Browse Topic: Vehicle dynamics

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Autonomous Racing Control Using Reinforcement Learning with Racing Line Guidance2026-01-0031To be published on 04/07/2026
In recent years, with the emergence of autonomous racing competitions such as Roborace, autonomous racing cars have become a prominent research focus and have undergone rapid development. This paper establishes a reinforcement learning-based decision-making and control framework for autonomous racing cars, achieving cooperative optimization between high-speed racing and safety control under extreme operating conditions. By integrating a Control Barrier Function constrained reward function for dynamic stability and a racing line-guided path optimization, the proposed framework achieves a synergistic balance between minimum lap time and operational safety. Dynamic stability domain constraints based on a two-degree-of-freedom single-mass rigid-body model and racing line optimization based on track geometric modeling are established. The phase plane stability boundary is constructed using the yaw rate method and double-line method, upon which Control Barrier Function constraints are
peng, tao, Zhang, Weiqi, Li, Zengwen, sudong, jiang
The Characterization of Lumbar Acceleration in Rear-End Impacts Across Different Surrogate Occupant Types2026-01-0552To be published on 04/07/2026
Longitudinal lumbar acceleration is often overlooked as a key variable when biomechanically assessing lumbar response in rear-end collisions. Previous studies have assessed lumbar accelerations for occupant types individually, but comparative analyses between surrogate occupant types have been limited. Human volunteers best reflect kinematics in real crash scenarios but are limited to low-severity impacts due to ethical limitations. Post-mortem human subjects (PMHS) can be employed in higher speed impacts, however their lack of muscular input may not extensively capture occupant kinematics. Anthropomorphic test devices (ATDs) offer trial consistency and repeatability, however the widely used Hybrid III ATD's relatively simple lumbar spine may not fully emulate the human lumbar vertebrae. Based on these physiological differences between occupant types, there may be corresponding differences in lumbar spine acceleration that have not been objectively quantified. The aim of this study was
Zambare, Keya, Ogbu Felix, Jordan, Arana Barcala, Emily, Westrom, Clyde, Caraan, John, Adanty, Kevin, Shimada, Sean
Vehicle Deceleration Levels during Wet-to-Dry Transitions on an Asphalt Surface with a High Proportion of Aggregate2026-01-0542To be published on 04/07/2026
The goal of this study is to quantify how the braking performance of newer anti-lock braking systems (ABS) changes as the level of road wetness varies on an asphalt road surface with a high proportion of aggregate present in the asphalt matrix. To achieve this goal, we conducted 375 straight-line braking tests using a late-model sedan and SUV on a public road in Mississauga, ON. Each vehicle was equipped with a 5th wheel (resolution 0.1 mm) sampled at 200 Hz, from which vehicle speed and deceleration were calculated. The road surface was wetted four times and allowed to dry each time under ambient conditions over a period of about one hour. As the road transitioned from wet to dry, a continuous series of ABS-braking tests were performed from an initial speed of 60 km/h. Both the maximum and average decelerations for each braking event were compared between six “wetness” categories assigned to the road surface condition present for each test. We found that the vehicles were able to
Ahrens, Matthew, Arnold, Nikolas, Miller, Ian, Siegmund, Gunter P.
From Prediction to Design: Using Context-Aware Graph Neural Networks and Explainable AI to Anticipate Transfer-of-Control2026-01-0049To be published on 04/07/2026
Drivers often interact with partial automation (SAE Level 2) systems, initiating transfer of control (TOC) either by handing control over to the automation or by taking it back. Accurately predicting these interactions may inform the design of future automation that adapts proactively to the operating context, enhances comfort, and improves safety. We present a context-aware framework that generates a unified driver–vehicle–environment representation by fusing data from videos of the in-cabin and forward road with vehicle kinematics, and driver behaviors (annotations of driver glance, hands-on-wheel, and secondary-task engagement). This representation is encoded in a hierarchical Graph Neural Network that classifies driver-initiated TOC to: (i) Manual-to-Automation (M2A) and (ii) Automation-to-Manual (A2M) and predicts time-to-TOC. Shapley-based explainable AI was used to quantify how the importance of behavioral, contextual, and kinematic cues evolved in the seconds preceding a TOC
Zhao, Zhouqiao, Gershon, Pnina
Data-Driven Objective Road-Driving Classification For Durable Design Of Vehicles2026-01-0181To be published on 04/07/2026
Durability development in the automotive industry depends on a clear understanding of how road surfaces and driving characteristics affect structural road loads and fatigue. Traditionally, road surface classification has been subjective (e.g., city, highway, rural), and done through driving instrumented vehicles over a small selection of roads. The variations in driving characteristics that are often consequent to the road surface quality is rarely accounted for in designing vehicle level durability tests. This makes it difficult to establish targets for the durability testing that accurately match the wide variations in real-world roads and driving across the market of vehicles. This paper presents a data-driven approach to objectively classify road surface and driving characteristics using metrics derived from existing vehicle and road response metrics like Vibration Dose Value (VDV), International Roughness Index (IRI) and statistical estimates of vehicle speed and acceleration
