain technologies in 2023, 2035, and 2050, considering anticipated technological advancements. The analysis was conducted using simulation models that accurately reflect vehicle dynamics, powertrain components, and energy storage systems, leveraging real-world driving data. The Argonne National Laboratory's POLARIS, SVTrip, Autonomie, and TechScape software were used in an integrated simulation workflow for this analysis. Additionally, a sensitivity analysis was conducted on fuel and battery costs to understand their impact on economic outcomes. The study considered a hydrogen cost of $4/kg in 2035 and 2050, three AEO2023 low, medium, high diesel cost scenarios, and electricity costs ranging

Mansour, Charbel, Bou Gebrael, Julien, Kancharla, Amarendra, Freyermuth, Vincent, Islam, Ehsan Sabri, Vijayagopal, Ram, Sahin, Olcay, Zuniga, Natalia, Nieto Prada, Daniela, Alhajjar, Michel, Rousseau, Aymeric, Borhan, Hoseinali, El Ganaoui-Mourlan, Ouafae

End to End Large Model Predictive Control of Automated Driving Vehicles

2025-01-8113To be published on 04/01/2025

In the drive burden alleviation of automated turning, false look ahead of speed and curvature cooperation will cause issues of multiple functional boundary operations. In the author’s previous research from SAEWCX2020, the risk feeling model on multiple lanes was proposed. However, the issues of corner operations were not considered. In real world situations of corner cases with multiple functional boundary operations, it is new and important to utilize more accurate dynamic vehicle model based on end to end large model to deal with issues of wheelbase differential dynamics, slip angle dynamics, and yaw rate dynamics. Human drivers sequentially update their predictive view point along the target lane and predict the intent of other traffic participants, and interact with them to decide the target speed. The above challenges on turning scenarios is tackled with the advance methods of predictive lattice trajectory generation using functional safety modes. In this study, the proposed

Yu, Kaijiang

Engine crankcase, Oil pan and Lube system Multiphase CFD Analysis for predicting Oil Aeration

2025-01-8364To be published on 04/01/2025

This paper explains transient, computationally rigorous, three-dimensional and one-dimensional multiphase CFD analysis of engine drainback system and lubrication system for predicting aeration. Aeration of engine oil is an important factor as it affects working of Hydraulic Lash Adjusters, bearings performance and it reduces lube system pressure itself which is detrimental for the entire engine. In this work specifically effect of engine tilting on lube oil aeration is presented. When engine is tilted, crankshaft and connecting rod/s gets dipped in to oil which generates air bubbles. These air bubbles travel to lube pump and then to the engine lube system. Therefore, it is essential to model aeration in Engine crankcase, Oil pan and Lube system in order to predict oil pressure reduction in lube system. The problem under consideration is spread over a bigger zone, involves rotating and translating components, passage’s dimensions are varying from microns to meters and involves

Tawar, Ranjit Ramchandra, Bedekar, Sanjeev

Real-time Terrain Analysis for Off-road Autonomous Vehicles

2025-01-8343To be published on 04/01/2025

One challenge for autonomous vehicle control is the variation in road roughness which can lead to deviations from the intended course of loss of road contact while steering. The aim of this work is to develop a real-time road roughness estimation system using a Bayesian-based calibration routine that takes in axle accelerations from the vehicle and predicts the current road roughness of the terrain. The Bayesian-based calibration method has the advantage of providing posterior distributions and thus giving a quantifiable estimate of the confidence in the prediction that can be used to adjust the control algorithm based on desired risk posture. Within the calibration routine, a Gaussian process model is first used as a surrogate for a simulated half-vehicle model which takes vehicle velocity and road surface roughness (Gd) to output the axle acceleration. Then the calibration step takes in the observed axle acceleration and vehicle velocity and calibrates the Gaussian process model to

Lewis, Edwina, Parameshwaran, Aditya, Redmond, Laura, Wang, Yue

A Collision Risk Assessment-Based Longitudinal Collision Avoidance Control Strategy for Tractor Semi-Trailers with Slip Ratio Control

2025-01-8037To be published on 04/01/2025

With the advancement of intelligent transportation and smart logistics systems, tractor semi-trailers have gradually become one of the primary modes of transport due to their substantial cargo capacity. However, the ongoing increase in the number of tractor semi-trailers has also introduced traffic safety issues. Due to their significant spring mass and strong body strength, accidents involving tractor semi-trailers often result in severe consequences. Active collision avoidance control strategies provide assurance for vehicle safety. However, existing research predominantly focuses on passenger cars and small commercial vehicles. Research specifically addressing tractor semi-trailers, which have longer bodies and more complex dynamic characteristics, is relatively sparse. Therefore, this paper proposes a collision risk assessment-based longitudinal collision avoidance control strategy for tractor semi-trailers with slip ratio control. Firstly, the paper introduces the braking

