Browse Topic: Vehicle acceleration

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Lessons and Challenges from Crowd-Sourced Data in Rural Michigan to Assess EV Suitability based on Analyzing Personal Driving2025-01-8525To be published on 04/01/2025
Real-world driving data is an invaluable asset for several types of transportation research, including emissions estimation, vehicle control development, and public infrastructure planning. Traditional methods of real-world driving data collection use expensive GPS-based data logging equipment which provide advanced capabilities but may increase complexity, cost, and setup time. This paper focuses on using the Google Maps application available for smartphones due to the potential to scale-up real-world driving data logging. Samples of the potential data processing and information that can be gathered by such a logging methodology is presented. Specifically, two months of Google Maps driving data logged by a rural Michigan resident on their smartphone may provide insights on their driving range, duration, and geographic area of coverage (AOC) to guide them on future vehicle purchase decisions. Aggregating such statistics from crowd-sourcing real-world driving data via Google Maps may
Manoj, Ashwin, Yin, Sally, Ahmed, Omar, Vaishnav, Parth, Stefanopoulou, Anna, Tomkins, Sabina
Technical Paper
Adaptive Sliding Mode Control for Active Hydro-Pneumatic Suspension Based on Extended State Observer2025-01-8272To be published on 04/01/2025
Hydro-pneumatic suspension is widely used due to its favorable nonlinear stiffness and damping characteristics. However, with the presence of parameter uncertainties and high nonlinearities in the hydro-pneumatic suspension system, the effectiveness of the controller is often suboptimal in practical applications. To mitigate the influence of these issues on the control performance, an adaptive sliding mode control method with an expanded state observer (ESO) is proposed. Firstly, a nonlinear mathematical model of hydro-pneumatic suspension, considering seal friction, is established based on the hydraulic principle and the knowledge of fluid mechanics. Secondly, the ESO is designed to estimate the total disturbance caused by the nonlinearities and uncertainties, and it is incorporated into the sliding mode control law, allowing the control law to adapt to the operating state of the suspension system in real time, which solves the effect of uncertainties and nonlinearities on the system
Niu, Changsheng, Liu, Xiaoang, Jia, Xing, Gong, Bo, Xu, Bo
Technical Paper
Estimation of Tire Longitudinal Force under Combined Slip Condition Using an Intelligent Tire System2025-01-8275To be published on 04/01/2025
Under extreme driving conditions, such as emergency braking, rapid acceleration, and high-speed cornering, the tire, as the vehicle's only direct connection to the road, plays a critical role in influencing dynamic performance and driving stability. Accurately predicting and tire longitudinal force under such combined slip conditions is key to improving vehicle control precision and ensuring driving safety. This study proposes a tire longitudinal force estimation strategy based on an intelligent tire system. The core of this system consists of three integrated PVDF (Polyvinylidene Fluoride) sensors embedded in the tire, which, due to their exceptional sensitivity, can precisely capture dynamic deformation information of the tire under varying conditions. This provides real-time, detailed data to better understand the complex interaction forces between the tire and the road. To study and validate the longitudinal force estimation model, the research team employed a high-precision indoor
Zhang, Zipeng, Xu, Nan, Tang, Zepeng, Chen, Hong
Technical Paper
Optimization Design of Formula E Racing Car Transmission and Wheel System2025-01-8505To be published on 04/01/2025
The paper provides a detailed analysis of the transmission system design under the single motor drive scheme, with a focus on the 2024 Formula SAE (FSAE). The selection of the motor type is determined based on race rules and battery box output power limits. In terms of transmission ratio design, this study takes into account the car's power, balancing acceleration ability and maximum speed to determine an optimal transmission ratio through theoretical calculations and empirical values. Furthermore, it explores how to optimize overall drive system performance by considering technical parameters, power requirements, economic considerations of each system assembly, and validates these findings through software simulations. Notably, significant improvements in reliability are achieved with the newly designed transmission system and wheel rim system while also proposing lightweighting methods for key components. We have carried out extensive verification in both simulation and real vehicle
Wang, Liuxin, Li, Chengfeng, Zhu, Xiran, Liu, Minmin
Technical Paper