Shaurya, Shubham, Ramakrishnan, Sankaran, Demiri, Albion, Khapane, Prashant
Quantifying Accuracy and Robustness to Guide Fidelity Selection for Multi-fidelity Vehicle Dynamics Models2026-01-0149To be published on 04/07/2026
Accurate and reliable simulation models are essential for design, development, and performance evaluation during virtual vehicle testing. However, fidelity assessment and validation remain a challenge. While error metrics are used to evaluate simulations, they alone do not capture how reliable predictions are, or how robust models are to varying driving scenarios and modeling assumptions. This work develops a systematic quantitative approach for evaluating vehicle dynamics model fidelity, moving beyond traditional visual or qualitative comparisons. A dimensionless fidelity metric is proposed that integrates error and uncertainty into a single measure, enabling objective accuracy assessment of variable-fidelity simulations. This framework supports fidelity selection in vehicle dynamics, providing clearer insight into tradeoffs between computational cost and achievable accuracy, and advancing the goal of reliable virtual testing. This approach is demonstrated on an open-loop vehicle
Emara, Mariam, Balchanos, Michael, Mavris, Dimitri
Reconstruction of Pedestrian-Vehicle Collisions Using 3D Skeletal Estimation from Vehicle-Mounted Camera Video2026-01-0575To be published on 04/07/2026
Since 2009, pedestrian fatalities caused by traffic accidents in the United States have increased by 78%, exceeding 7,000 deaths annually. To reduce injuries, a deeper understanding of injury mechanisms based on real-world accident data is required. Recently, accident reconstruction techniques utilizing recorded video from vehicle-mounted cameras have gained increasing attention in accident analysis. However, injuries resulting from contact with the road surface are often occluded due to camera blind spots, hindering accurate capture. Additionally, the low frame rate of many vehicle-mounted cameras limits the ability to accurately analyze the detailed kinematics of pedestrian impacts. To address these limitations, this study proposes a reconstruction method that estimates pedestrian motion in occluded regions by matching observed behavior from vehicle-mounted camera recorded video with simulation results. First, to reconstruct three-dimensional pedestrian motion from vehicle-mounted
Onishi, Koji, Wang, Kewang, Uno, Eriko, Ichikawa, Koji, Tanase, Noboru, Ando, Takahiro
Research on Attitude Control and Stability of Water-Wading Vehicles2026-01-0627To be published on 04/07/2026
With the intensification of global climate change, the frequency of extreme rainfall has increased, and the number of urban waterlogging and water-crossing sections in the wild has significantly risen. The scenarios where vehicles encounter complex water-crossing road conditions are also on the rise, which poses unprecedented challenges to the passability and safety of modern vehicles. This article conducts a study on the problem of attitude instability that occurs when vehicles are driving in water. Traditional vehicles have insufficient passability when wading through water. Their passive suspension systems cannot adaptively adjust when wading through water, resulting in insufficient vehicle stability and a high risk of serious accidents such as "water skidding" or even overturning. The safety of driving through water cannot be guaranteed. In this regard, this paper first establishes a dynamic model of a wading vehicle body considering the effect of buoyancy. On this basis, it
Li, LiuYuanHeng, Tan, Gangfeng, Dong, Chenchen, Fayzullayevich, Jamshid, Han, YiFei
Integrated Design and Validation of a Robust Lane Centering Controller for Automated Driving.2026-01-0037To be published on 04/07/2026
Lane centering is a critical active safety feature whose effectiveness depends on robust design and validation across diverse driving conditions. This paper presents the development of a Lane Centering Controller (LCC) using a structured model-based design workflow in MATLAB and Simulink. A kinematic bicycle model was employed to simulate vehicle dynamics and evaluate an angle based steering controller integrating both feedforward and feedback control paths. The controller was tested across multiple road geometries and speeds up to 65 mph to ensure tracking consistency and stability under nominal and perturbed conditions. Perception noise models for lane curvature and curvature rate were extracted from onboard camera data under controlled conditions, revealing Gaussian characteristics. No filtering was applied, allowing direct evaluation of the controller’s inherent robustness to raw signal variability. The LCC maintained a peak lateral offset within ±0.35 m and lateral jerk within ±9
Bijinepalli, Ravi Teja, Tambolkar, Pooja, Midlam-Mohler, Shawn
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
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
An Updated Correlation Study between the Full Size Wind Tunnels of General Motors, Ford Motor Company, and FCA US LLC2026-01-0612To be published on 04/07/2026
As automotive aerodynamic testing facilities evolve to capture more real-world behavior, updating the correlation between old and new technologies is essential. Recently, the three-member consortium of the United States Council for Automotive Research (USCAR) - FCA US LLC, Ford Motor Company, and General Motors - transitioned from full-size static ground plane facilities to 5-belt moving ground plane wind tunnel facilities. The primary objective of this study was to update the correlation data sets to maintain consistent and robust data sharing among companies, which is the cornerstone of USCAR efforts. To achieve this, a set of updated correlation data sets were calculated to replace the original correlation study results from 2008. Additionally, the methodology for applying correlation equations was revised from using averaged wind tunnel data to employing direct wind tunnel-to-wind tunnel correlation equations. In a two-phase correlation effort conducted in 2022 and 2025, the three