Yan, Yang, Zheng, Hongyu

Lookahead Information based Predictive Cruise Controller for Energy Efficient Powertrain Operation of Heavy-Duty Electric Trucks

2025-01-8031To be published on 04/01/2025

The shift towards electric heavy-duty trucks marks a significant move in sustainable freight transportation, aiming to reduce carbon emissions and decrease reliance on fossil fuels. While these trucks offer enhanced powertrain efficiency and lower operating costs, maximizing their potential requires a focus on minimizing energy consumption during operation. Efficient energy management through optimized driving strategies is essential to extend the battery life and reduce the overall environmental impact of electric trucks in long-haul logistics. This research paper introduces a predictive cruise controller that combines look-ahead information with the powertrain controller to generate an optimal speed profile for electric trucks. By optimizing the vehicle’s speed based on upcoming road conditions, the system enhances the energy efficiency of the entire powertrain, leading to more sustainable and cost-effective truck operation. The Predictive Cruise Controller (PCC) optimizes electric

Safder, Ahmad Hussain, Villani, Manfredi, Khuntia, Satvik, Nelson, James, Meijer, Maarten, Ahmed, Qadeer

Electric Vehicle Dynamic Operation Simulation with Data-driven and Physical-based Models

2025-01-8604To be published on 04/01/2025

Aiming at the complexity of the dynamic operation simulation of electric vehicles (EVs), this paper proposes a dynamic operation simulation model that integrates data-driven and physical-based principles. This model framework combines the advantage of interpretability from the physical model while leveraging the strength of rapid simulation under dynamic operating conditions of the electric vehicles from the data-driven model. The physical model part covers key aspects such as vehicle dynamics modeling, regenerative braking system, temperature model, and battery state estimation model. The data-driven part extracts key features and labels based on actual vehicle operation data, and establishes a capacity-life prediction model for the power pack of an electric vehicle by using the long-short-term memory model (LSTM). By combining the physical model with a data-driven approach, this model effectively simulates dynamic changes in vehicle cabin temperature, battery pack temperature, and

Jing, Hao, HU, Jianyao, Ouyang, Jianheng, Ou, Shiqi(Shawn)

Solving Vehicle Speed and Acceleration from Video Evidence Using Optimization

2025-01-8683To be published on 04/01/2025

This paper introduces a method to solve vehicle dynamics from one or more sources of video evidence by using optimization to determine the best-fit speed profile that tracks the measured path of a vehicle through a scene. Mathematical optimization is the process of seeking the variables that drive an objective function to some optimal value, usually a minimum, subject to constraints on the variables. In the video analysis problem, the analyst is seeking a speed profile that tracks measured vehicle positions over time. Measured positions and observations in the video constrain the vehicle’s motion and can be used to determine the vehicle dynamics. The variables are the vehicle’s initial speed and an unknown number of acceleration sequences. Optimization can be used to determine the speed profile that minimizes the total error between the vehicle’s calculated travel distance at each measured position, subject to various constraints. A test was designed to demonstrate the proposed method

Snyder, Sean, Callahan, Michael, Wilhelm, Christopher, Johnk, Chris, Lowi, Alvin, Bretting, Gerald

Uncertainty Quantification in Machine Learning using an Ensemble Approach with Gaussian Process Regression

2025-01-8199To be published on 04/01/2025

Machine learning has witnessed widespread adoption across various domains, bringing about transformative changes in decision-making, trend prediction, task automation, and personalized experiences. Despite the remarkable predictive capabilities of machine learning models, the associated uncertainty in their predictions remains a critical concern. Uncertainty estimation plays a pivotal role in ensuring robust decision-making, going beyond mere outcome prediction to quantify the model's confidence and potential error. This paper first presents a review of existing uncertainty quantification techniques in machine learning, including Monte Carlo dropout and ensemble methods, highlighting their advantages in addressing uncertainty as well as their limitations. Then, it presents an efficient and fast novel technique for uncertainty quantification using a combination of the ensemble technique and Gaussian process regression providing an accurate estimation of uncertainty bounds. Due to its

Chavare, Sudeep, Mourelatos, Zissimos P.