Accelerating EV Motor design using MBSE approach2025-01-8660To be published on 04/01/2025
Abstract- Model-Based Systems Engineering (MBSE) enables requirements, design, analysis, verification, and validation associated with the development of complex systems. Obtaining data for such systems is dependent on multiple stake holders and have issues related to communication, data loss, accuracy, traceability which results in time delays. This paper presents the development of new process for requirement verification by connecting System Architecture Model (SAM) with multi-fidelity, multi-disciplinary analytical models. Stakeholders can explore design alternatives at conceptual stage, validate performance, refine system models, and take better informed decisions. The use-case of connecting system requirements to engineering analysis is implemented through ANSYS ModelCenter which integrates MBSE tool CAMEO with simulation tools MotorCAD and TwinBuilder. This automated workflow translates requirements to engineering simulations, captures output and performs validations. System
Upase, Balasaheb, Shroff, Roopesh
Technical Paper
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
Technical Paper
Correlation of Vehicle drop test in front & rear wheel landing condition using multibody dynamics simulations2025-01-8638To be published on 04/01/2025
Two wheelers motorcycles are used for many purposes e.g. commuting from place to another, long highway rides, racing and off-roading. Motorcycles which are used in off-road conditions require large suspension strokes to absorb large oscillations due to road conditions. These motorcycles undergo jumps of different heights and different vehicle orientations. In some of the dynamic situations front wheel may land first than the rear and in some of the situations rear may land first as compared to front. To make sure that the vehicle is durable enough to withstand loads in such operating conditions, vehicle drop test was developed at component test lab where vehicle is dropped from predefined heights in both front & rear wheel landing conditions. Same load case is simulated in multibody dynamics to capture loads at important connections of the frame. This paper presents the correlation exercise carried out to validate MBD model and simulation process with test data captured during lab test
Jain, Arvind Kumar, Nirala, Deepak
Technical Paper
Research on Motor Safety Monitoring Control for Powertrain Control System2025-01-8511To 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
Technical Paper
Dynamics modeling and lateral stability of tank transport vehicles2025-01-8075To be published on 04/01/2025
In this paper,the equivalent elliptic gauge pendulum model of liquid sloshing in tank is established,the pendulum dynamic equation of tank in non-inertial frame of reference is derived,and the dynamics model of tank transporter is constructed by force analysis of the whole vehicle.A liquid tank car model was built in TruckSim to study its dynamic response characteristics.Aiming at the problem that the coupling effect between liquid sloshiness in tank and tank car can easily affect the rolling stability of vehicle,the roll dynamics model of tank heavy vehicle is established based on the parameterized equivalent elliptic gauge single pendulum model,and the influence of different lateral acceleration and suspension system on the roll stability is studied.The results show that the coupling effect between the motion state of the tank car and the liquid slosh lengthens the oscillation period of the liquid slosh in the tank,and the amplitude of the load transfer rate of the tank car increases
Yukang, Guo
Technical Paper
Research on Dangerous Driving Behavior Recognition Algorithm Based on LSTM2025-01-8204To 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, Zhang, Miaomiao, Xue, Ming, Jin, Xin
Technical Paper
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
Technical Paper
Research on the Parameter Optimization Method for a Dual-Motor Coupled Integrated Single-Axle Drive System2025-01-8284To be published on 04/01/2025
This paper explores a parameter optimization calculation method for a dual-motor coupled integrated single-axle drive system, aiming to achieve the optimal balance between vehicle dynamics, fuel efficiency, and system efficiency under this configuration. By constructing a vehicle longitudinal dynamics model and referencing motor models, the effective operating range is calculated. Vehicle acceleration time, gradeability, and maximum speed are used as constraints, while the proportion of the high-efficiency operating area of the drive system is taken as the objective function for optimizing relevant system parameters. This method improves computational efficiency by dividing the contour lines, thus eliminating the need to traverse all points in the constraint area and converting them into an intuitive analysis of the operating range, which reduces the need for point-by-point calculations across the entire working area.