Nastov, Alexander, Lounsberry, Todd, Madin, Trevor, Langmeyer, Gregory, Fadler, Gregory, Skinner, Shaun, Horton, Damien
Research on Fault-Tolerant Control Strategy for Drive System Failure of Corner Module-by-Wire Chassis Vehicles2026-01-0620To be published on 04/07/2026
As an emerging research focus, corner module-by-wire chassis vehicles address the pain points of traditional chassis in flexibility, cost, and development efficiency, and have become one of the key infrastructures in the autonomous driving era. However, their large number of actuators significantly increases the risk of failures. This paper analyzes the characteristics of such vehicles and studies the fault-tolerant control for their drive system failures. Firstly, a full-vehicle dynamic model was established, with mathematical modeling conducted for the vehicle body, motor, tire, and corner module system models. Secondly, a hierarchical yaw stability control strategy was designed for the non-faulty actuator scenario: the decision-making and control layer adopted both Sliding Mode Control (SMC) and fuzzy PID control, selecting the method with better performance to output the additional yaw moment; the control allocation layer used a quadratic programming algorithm based on tire load
Zheng, Hongyu, Zhang, Tianhao, Zhang, Yuzhou
A Study on Vehicle Cornering Stiffness Estimation Based on Recursive Least Squares Method2026-01-0630To be published on 04/07/2026
This paper investigates a vehicle cornering stiffness estimation method based on recursive least squares (RLS), aiming to enhance automotive active control capabilities. Conventional parameter identification schemes reliant on onboard sensors are constrained by sensing range and cost limitations. This study explores an estimation algorithm utilizing generic motion signals, derives the theoretical relationship between yaw rate response and yaw stiffness, and designs an RLS approach for online identification of relevant model parameters. In a simulation environment, applying an ideal steering angle excitation demonstrated that the RLS algorithm converges within approximately one second and successfully estimates the cornering stiffness with an error of less than 5% relative to the set true value. Results indicate that under known vehicle basic parameters and ideal input conditions, the proposed algorithm can effectively complete cornering stiffness estimation. This work establishes an
Lang, Tao, Tan, Gangfeng, duan, xianqi, Shen, Leiming, Liang, Shuang
A Correction Method to Estimate Wake Effects for Aerodynamic Performance Metrics2026-01-0601To be published on 04/07/2026
Wake effects modify the aerodynamic performance of a road vehicle when driving in traffic. Analysis of wind-tunnel measurements conducted in flows with wake characteristics, using a traffic-wake-simulation system, suggests that conventional uniform-wind performance coefficients can be scaled, using wake-flow-field information, to predict the influence of wake effects. This paper presents a flow-field-averaging method that estimates a dynamic-pressure correction and yaw-angle correction for application to uniform-wind data, to account for changes in performance due to wake effects. This first-order method is shown to provide reasonably-good accuracy when reverse correcting the wind-tunnel wake-effects measurements. Drag-coefficient data for light-duty-vehicle models, which showed wake effects exceeding 20%, were corrected to within 5% of uniform-wind values, while data for heavy-duty-vehicle models, which showed wake effects exceeding 15%, were corrected to within 2% of uniform-wind
McAuliffe, Brian
Lateral stability and energy-saving integrated control of distributed drive vehicles with four wheel hub motors2026-01-0635To be published on 04/07/2026
Abstract: In order to improve the lateral stability and energy optimization of four-wheel hub motor distributed drive vehicles under complex road conditions, a layered control strategy for yaw stability is proposed. The upper controller is designed based on the sliding mode control principle to create a yaw moment controller, establishing both a two-degree-of-freedom model and a seven-degree-of-freedom model for the vehicle, tracking the desired yaw rate, desired center of mass side slip angle, actual yaw rate, and actual center of mass side slip angle to obtain the corresponding additional yaw moment. Moreover, the state of the vehicle is analyzed using the phase plane method of the center of mass side slip angle and yaw rate, and the total additional yaw moment for the vehicle is computed based on weighted calculations according to the state. Additionally, an unscented Kalman filter observer is established to enhance the tracking accuracy of the actual yaw rate and actual center of
shi, cheng'ao, liu, bingsen, Zou, Xiaojun, Wang, Tao, Zhang, Ming
Energy-Efficient Predictive Cruise Control in Heavy-Duty Electric Trucks with Optimization of the Penalty Factor as a Function of Payload2026-01-0042To be published on 04/07/2026
Heavy-duty Class 8 battery electric trucks not only offer a significant reduction in greenhouse gas (GHG) emissions compared to conventional diesel trucks but can also provide significant savings in fuel costs. To further enhance the energy and freight efficiency, Predictive Cruise Control (PCC) algorithms can be developed that generate optimal acceleration profiles for the vehicle by minimizing a cost function which combines both energy consumption and deviation from the desired velocity. A critical component of the cost function is the penalty factor, which governs the trade-off between energy use and travel time, which are two conflicting objectives in freight logistics. Selecting an appropriate penalty factor is essential, as freight deliveries are time-sensitive but minimizing energy consumption remains a priority. Moreover, variations in payload significantly affect vehicle dynamics and energy usage, making it critical to adapt the penalty factor to different payload conditions