Efficient Simulation of Multi-Body Dynamics with Roller Guide Joints Using Julia

2025-01-8285To be published on 04/01/2025

Due to the existence of nonlinearities in mechanical systems, considerable concern has arisen regarding the effectiveness of solving multi-body dynamics (MBD) problems. Although simulations of traditional mechanisms with perfect joints could be solved with high efficiency, joints in practical applications are often characterized by clearances, leading to a significant reduction in simulation efficiency for such cases. Enhancing the effectiveness of solvers is essential for simulating systems with nonlinearities. This paper presents an exploration of using Julia, a high-performance, open-source programming language, to solve MBD problems based on index-1 differential-algebraic equations (DAE). Quaternions were utilized to represent the orientation of the rigid bodies. Alongside the modelling of common perfect joints, both planar perfect and imperfect roller guide joints were included to illustrate the method's adaptability in addressing non-standard joint types. Two case studies were

Tong, Jiachi, Meng, Dejian, Lian, Yubo, Gao, Yunkai, Yang, James

Optimal Torque Vectoring Control for Autonomous Vehicles Considering Ride Comfort

2025-01-8310To be published on 04/01/2025

Direct Yaw Moment Control (DYC) has emerged as a crucial technique in enhancing vehicle stability and handling, particularly given the growing flexibility in electric vehicle powertrain and chassis configurations. The ability to control the yaw moment through torque vectoring offers significant advantages in vehicle dynamics, especially during complex steering maneuvers. However, a critical challenge lies in balancing the influence of steering input and torque vectoring, as this balance is often predetermined by system parameters, which may not adapt optimally to varying driving conditions. In this paper, we propose a novel integrated approach that combines steering control with force distribution on the rear axles of an autonomous vehicle equipped with dual rear motors. To achieve this, a dual-track vehicle dynamic model is developed, which incorporates simplified roll dynamics. This model takes into account the steering angle and individual rear tire forces as primary inputs

Zhao, Bolin, Lou, Baichuan, He, Xianqi, Xue, Wanying, Lv, Chen

Modal Characteristics of Oil-Gas Interconnected Suspension Systems and Their Influence on Vehicle Ride Quality

2025-01-8271To be published on 04/01/2025

Oil-air interconnected suspension technology has attracted much attention because of its superior dynamic adjustment capability. In this paper, four kinds of oil-air interconnected suspensions with front and rear interconnections and accumulator volume sizes are studied as objects, and a multi-body dynamics model of automobile and a hydraulic model of oil-air interconnected suspensions are established to analyze the bias frequency of suspensions and the vibration modes of the vehicle body. Impulse excitation and random road conditions were designed to analyze the vehicle dynamics response under each configuration in terms of frequency and mode, and the excitation state of each mode of the body was analyzed under different conditions. The analysis provides a theoretical basis for the system design and smoothness optimization of the oil-air interconnected suspension

Xinrui, Wang, Chen, Zixuan, Zhang, Yunqing, Wu, Jinglai

Research on Dangerous Driving Behavior Recognition Algorithm Based on LSTM

2025-01-8204To be published on 04/01/2025

To address the issue of high accident rates in road traffic due to dangerous driving behaviors, this paper proposes a recognition algorithm for dangerous driving behaviors based on Long Short-Term Memory (LSTM) networks. Compared with traditional methods, this algorithm innovatively integrates high-frequency trajectory data, historical accident data, weather data, and features of the road network to accurately extract key temporal features that influence driving behavior. By modeling the behavioral data of high-accident-prone road sections, a comprehensive risk factor is consistent with historical accident-related driving conditions, and assess risks of current driving state. The study indicates that the model, in the conditions of movement track, weather, road network and conditions with other features, can accurately predict the consistent driving states in current and historical with accidents, to achieve an accuracy rate of 85% and F1 score of 0.82. It means the model can

Huang, Yinuo

Automotive fatigue load spectra: modelization, identification and applications

2025-01-8240To be published on 04/01/2025

Fatigue design is invariably of prior concern for the automotive industry, no matter of the evolution of the mobility market: at first because carmakers have to stay compliant with general structural integrity requirements for reliability, notably applicable to the chassis system, then due to the endless competition for lightweighting in order to mitigate product costs and/or enhance vehicle efficiency. In the past, this key performance was often tackled by basic reference load cases, making use of the simplest signal content, e.g. sinus functions, to practice constant amplitude loads on test rigs and for computations, respectively. Nowadays, full time series coming from proving ground measurements, or any corresponding virtual road load data computations, may be applied to feed complex vehicle computations for virtual assessment and complex test facilities for final approval, under variable amplitude loads. In between, the concept of load spectra (i.e. distribution of amplitudes with

Facchinetti, Matteo Luca, Tjhung, Tana, Jaffre lng, Sébastien, Datta, Sandip, Hayat lng, Romain, Guo, Mingchao

Decelerations for vehicles with anti-lock brake systems (ABS) during wet-to-dry transitions on asphalt and concrete road surfaces