Gu, Zhuangzhuang, You, Jianhui, Wu, Jinglai, Zhang, Yunqing
Technical Paper
Research on Torque Management Safety Monitoring Control for Hybrid Vehicles2025-01-8579To 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
Technical Paper
End to End Large Model Predictive Control of Automated Driving Vehicles2025-01-8113To 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
Technical Paper
A Novel Hybrid Approach for Segmenting Driver Based on their Driving Style2025-01-8205To 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
Technical Paper
Rough Road Vehicle dynamics analysis for vehicle vibration assessment2025-01-8306To 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
Technical Paper
A drive anti-slip and lateral stability control technique for distributed three-axis drive vehicle2025-01-8303To 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
Technical Paper
The Accuracy of Vehicle Speeds, Decelerations, and Brake Onset Times Calculated from Onboard Dash Cameras2025-01-8691To 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.
Technical Paper
A Sled Test Methodology for 25% Offset Crash Tests2025-01-8737To 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
Technical Paper
Validation of SynthEyes for use in Collision Reconstruction2025-01-8688To 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
Technical Paper
Driver’s Pedal Control for Detecting Pedal Misapplication2025-01-8675To 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
Technical Paper
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 Clutch2025-01-8584To 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
Technical Paper
Real-time Terrain Analysis for Off-road Autonomous Vehicles2025-01-8343To 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
Technical Paper
Lookahead Information based Predictive Cruise Controller for Energy Efficient Powertrain Operation of Heavy-Duty Electric Trucks2025-01-8031To 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
Technical Paper
Research on Seakeeping Performance of Amphibious Rescue Vehicle Based on CFD2025-01-8795To 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
Technical Paper
Optimized Design and Analysis of a Novel Multi-Mode Series-Parallel Hybrid Powertrain2025-01-702501/31/2025
To enhance energy efficiency of series-parallel hybrid system, this paper investigates and compares the effects of adding the gear ratio at different power source position on the performance of the vehicle. Firstly, the effect of adding gears at various positions is analyzed on the basis of intelligent multi-mode drive (IMMD) configuration, and the potential working modes resulting from the added gear ratios at different power source positions are examined. Secondly, multi-objective particle swarm optimization (MOPSO) algorithm is used to optimize the transmission ratio of new gears, laying the groundwork for comparing different configurations. Moreover, the fuel economy performance of the optimized series-parallel configuration was evaluated using a rapid dynamic programming approach with the objective function of minimizing fuel consumption during power transfer. Finally, in accordance with the aforementioned research, the acceleration performance and economic performance of
Zhang, Yuxin, Zou, Yunge, Yang, Yalian
Technical Paper
Direct Yaw Moment Control for Distributed Drive Electric Vehicles Based on Full-Order Terminal Sliding Mode2025-01-702401/31/2025
Distributed Drive Electric Vehicles (DDEVs), as a significant development form of electric vehicles, have garnered considerable focus owing to their excellent energy utilization efficiency and the capability for flexible torque distribution. However, DDEVs still face numerous challenges in practical applications, particularly in the coordinated control of hub motors and system stability. This paper focuses on the whole-vehicle control technology and distributed control theory of DDEVs and researches the active safety function of Direct Yaw-moment Control (DYC): acceleration and turning. A full-order terminal sliding mode controller is utilized to suppress the chattering of sliding mode control and to reduce torque fluctuations in the output. Results show that the proposed method can enhance the vehicle’s yaw stability and driving safety with the linear sliding mode.