Safder, Ahmad Hussain, Villani, Manfredi, Wang, Eric, Khuntia, Satvik, Nelson, James, Meijer, Maarten, Ahmed, Qadeer
Development of A Tire Blowout Experimental Platform for Dynamics and Control Validation2026-01-0202To be published on 04/07/2026
Tires are critical to vehicle dynamics, transmitting traction, braking, and cornering forces to the road. A tire blowout, the sudden and rapid loss of inflation pressure due to puncture or structural failure, can cause severe instability, rollover, or collisions. Understanding vehicle response during blowout events is essential for developing robust safety systems and control strategies. Earlier developed simulation models are used to study and understand vehicle behavior during blowouts, but there is a lack of on-road testing platforms to validate these models experimentally. A custom-built blowout device integrated with a data acquisition system has been developed to address this gap. It consists of multiple solenoid valves mounted on the wheel surface and powered by a 12V supply. All valves are triggered at the same time using an RF remote, producing rapid and synchronized deflation. An Arduino-based actuation system is being developed for individual valve actuation and custom
KANTHALA, Maha Vishnu Vardhan Reddy, Krishnakumar, Ashwin, Lin, Wen-Chiao, Chen, Yan
Modal Analysis Approach on Vehicle Transient Behavior Considering Roll and Pitch Dynamics2026-01-0210To be published on 04/07/2026
Although the basis of vehicle dynamics is planar motion, accompanied roll and pitch motion also affect not only the planar motion but also the driver‘s subjective evaluation. Many studies indicate that the phase difference between roll and pitch during turn-in seemingly influences the driver‘s subjective evaluation. In a previous study conducted in 1971, R.S. Sharp performed modal analysis of the motorcycle's sprung mass rigid body motion, and classified the major oscillation mode as Capsize, Weave, and Wobble and the sensitivity analysis were conducted on the effect of speed and design specifications for each mode. These findings have become a fundamental theory in the design of motorcycle performance. On the other hand, in the vehicle dynamics analysis that consider roll and pitch, the characteristics have been understood through parameter studies and equivalent models, and the oscillatory and damping properties have been analyzed using characteristic roots. However, there have been
Kusaka, Kaoru, Yuhara, Takahiro, Koakutsu, Shingo
Impact of User-Adjustable Vehicle-Dynamics Tuning on Vehicle Durability2026-01-0194To be published on 04/07/2026
Software-defined vehicles offer customers a greater degree of customization on vehicle operation. One such feature is a user-adjustable tuning of vehicle ride and handling, where customers can vary the ride height, the active damper stiffness (affecting ride comfort), front-rear torque balance (affecting ride handling), and other vehicle dynamics features. While promising a great customer experience, such a feature can expose the vehicle to a wider range of structural loads than before, particularly when such tuning is extended to cover spirited “sport” mode driving, offroad driving, etc. In this paper we present a novel methodology combining Road Load Data Acquisition (RLDA) data and real-world telemetry data to estimate the impact of user-adjustable vehicle-dynamics tuning on structural durability.  In doing so, the method combines the physics of damage accumulation (from RLDA data) with user behavior (from telemetry data) to present an accurate assessment of the impact on durability
Demiri, Albion, White, Dylan, Ramakrishnan, Sankaran, Borton, Zackery, Khapane, Prashant
Lap Time Performance Sensitivity to Tire Model Parameters: An Optimal Control Framework for Model Selection and Calibration2026-01-0214To be published on 04/07/2026
The push for vehicle development through virtual prototyping and testing in motorsports highlights the critical challenge of tire model selection and calibration, especially when vehicle dynamics must be accurately captured. The calibration process for tire models such as the Pacejka Magic Formula (MF) relies on parameter identification and experimental data fitting. While optimization algorithms have been implemented to calibrate tire models, few studies explore the effects of parameter selection on overall vehicle performance, complicating prioritization for the vehicle’s modeling and simulation strategy. To bridge this gap, this paper leverages optimal control methods to quantify how the variability of MF tire model parameters propagates to the overall vehicle model and impacts lap time prediction accuracy. To achieve this, a subset of parameters critical to combined slip of the MF tire model are varied through a Design of Experiments (DOE). These variations are executed on a flat
Zarate Villazon, Angel M., Brown, Ian, Balchanos, Michael, Mavris, Dimitri
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
Study of Approaches for Enhanced Traction Control Response for Hybrid Powertrain Architectures2026-01-0415To be published on 04/07/2026
Traction Control functionality requires fast and accurate response by powertrain system for wheel slip control. Close loop control effort of wheel slip shall be greatly reduced with more accurate feedforward torque. This paper explores the method of achieving requested traction control torque with better accuracy for torque converter-based hybrid electric powertrain architectures using improved dynamic modeling of torque converter. This method uses input inertia compensation involving feedforward and closed loop control modeling of torque converter and includes conversion of traction control intervention request through appropriate domains. Commanded torques by hybrid controller at wheel with and without these approaches are compared in Model in the loop simulation environment to identify optimum approach.