2025-01-8703To be published on 04/01/2025

The braking performance of newer anti-lock braking systems (ABS) equipped vehicles on roads with varying wetness levels is not well studied. Two late-model ABS-equipped vehicles were used to perform ABS-engaged braking tests on dry and wet asphalt and concrete surfaces from which vehicle speed and deceleration as a function of time were calculated. Tests were initially conducted on a dry surface before a water truck distributed water onto the road to create a wet road condition. A continuous series of tests were then performed until the road dried and the cycle was repeated multiple times. Across all tests of both vehicles on both road surfaces, deceleration levels generally decreased when the road was wet and returned to dry levels only when less than 25% of the road surface remained wet. Also, wet deceleration levels were high compared to the historical values used for wet roads. These findings provide a useful and readily identifiable boundary between what can be considered a dry

Miller, Ian, King, David, Siegmund, Gunter

Torque Control of Electrified Powertrains with a degree of freedom in Actuator Acceleration and Output Torque

2025-01-8585To be published on 04/01/2025

Electrified powertrains, such as the Power Splits (Electrically Variable Transmission), Range Extenders (Series Hybrids), and Electric Vehicles with Disconnect Actuators, offer degrees of freedom in input actuator acceleration and output torque, all while consuming power from the same sources. The Hybrid Supervisory Controller (HSC) must effectively balance these parameters to meet performance and drivability metrics. However, these systems can lose control or have imbalanced control over input acceleration and output torque, particularly under power constraints or during sudden high output power demands. This paper addresses the challenge of managing competing control goals by the HSC, which must balance input and output requirements. Previous solutions often prioritized one against the other, affecting actuator performance, drivability and potentially causing unintended vehicle motion. This paper introduces a controls solution to managing multiple actuators with overlapping and often

Madireddy, Krishna Chaitanya, Banuso, Abdulquadri, Patel, Nadirsh, Sha, Hangxing, Khanal, Shishir

Research on Motor Safety Monitoring Control for Powertrain Control System

2025-01-8511To be published on 04/01/2025

The motor controller, as one of the important controllers in the electric drive system, may cause unexpected acceleration or deceleration of the vehicle by the driver due to systematic failure and random hardware failure. Conducting research on the functional safety of drive motors for new energy vehicles is of great significance for reducing the systematic failure and random hardware failure of the electric drive. This paper has carried out designs including the allowable motor torque design for safety monitoring, the motor torque prediction design for safety monitoring, the rationality judgment design of the motor torque for safety monitoring, the rationality judgment design of the motor direction for safety monitoring, the functional safety motor degradation design, and the active discharge state monitoring of the motor, so that the system can transition to a safe state when an error occurs. Among them, the motor torque prediction design for safety monitoring includes predicting the

Jing, Junchao, Zuo, Botao, Liu, Yiqiang, Huang, Weishan, Dai, Zhengxing

Data Collection for Real-World Driving Studies: Challenges and Lessons from a Project on assessing EV Viability in Rural Michigan

2025-01-8525To be published on 04/01/2025

Real-world driving data is an invaluable asset for several types of transportation research ranging from emissions estimation to vehicle control systems development. Traditional methods of real-world driving data collection utilize advanced and expensive GPS-based data logging equipment. Such equipment may possess unnecessarily excessive capabilities depending on the type of study, increasing study complexity and expenditure. This paper proposes the implementation of the Google Maps Application as a surrogate measurement device for real-world driving data logging, reducing study complexity and cost. Driving data can be collected from drivers who use Google Maps on their smartphones, making the process of implementation minimally invasive. The merits and disadvantages of this type of data logging will be analyzed through the case study of the ‘Rural Driving Study – Analysis of the Viability of Electric Vehicles in Rural Michigan’ research project that is currently being undertaken at

Manoj, Ashwin, Yin, Sally, Ahmed, Omar, Vaishnav, Parth, Stefanopoulou, Anna, Tomkins, Sabina

A Model for the Design of Automated Vehicle Event Data Recorders

2025-01-8678To be published on 04/01/2025

We propose a model for the design of a new generation of event data recorder (EDR) aimed for automated driving systems (ADS) to support crash analysis, risk assessment and accidents reconstruction. Current EDRs, or described in standards and regulations do not address detailed design requirements that are necessary by all SAE 3016 driving automation levels 1 through 5. These standards and regulations include IEEE 1616.1, SAE J1698, U.S. CFR, Title 49 Part 563, FMVSS No 405, UN regulation 160, and others. Traditional onboard EDRs are a devices that capture and store critical vehicle data for several seconds before, during and after any crash where an airbag is triggered or there is an excessive rate of vehicle deceleration. There are efforts to design new kinds of EDRs to capture and store data during and after crashes that involve automated vehicles. IEEE 1616.1 defines requirements and metrics for data storage in a data storage system for automated driving (DSSAD), as well as related

Pimentel, Juan

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