Zhou, Minghao, Wu, Weiwei, Fei, Xueran, Chen, Zhenqiang, Jiang, Longbin, Cai, William
Technical Paper
Calculation and Analysis of Carbon Emissions for Fuel Vehicles and Electric Vehicles2025-01-709601/31/2025
With the increase in vehicle population, the environmental problems caused by excessive carbon emissions from vehicles are becoming increasingly serious. Currently, China is actively promoting the development of electric vehicles to reduce carbon emissions. However, the electricity used by electric vehicles is a secondary energy source, and thermal power generation still dominates China's current power structure, so electric vehicles will indirectly contribute to carbon emissions during use. Calculating and analysing the carbon emissions of fuel vehicles and electric vehicles will give a better idea of the environmental advantages of electric vehicles. In this paper, the World Light Vehicle Test Cycle (WLTC) are selected, and the energy consumption is calculated by the energy consumption formula of fuel and electric vehicles under different conditions, and the carbon emission is obtained by the carbon emission coefficients of gasoline and electric energy. Through MATLAB calculation
Xie, Haonan, Lin, Guangyu
Technical Paper
Design and Analysis of a Novel Super-Fast Multi-Gear Power-Split Hybrid Electric Vehicle2025-01-702901/31/2025
Electrified powertrain configurations are critical to the fuel economy and performance of hybrid vehicles. While single planetary gear (PG) configurations - such as the Toyota Prius - have the advantage of simple control and excellent fuel economy, the generator1 is unable to participate in the drive, resulting in poor acceleration. To overcome these problems, we propose a new multi-gear electronically controlled continuously variable transmission (ECVT) due to its high efficiency and excellent acceleration performance. It requires only one PG and two synchronizers. For this type of multi-gear ECVT hybrid vehicle, this paper describes in detail the synchronizer-based shift logic of the new configuration. Furthermore, the power flow and dynamics modeling process in different operating modes are systematically analyzed. In addition, the global optimal Dynamic Programming (DP) algorithm is presented and a new near-optimal energy management strategy, Rapid-DP, is employed to evaluate the
Zou, Yunge, Zhang, Yuxin, Yang, Yalian, Liu, Changdong
Technical Paper
Impact of Replacing a 6-Speed Gearbox with a 5-Speed Gearbox on Vehicle Performance2024-36-012512/20/2024
This study investigates the effects of replacing a 6-speed gearbox with a 5-speed gearbox in a sports vehicle, while keeping all other parameters constant. Through computational simulations, data is collected for comparative performance analysis. The study aims to understand the potential implications of this change on acceleration, fuel efficiency, engine response, as well as aspects such as driver comfort. The results may provide valuable insights for the automotive industry, guiding future transmission design and engineering decisions.
Marinho, Gabriel Jannuzzi, de Campos, Josué Queiroz, Lopes, Elias Dias Rossi, Rodrigues, Gustavo Simão
Technical Paper
Optimization of a 2-D Multi-Element Rear Wing on a Formula 1 Car2024-36-010312/20/2024
The aerodynamic force produced by external flows over two-dimensional bodies is typically decomposed into two components: lift and drag. In race cars, the lift is known as downforce and it is responsible for increasing tire grip, thereby enhancing traction and cornering ability. Drag acts in the direction opposite to the car’s motion, reducing its acceleration and top speed. The primary challenge for aerodynamicists is to design a vehicle capable of producing high downforce with low drag. This study aims to optimize the shape of a multi-element rear wing profile of a Formula 1 car, achieving an optimal configuration under specific prescribed conditions. The scope of this work was limited to a 2-D model of a rear wing composed of two 4-digit NACA airfoils. Ten control parameters were used in the optimization process: three to describe each isolated profile, two to describe their relative position, and two to describe the angles of attack of each profile. An optimization cycle by finite
Souza Dourado, Guilherme, Hayashi, Marcelo Tanaka
Technical Paper
Enhancing Engine Lubrication: Design and Evaluation of Oil Sump Surge Control in Racing Vehicles2024-36-007412/20/2024