Karogal, Indrasen, Ober, Mitchell, Banuso, Abdulquadri, Sharma, Ashay
Rapid Prediction Method for Crankshaft dynamic balancing Based on SolidWorks2026-01-0494To be published on 04/07/2026
As the core component of high-speed power systems such as internal combustion engines and compressors, the crankshaft’s dynamic balancing performance is a key factor influencing overall machine vibration, noise and operation reliability of the whole machine. In response to the problem whereby the traditional dynamic balancing correction method relies on empirical formulas and repeated trial weights, resulting in a long design cycle, this paper proposes a rapid prediction and optimized design method for the dynamic balancing performance of crankshafts based on SolidWorks. The method first determines the center of mass and the moment of inertia of the crankshaft through mass properties analysis, and then uses the motion simulation module for dynamic simulation to accurately predict the imbalance force and moment. In order to overcome the common numerical convergence difficulties and oscillations in the result curves in simulation, this study introduces a series of optimization strategies
Yang, Minghao, Zheng, Yuqing, Ma, Honghui, Chen, Hao
Research on Vehicle and Longitudinal Tire Model Parameters Identification Based on Electro-Mechanical Brake System2026-01-0634To be published on 04/07/2026
The Electro-Mechanical Brake (EMB) system is a novel type of brake by wire systems with independently controllable characteristics. This system aids in the decoupling analysis of the vehicle and actuator dynamics, thereby improving the accuracy of parameter identification. Therefore, this paper proposes an innovative parameter identification method for vehicle parameters and longitudinal tire model parameters, based on the characteristics of the EMB system and onboard sensors. First, based on the wind resistance and rolling resistance coefficients obtained from the vehicle coasting conditions, a decoupled constant clamping force sequence braking condition for the front and rear axles is designed by integrating the characteristics of the EMB actuator and vehicle dynamics. This approach enables the identification of vehicle and nonlinear longitudinal tire model parameters, significantly improving the accuracy of parameter identification. Next, considering the nonlinear characteristics of
Huang, Jiayi, Cheng, Yulin, Zhuo, Guirong, Le, Qiao, Wei, Wei, Shu, Qiang
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
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
Integrated Effects of Suspension Geometry and Tire Pattern Design on Vehicle Pull Reduction under Acceleration in High-Performance and Electric Vehicles2026-01-0593To be published on 04/07/2026
Torque steer is a phenomenon that is more prominently observed in high-performance vehicles and electric vehicles (EVs). This phenomenon occurs primarily due to asymmetric driveshaft angles, drivetrain structure, and suspension geometry. Additionally, tire characteristics, particularly lateral force (Tire Lateral Force), also play a significant role in affecting torque steer. Tire lateral force is strongly influenced by the contact patch dynamics and the geometric design of the tire tread pattern. This study focuses on analyzing the impact of tire tread pattern geometry on the relationship between torque steer and tire lateral force in such vehicles. Specifically, lateral force response variations (dfy/dfx) resulting from tread pattern block deformation were derived through finite element (FE) simulations. These simulations enabled the establishment of an analytical method for tread pattern evaluation and optimization. The developed characteristic parameter was validated by comparative
Yoon, Youngsam, Jang, Dongjin, Kim, Hyungjoo, Lee, Jaekil
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
Oscillatory Behavior of Understeering Vehicles2026-01-0623To be published on 04/07/2026
Oscillations in understeering vehicles are occasionally described in the literature, primarily in terms of the poles of the yaw rate response, but perhaps not completely appreciated in their complexity. This work shows that as speeds of the understeering vehicle increase, the increasingly underdamped poles of the yaw rate transfer function combine with the effects of a low frequency zero and a reduced steady-state response to result in oscillations greater than would be expected from eigenvalues alone. A speed range for acceptable yaw rate response is suggested, and it is shown that a typical understeering passenger car operates within this range. As the understeering vehicle’s speed increases beyond this range, the high speed limit of the oscillation frequency is found.
Williams, Daniel
Path Following Strategy for Multi-Axle Vehicles via Nash Game-Based Coordinated Control of AFS and DYC2026-01-0629To be published on 04/07/2026
Due to their complex structure and large inertia, multi-axle hub electric drive vehicles often suffer from response delays and insufficient control sensitivity. To improve path tracking accuracy and handling stability under high-speed and low-adhesion conditions, this paper proposes a coordinated control strategy that integrates a three-dimensional stability assessment with a Nash game-based approach for active front steering (AFS) and direct yaw moment control (DYC) systems. A path tracking control model tailored for multi-axle vehicles is developed, and a robust Tubular Model Predictive Control (Tube-MPC) method is employed to enhance trajectory tracking performance under model uncertainties and external disturbances. Within the prediction horizon of Tube-MPC, the system continuously evaluates whether the vehicle state remains within the stable region. If the state exceeds this region, a Nash game-based coordination mechanism is activated to formulate a multi-objective control game
Lv, Xin, Liu, Zuyang, Shen, Yanhua, Wang, Kaidi
Study on performance parameters of retarder in mountain condition of hybrid electric vehicle2026-01-0617To be published on 04/07/2026
In mountain driving scenarios, the continuous braking demands of vehicles pose significant challenges to the performance and reliability of braking systems. Traditional fuel-powered vehicles primarily rely on friction brakes for deceleration, which face issues such as high thermal fade risks and severe brake wear. While pure electric vehicles can utilize motor energy recovery to provide braking force and recover energy, their braking capacity is limited by the maximum regenerative torque of the motor. Moreover, when the battery State of Charge (SOC) is high, the energy recovery function may be restricted or disabled to protect the battery, leading to a sharp reduction or complete loss of braking torque—a safety hazard. Range-extended hybrid vehicles combine the advantages of both engine and electric drive systems. During long downhill operations, their motors can also serve as priority decelerators for efficient energy recovery. However, similar to pure electric vehicles, their motor
duan, xianqi, Tan, Gangfeng, Li, LiuYuanHeng, Tian, Tian, Yang, Yong
Multiple-Parameter Joint Estimation for Unmanned Mining Trucks Based on Real-Time Cornering Stiffness Identification2026-01-0618To be published on 04/07/2026
High-precision estimation of key vehicle–road state parameters is essential for accurate and safe vehicle control, as well as for reliable trajectory tracking and path planning. However, the strong nonlinearity of tire forces makes real-time estimation of tire cornering stiffness challenging, and the uncertainty of this parameter significantly limits the performance of conventional estimation methods. To overcome this issue, this study proposes a novel joint estimation framework that integrates the Square-Root Cubature Kalman Filter (SCKF) with Moving Horizon Estimation (MHE). In the proposed approach, the SCKF provides high-accuracy estimation of the vehicle sideslip angle, while the MHE enables real-time identification and updating of tire cornering stiffness using vehicle state information over a short horizon. This establishes a closed-loop joint estimation mechanism between sideslip angle and cornering stiffness. Furthermore, the real-time updated cornering stiffness is
Xia, Xue, Shen, Peihong, Jiao, Leqi, Li, Tao, Chen, Huiyong, Zhao, Kun, Jiao, Leqi, Zhao, Zhiguo
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
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
Mitigation of Sensor-Level Cyber-Physical Attacks on Electric Vehicle Powertrains: A Simulation-Based Study2026-01-0091To be published on 04/07/2026
Electric vehicles (EVs) rely extensively on sensor feedback for safe and efficient powertrain operation. However, this dependency introduces cyber-physical vulnerabilities, especially when sensor signals are maliciously manipulated. This paper presents a simulation-based investigation into sensor-level cyberattacks on a mid-sized EV powertrain model developed in MATLAB/Simulink. The study quantifies mechanical consequences and evaluates mitigation strategies to enhance system resilience. Four representative attack scenarios were simulated. Speed sensor spoofing led the controller to misinterpret vehicle velocity, causing a 41% overshoot beyond the 50 km/h setpoint. False data injection into torque/current sensors triggered an unintended torque surge of approximately 20%, resulting in inverter current saturation within 2 seconds. Battery temperature spoofing delayed thermal protection, allowing a deviation of 1.5 °C/min beyond safe operating limits. A hybrid attack combining frozen
Tariq, Usama, Sahandabadi, Sahereh, Dianat, Ali
A Study on the Engine Vibration Control of Parallel Hybrid Vehicle based on the On-line Estimation of Engine Torque Fluctuations2026-01-0002To be published on 04/07/2026
For a hybrid electric vehicle (HEV) with a crankshaft-integrated e-motor, the e-motor can be utilized to compensate for typical combustion engine vibrations. This paper presents a feedforward engine vibration control methodology based on efficient real-time estimation of engine torque fluctuation, primarily derived from in-cylinder pressure profiles obtained through steady-state dynamometer tests at various operating points. The measured pressure profiles are decomposed into motoring pressure and combustion pressure components, where the motoring pressure component is further decomposed into idle speed pressure and throttle-associated motoring pressure components. These pressure components are converted into corresponding fluctuating torque elements. The resulting torque profiles are tabulated, then scaled and shifted according to the torque demand and ignition angle under real driving conditions, thereby enabling estimation of the pressure torque and subsequently total torque
Park, Keychun
Optimal Control Analysis of Minimum-Time Maneuvers for Vehicles Recovering from Instability2026-01-0218To be published on 04/07/2026
Vehicles may enter highly unstable dynamic states due to lateral collisions, sudden loss of grip, or extreme steering disturbances. When such instability arises in congested road sections where obstacle avoidance is required, the safety risk to both the ego vehicle and surrounding traffic escalates significantly. In such scenarios, the vehicle must not only regain stability but also navigate the roadway in the shortest feasible time to prevent secondary collisions. This paper investigates the minimum-time maneuver of a vehicle starting from an unstable dynamic condition and constrained to travel within prescribed road boundaries. A single-track vehicle model with combined-slip nonlinear tire model is employed to capture the vehicle dynamics under high slip conditions. Phase-plane analysis is conducted to reveal how control inputs reshape the system’s vector field and influence the possibility and speed of stability recovery. An optimal control problem is formulated to compute the
Leng, Jiatong, Yu, Liangyao, Wang, Yongxin, You, Weijie, Li, Ziang, Jin, Zhipeng
Curb Impact: Non-linear structural FE analyses in Multibody Dynamics Models2026-01-0219To be published on 04/07/2026
In a few extreme customer abuse load cases such as Curb Impact and Potholes, automotive structures see non-linear (plastic) deformations as well as large rigid body motion. The load cases can be simulated by crash analysis tools such as LS-Dyna or multi-body dynamics analysis tools like Ansys Motion. The crash analysis has a better representation of structural compliances including large deformation with large rigid body motion. However, it requires a well-defined FE model and suspension multi-body models in detail. Furthermore, it takes a long time to get a result. On the other hand, the multi-body dynamics approach is very quick to get a result, while it has a limitation of representing structural compliance. The limitation is true in representing structural non-linearity such as large deformation associated with plastic yielding. In this study, a curb impact simulation was performed using the multi-body dynamic approach with nonlinear structural analysis capabilities included in