During accelerations and decelerations of a race car whose engine has a wet sump, the forces generated by the vehicle’s motion cause the engine oil to vigorously shift towards the walls of the oil pan and crankcase, contributing to the phenomenon known as ‘sloshing.’ This phenomenon often leads to fluctuations in oil pressure, resulting in oil pressure surge, when the oil is pushed away from the pump pickup point. Via the logged data, the Formula UFSM FSAE Team had witnessed a recurrent lack of oil pressure in the race track during the 2023 Brazilian FSAE competition. In the AutoCross Event, the recurrence of this problem was 80% of the right corners on lateral accelerations between 0.80G and 1.30G. The average oil pressure in this condition was 0.80 bar, even reaching 0.10 bar above 5000 RPM. Therefore, it was necessary to develop a new set of baffles for the oil pan, capable of minimizing the effects of sloshing and, consequently, the oil surge. As a method of research, a test bench
Zimmermann, Natalia Diovana, Junior, Luiz Alfredo Coelho, Martins, Mario, Hausen, Roberto
Technical Paper
Trajectory Planning and Tracking Control for Single Lane Changing with Different Driving Styles of Intelligent Vehicles Based on Seventh-Degree Polynomial12-08-03-002812/14/2024
Single lane changing is one of the typical scenarios in vehicle driving. Planning an appropriate lane change trajectory is crucial in autonomous and semi-autonomous vehicle research. Existing polynomial trajectory planning mostly uses cubic or quintic polynomials, neglecting the lateral jerk constraints during lane changes. This study uses seventh-degree polynomials for lane change trajectory planning by considering the vehicle lateral jerk constraints. Simulation results show that the utilization of the seventh-degree method results in a 41% reduction in jerk compared to the fifth-degree polynomial. Furthermore, this study also proposes lane change trajectory schemes that can cater to different driving styles (e.g., safety, efficiency, comfort, and balanced performance). Depending on the driving style, the planned lane change trajectory ensures that the vehicle achieves optimal performance in one or more aspects during the lane change process. For example, with the trajectory that
Lai, Fei, Huang, Chaoqun
Journal Article
Active Hydro-Pneumatic Suspension Active Disturbance Rejection Sliding Mode Control for Improved Vehicle Stability2024-28-021512/05/2024
Hydro-pneumatic suspension is widely used because of its desirable nonlinear stiffness and damping characteristics. However, the presence of parameter uncertainties and high nonlinearities in the system, lead to unsatisfactory control performance of the traditional controller in practical applications. In response to this challenge, this paper proposes a novel stability control method for active hydro-pneumatic suspension (AHPS). Firstly, a nonlinear mathematical model of the hydro-pneumatic suspension, considering the seal friction, is established based on the hydraulic principle and the knowledge of Fluid dynamics. On the basis of the established hydro-pneumatic suspension nonlinear model, a vehicle dynamics model is established. Secondly, an active disturbance rejection sliding mode controller (ADRSMC) is designed for the vertical, roll, and pitch motions of the sprung mass. The lumped disturbance caused by the model nonlinearities and uncertainties is estimated by the extended
Niu, Changsheng, Liu, Xiaoang, Jia, Xing, Gong, Bo, Xu, Bo
Technical Paper
An Analytical Method to Study Control Strategy of Torque-Vectoring Transmissions for Electric Vehicles Using MATLAB Simulink2024-28-021012/05/2024
Torque vectoring offers drive flexibility and continuous individual wheel torque regulation, which is unavailable in conventional transmission systems. Electric vehicles with multiple drivetrains and torque-vectoring system can significantly enhance vehicle response and handling, and thus the active safety, efficiency, and performance of the vehicle in all driving conditions. The current methodology of predicting performance characteristics is limited through slip rate calculations and yaw rate calculations. The vehicle dynamic performance evaluations with above said methodologies holds good for dynamic cornering. But in the scenarios where the vehicle moving in straight drive with different wheel traction requirements on either side (split-μ condition) and that requires torque vectoring. These above methods do not help to evaluate the performance of vehicle. Because these methodologies are based on predicting dynamic center-of-gravity values of vehicle. In the proposed methodology
Ramakrishnan, Gowtham Raj, Baheti, Palash
Technical Paper
Research on Multi-Mode Switching Strategy for Electromagnetic Suspension2024-01-700511/15/2024
This study proposes a multi-mode switching control strategy based on electromagnetic damper suspension (EMDS) to address the different performance requirements of suspension systems on variable road surfaces. The working modes of EMDS are divided into semi-active damping mode and energy harvest mode, and the proposed mode switching threshold is the weighted root mean square value of acceleration. For the semi-active damping mode, a controller based on LQR(Linear Quadratic Regulator) was designed, and a variable resistance circuit was also designed to meet the requirements of the semi-active mode, which optimized the damping effect relative to passive suspension. For the energy harvest mode, an energy harvest circuit was designed to recover vibration energy. In order to reduce the deterioration of suspension performance caused by frequent mode switching in the mode switching strategy, as frequent system switching can lead to system disorder, deterioration of damping effect, and
Zeng, Sheng, Zhang, Bangji, Tan, Bohuan, Qin, An, Lai, Jiewen, Wang, Shichen
Technical Paper
Exploring the Exotic Realm: A Multidisciplinary Comparison of Axial Flux Machines and Their Alluring Powertrain Alternatives2024-01-431611/05/2024
This paper evaluates electric machine and reducer specifications along-side vehicle dynamics and drivability for an axial flux machine (AFM). The baseline is a conventional central drive unit with a single electric machine, reducer, and differential. It compares powertrain architectures with two in-wheel AFMs (IWD) and one AFM mounted perpendicular to the chassis against the E-Axle design. The study starts by determining wheel-level traction force and power requirements for a mid-sized vehicle, then derives necessary machine and reducer specifications. It also considers packaging and efficiency constraints. The E-Axle uses a single-stage planetary gearbox, while the perpendicular AFM connects to a bevel gear reducer, and the IWD requires no reducer. These architectures are analysed in a vehicle dynamics simulation with six degrees of freedom, suspension, tire, and road models. Efficiency is assessed using the Worldwide Harmonized Light Vehicles Test Cycle (WLTC). Besides acceleration
Wipfler, Felix, Yildirim, Metin, Negrila, Andrei-Radu, Gerling, Dieter, Bruell, Martin, Sabzewari, Kiarash
Technical Paper
Research on Acceleration Slip Regulation for Battery Electric Vehicle2024-01-305109/08/2024
As an important part of the automobile electronic control system, the acceleration slip regulation takes the tire slip rate as the main control target. By controlling the wheel driving force, the tire maintains a stable adhesion state to obtain good driving stability and power. This paper takes battery electric vehicles as the research object and explores the application of acceleration slip regulation in vehicle drive control. In order to obtain the true vehicle speed when the wheel slips, a vehicle speed observer based on extended Kalman Filter is proposed. Secondly, this paper designs a road surface recognition method based on fuzzy theory, which obtains the optimal slip rate under current road conditions by taking the actual slip rate and road surface adhesion coefficient as input. When a vehicle is driving on a road with different adhesion coefficients on the left and right sides, one side of the wheel may slip severely while the opposite side wheel does not slip. In order to
Kang, Kailei, Liu, Xingchen, Liu, XinHong
Technical Paper
Semi-Adaptive Vibration Controller for Generating the Target Acceleration of the Subsystem in a Prototype Car2024-01-292006/12/2024
This research aims to develop an inverse controller to track target vibration signals for the application to car subsystem evaluations. In recent times, perceptive assessments of car vibration have been technically significant, particularly parts interacting with passengers in the car such as steering wheels and seats. Conventional vibration test methods make it hard to track the target vibration signals in an accurate manner without compensating for the influence of the transfer function. Hence, this paper researched the vibration tracking system based on inverse system identification and digital signal processing technologies. Specifically, the controller employed a semi-active algorithm referring to both the offline modeling of the inverse system and the adaptive control. The semi-active controller could reconstruct the target vibration signal in a more efficient and safer way. The proposed methodology was first confirmed through computation simulations using Simulink. The
Jung, GyuYeol, Lee, Sang Kwon, An, Kanghyun, Jang, Sunyoung, Shin, Taejin, Kwak, Wooseong, Kim, Howuk
Technical Paper
Design and Manufacturing of an Inclinometer Sensing Element for Launch Vehicle Applications2024-26-041906/01/2024