Hong, Hyung-Joo, Kim, Wangoo
On-Road Vehicle Testing and Characterization2026-01-0195To be published on 04/07/2026
Vehicle testing for fuel economy and emissions is typically performed indoors over standard dynamometer drive schedules to minimize variability and maximize repeatability of the results. In contrast, during on-road operation, operational parameters such as vehicle speed and acceleration and environmental factors such as temperature and wind will change unpredictably. These factors influence vehicle fuel economy and emissions, making on-road operation much more variable than dynamometer results. However, even though on-road conditions may be unpredictable, the on-road operational data can still be used to characterize vehicle performance. This paper describes the development of an on-road vehicle test methodology, with a focus on accounting for on-road factors with a high degree of accuracy while requiring only an achievable and reasonable amount of data. To develop this methodology, a 2016 Honda Civic was instrumented and driven multiple times over a route covering urban, rural, and
Moskalik, Andrew, Barba, Daniel
Analysis of the Impact on Ride Comfort from Splitting the Unsprung Mass in Vehicle Modeling2026-01-0212To be published on 04/07/2026
The study was conducted to investigate the differences in ride comfort analysis between treating the unsprung mass as a whole and modeling it separately. A classical two-degree-of-freedom single-wheel vehicle vibration model and a three-degree-of-freedom single-wheel vehicle vibration model with split unsprung mass were established, with their state-space descriptions determined. The fundamental vibration response quantities of both models were identified, and time-domain simulations under random road excitation were performed using Matlab/Simulink. The results indicate that the two modeling approaches exhibit minimal differences in ride comfort analysis for the sprung mass, but there are certain differences for the unsprung mass. Additionally, for the three-degree-of-freedom single-wheel vehicle vibration model with split unsprung mass, the axle-to-wheel mass ratio was introduced to analyze the changes in the fundamental vibration response quantities when the unsprung mass increases
Jie, Li, Wei, Deng
Topology Optimization of Multibody Structures Considering Inertial Loads2026-01-0501To be published on 04/07/2026
Topology optimization (TO) of dynamic structures has traditionally focused on single-body components subject to harmonic and impact loads, with limited extension to multibody dynamics. This work presents a novel framework for topology optimization of multibody dynamic systems considering inertial loads. The method integrates density-based topology optimization with nonlinear multibody dynamics to capture the distribution of mass, stiffness, and inertia across interconnected rigid and flexible components. Inertial forces, arising from accelerations and joint interactions, are explicitly incorporated into the optimization formulation to ensure dynamically consistent designs. Numerical examples demonstrate how accounting for inertial effects leads to lightweight, dynamically efficient multibody structures that outperform conventional static- or harmonic-based designs. The proposed approach establishes a foundation for inertia-aware topology optimization of multibody systems, with
Gupta, Aakash, Tovar, Andres
CAE Acceleration With Machine Learning For Results Prediction2026-01-0488To be published on 04/07/2026
Industries are following a tedious product development cycle for developing their product. In product development major steps includes design ideas, Drawings, CAD, CAE, Testing and design improvement cycle. This is a monotonous process and takes time which impacts on its time to deliver product and cost on development. Now a days industries are fast growing and targeting to reduce development cycle time and cost. AIML is impacting almost all areas in the industry and significantly reducing efforts time and cost. To make use of AIML in CAE, Altair Physics AI is an effective tool. To ensure the design of product traditional way is to develop a CAD of the product, develop, perform CAE and analyze performance. If we consider CAE procedure it is time consuming process which includes FEA model build, applying boundary conditions, running simulation and analyzing results which could take minutes to hours. By using ML with Physics AI we can make predictions on new design of the product in
Dangare, Anand Manohar, Kulkarni, Mandar
Research on Economy Mode Control Algorithm for Pure Electric Tractor with Powered Trailer2026-01-0425To be published on 04/07/2026
This research presents a comprehensive investigation into the electrification development pathway and energy-saving optimization methodologies for commercial tractor vehicles. Given the pivotal role that commercial vehicles play in modern logistics and transportation sectors, their propulsion systems are undergoing a fundamental transition from traditional internal combustion engines toward more sustainable hybrid and pure electric architectures. Simultaneously, the emerging trend of trailer electrification has gained considerable attention, where conventional trailers are retrofitted with motorized axles to form cooperative powertrain systems, demonstrating substantial energy-saving potential as confirmed by multiple research studies. Utilizing an integrated Trucksim and MATLAB/Simulink co-simulation platform, this study developed sophisticated vehicle dynamics models, detailed electric drive system models, and advanced battery models, which were subsequently integrated to establish a
tong, zi yu, Zheng, Hongyu, Li, Gang
Development and Comparison of Benchmarking Methods for Electric Vehicle Drive Units2026-01-0198To be published on 04/07/2026
At the U.S. Environmental Protection Agency’s National Vehicle and Fuel Emissions Laboratory, a development project was implemented to compare various test methods for benchmarking the operation of vehicle electric drive units (EDUs). In earlier research, several test methods were identified, of which two were used to test a Chevrolet Bolt EDU: (a) in-vehicle testing of the complete EDU on a chassis hub dynamometer and (b) stand-alone testing of the EDU’s electric motor and inverter in a dedicated test cell after removal from the vehicle. The resulting data sets were compared with each other and with similar data previously published by GM. In this paper, additional EDU test methods are explored. First, the stand-alone testing of the EDU and its subcomponents is expanded to include testing both with and without the EDU gearing. This testing allows the electric motor, inverter, and gearbox to be characterized separately and the EDU to be characterized as a complete unit. Second, in