Indian Space Research Organisation (ISRO) uses indigenously developed launch vehicles like PSLV, GSLV, LVM3 and SSLV for placing remote sensing and communication satellites along with spacecrafts for other important scientific applications into earth bound orbits. Navigation systems present in the launch vehicle play a pivotal role in achieving the intended orbits for these spacecrafts. During the assembly of these navigation packages on the launch vehicle, it is required to measure the initial tilt of the navigation sensors for any misalignment corrections, which is given as input to the navigation software. A high precision inclinometer is required to measure these tilts with a resolution of 1 arc-second. In this regard, an indigenous inclinometer is being designed. The sensing element of this design comprises of a compliant mechanism which is designed to sense the tilt by measuring the displacement of a proof mass occurring due to the respective component of earth’s gravitational
Shaju, Tony M, Krishna, Nirmal, Rao, G Nagamalleswara, Kumar, T Suresh, K, Pradeep
Technical Paper
An Investigation in the Control Effectiveness of the Driving Wheel Slip Prevention System of a Diesel Engine Dump Truck10-08-03-001705/27/2024
This article proposes the structure and algorithm to design a PID controller for the driving wheel slip prevention system (DWSPs) of a dump truck using a diesel engine, which is equipped just only with a traditional high-pressure pump (HPP) under low-adhesion coefficient conditions. First, a longitudinal dynamic model, and a dynamic model of the wheel and powertrain of a dump truck are, respectively, established, and an experiment in the torque determination of a diesel engine is set up to investigate longitudinal vehicle dynamics as well. Then, a control system structure of the DWSPs for a dump truck using a diesel engine with a high-pressure inline fuel pump is proposed. Finally, based on performance analysis of other types of controllers, a PID controller is selected to control actual load level of a diesel engine. The criteria representing the vehicle’s acceleration such as the vehicle speed, vehicle acceleration, total slip time, and time to reach vehicle speed are selected to
Van Thoan, Tran, Vu, Le Anh, Van Nguyen, Khong, Hai, Ho Huu, Phuc, Dam Hoang, Khanh, Duong Ngoc, Quynh, Le Van
Journal Article
Multi-Output Physically Analyzed Neural Network for the Prediction of Tire–Road Interaction Forces10-08-02-001605/08/2024
This article introduces an innovative method for predicting tire–road interaction forces by exclusively utilizing longitudinal and lateral acceleration measurements. Given that sensors directly measuring these forces are either expensive or challenging to implement in a vehicle, this approach fills a crucial gap by leveraging readily available sensor data. Through the application of a multi-output neural network architecture, the study focuses on simultaneously predicting the longitudinal, lateral, and vertical interaction forces exerted by the rear wheels, specifically those involved in traction. Experimental validation demonstrates the efficacy of the methodology in accurately forecasting tire–road interaction forces. Additionally, a thorough analysis of the input–output relationships elucidates the intricate dynamics characterizing tire–road interactions. This research underscores the potential of neural network models to enhance predictive capabilities in vehicle dynamics, offering
Marotta, Raffaele, Strano,  Salvatore, Terzo, Mario, Tordela, Ciro
Journal Article
Multi-Objective Optimization of Occupant Survival Space of a Medium-Duty Vehicle under Rollover Condition2024-01-226304/09/2024
Due to the high center of gravity of medium-duty vehicles, rollover accidents can easily occur during high-speed cornering and lane changes. In order to prevent the deformation of the body structure, which would restrict the survival space and cause compression injuries to occupants, it is necessary to investigate methods for mitigating these incidents. This paper establishes a numerical model of right-side rollover for a commercial medium-duty vehicle in accordance with ECE R66 regulations, and the accuracy of the model is verified by experiment. According to the results, the material and size parameters of the key components of the right side pillar are selected as design variables. The response result matrix was constructed using the orthogonal design method for total mass, energy absorption, maximum collision acceleration, and minimum distance from the survival space. A multi-objective optimization of 25 sets of sample points was performed using a multi-factor weight analysis
Zhang, Jiangfan, Zou, Xiaojun, Yuan, Liu-kai, Zhang, Tang-yun, Wang, Tao, Wang, Liangmo
Technical Paper
Coordinated Longitudinal and Lateral Motions Control of Automated Vehicles Based on Multi-Agent Deep Reinforcement Learning for On-Ramp Merging2024-01-256004/09/2024