Moskalik, Andrew, Schauer, Ethan, Barba, Daniel
Development of Full Articulation Subsystem FEA Model for Validating Vehicle Suspension Durability2026-01-0190To be published on 04/07/2026
Vehicle durability is a cornerstone of automotive engineering, directly impacting customer satisfaction, brand reputation, and warranty costs. Traditionally durability validation of suspension systems often rely on virtual validation of individual components (an approach which can overlook complex non-linear system interactions) and followed by expensive full vehicle physical tests which happen very late in the vehicle development phase, which often results in correlation gap between virtual and physical realms, resulting in components redesigning and production delays. This paper presents a more efficient, high-fidelity, full-articulation suspension subsystem finite element (FE) model development specifically for durability assessments. This integrated model enables comprehensive block cycle durability assessments, providing a holistic understanding of system behavior and eliminating the inefficiencies of analyzing components in isolation. This methodology yields significant
Bavgi, Sai Kiran
The Effects of Collision-Related Power Loss on Toyota Safety Sense 3.0 Event Data2026-01-0548To be published on 04/07/2026
Toyota vehicles equipped with Toyota Safety Sense (TSS) can record detailed information surrounding various driving events. Often, this data is employed in accident reconstruction to better understand the dynamics of a collision. TSS data is comprised of three main categories: Vehicle Control History (VCH), Freeze Frame Data (FFD), and image records. During an event, it is possible that a vehicle undergoes a catastrophic power loss from the damages sustained during the event. In this paper, the effects of a sudden power loss on the VCH, FFD, and images are studied. Events are triggered on a TSS 3.0 equipped vehicle by driving toward a stationary target. After system activation, a total power loss is induced, triggered on the instrument cluster “BRAKE” alert message, at various delays after activation. This testing studies various signals recorded across VCH, FFD and image data including vehicle speed, measured accelerations and time and date. This testing also compares the acceleration
Getz, Charles, Yeakley, Adam, DiSogra, Matthew
Optimization of Road Reference Profiles based on Highway Design for Connected and Automated Vehicles2026-01-0096To be published on 04/07/2026
Advances in Connected and Automated Vehicles (CAVs) have developed a level in which high-definition maps can be used to improve road safety. Data compactness and robustness on road characterization is essential for the proper handling of vehicles under curves. In this paper, an optimization scheme that relates highway-design road curvature and optimal speed of travel is defined to safely navigate through a given road. The scheme is divided in two main steps. First a nonlinear optimization problem, in which curvature profiles are fitted from a model that based on street design standards as per the American Association of State Highway and Transportation Officials (AASHTO). Secondly, the optimized curvature profile is subject to a secondary optimization problem that uses vehicle dynamics for both constraints and objective function derivation. Guidance reference parameters such as curvature and velocity, at different levels of friction are analyzed. Results show that, even in sparse
Jacome, Ricardo Osmar, Stolle, Cody, Grispos, George
Rigid Two- and Three-Wheeled Vehicle Roll Over vs. Pitch Over Threshold Models: Testing and Analytical Modifications2026-01-0538To be published on 04/07/2026
The phenomenon of bicycle pitch over is simple in concept, yet determining threshold criteria for pitch over has yet to be well established, particularly when it comes to determining whether or not a bicycle’s front wheel will roll over a particular obstacle or not. Two prior SAE papers have laid out 3 different approaches to determining this threshold criteria; however, all three remain untested and thus unvalidated. To test the two analytical models, the dimensions and center of gravity location for a test rider on a tricycle were measured, and the test subject system was ridden over a series of progressively taller square edge obstacles until the tricycle transitioned from rolling over to stopping/pitching over. The test speeds were varied between 5 and 10 mph to keep the tricycle from fully pitching over and/or damaging the test tricycle. From this testing, it was demonstrated that the test tricycle and rider was able to ride over taller obstacles than calculated by the analytical
Sweet, David Michael, O'Brien, Nathan, Bretting, Gerald
Integrated Longitudinal and Lateral Control for Autonomous Truck Platooning in Curved Scenarios with 5G-V2X Uncertainties2026-01-0168To be published on 04/07/2026
This paper presents a practical feedback control strategy for high-fidelity autonomous truck platooning, addressing the critical challenge of negotiating curved roads under 5G-V2X communication uncertainties. A nonlinear dynamic model is developed, integrating both longitudinal and lateral vehicle dynamics to simulate a five-truck platoon. The proposed hierarchical control architecture consists of two key components: (1) an Adaptive Cruise Control (ACC) system for maintaining safe inter-vehicle distances using a PD controller, and (2) a path-following lateral controller that ensures accurate lane-keeping on curved sections by tracking a predefined road centerline profile. The 5G-V2X sensor uncertainty, a major source of measurement noise in vehicle-to-everytyhing communication, is modeled as additive Gaussian noise. Extensive simulations under a scenario involving a transition from a straight road to a constant-radius curve (R=500m) demonstrate the efficacy of the proposed method
zhou, junyu, Zeng, Dequan, Petitti, Antonio, xiong, min, GAO, LETIAN, Jiang, Xiaomeng, lu, jun, Yu, Yinquan, CARBONE, GIUSEPPE, Hu, Yiming, Nawaz, Aamir, Linh, Nguyen Vu
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