The on-ramp merging driving scenario is challenging for achieving the highest-level autonomous driving. Current research using reinforcement learning methods to address the on-ramp merging problem of automated vehicles (AVs) is mainly designed for a single AV, treating other vehicles as part of the environment. This paper proposes a control framework for cooperative on-ramp merging of multiple AVs based on multi-agent deep reinforcement learning (MADRL). This framework facilitates AVs on the ramp and adjacent mainline to learn a coordinate control policy for their longitudinal and lateral motions based on the environment observations. Unlike the hierarchical architecture, this paper integrates decision and control into a unified optimal control problem to solve an on-ramp merging strategy through MADRL. Firstly, a partially observable Markov game (POMG) is formulated to characterize the on-ramp merging control problem, where the observation space of each AV (agent) is defined as its
Li, Wenchang, Zhao, Zhiguo, Liang, Kaichong, Zhao, Kun
Technical Paper
Validation of the PC-Crash Single-Track Vehicle Driver Model for Simulating Motorcycle Motion2024-01-247504/09/2024
This paper validates the single-track vehicle driver model available in PC-Crash simulation software. The model is tested, and its limitations are described. The introduction of this model eliminated prior limitations that PC-Crash had for simulating motorcycle motion. Within PC-Crash, a user-defined path can be established for a motorcycle, and the software will generate motion consistent with the user-defined path (within the limits of friction and stability) and calculate the motorcycle lean (roll) generated by following that path at the prescribed speed, braking, or acceleration levels. In this study, the model was first examined for a simple scenario in which a motorcycle traversed a pre-defined curve at several speeds. This resulted in the conclusion that the single-track driver model in PC-Crash yielded motorcycle lean angles consistent with the standard, simple lean angle formula widely available in the literature. The PC-Crash calculations did not account for the width of the
Palmer, Jacob, Rose, Nathan A., Smith, Connor, Walter, Kevin, Hashemian, Alireza
Technical Paper
Path Planning and Robust Path Tracking Control of an Automated Parallel Parking Maneuver2024-01-255804/09/2024
Driver’s license examinations require the driver to perform either a parallel parking or a similar maneuver as part of the on-road evaluation of the driver’s skills. Self-driving vehicles that are allowed to operate on public roads without a driver should also be able to perform such tasks successfully. With this motivation, the S-shaped maneuverability test of the Ohio driver’s license examination is chosen here for automatic execution by a self-driving vehicle with drive-by-wire capability and longitudinal and lateral controls. The Ohio maneuverability test requires the driver to start within an area enclosed by four pylons and the driver is asked to go to the left of the fifth pylon directly in front of the vehicle in a smooth and continuous manner while ending in a parallel direction to the initial one. The driver is then asked to go backwards to the starting location of the vehicle without stopping the vehicle or hitting the pylons. As a self-driving vehicle should do a much
Cao, Xincheng, Guvenc, Levent
Technical Paper
Tyre Slip Ratio Estimation Using Intelligent Tyre Concept2024-01-229904/09/2024
Intelligent tyres can offer crucial insights into tyre dynamics, serving as a fundamental information source for vehicle state estimation and thereby enabling vehicular safety control. Among the numerous tyre parameters, slip ratio stands out as a direct influencer of vehicle motion characteristics. Accurate estimation of tyre slip ratio is essential for vehicle safety. Firstly, an analysis of the fundamental composition of tyres was conducted, and appropriate simplifications were applied to the tyre structure. Additionally, a finite element model of the tyre was constructed using ABAQUS software. To validate the reliability of the model, a real vehicle testing system was established, consisting of the experimental vehicle, data acquisition system, and supervisory computer. The reliability of the finite element model was confirmed by assessing the consistency of acceleration signals in three different directions of the tyre. Secondly, the variations in acceleration curves under
Li, Bo, Gu, TianLi, Bei, Shaoyi, Guo, Jinfei, Walid, Daoud, Yi, Aibin, Zhu, Yunhai
Technical Paper
Research on Voltage Control of Dual Motor Hybrid System2024-01-221904/09/2024
The paper introduces two methods for controlling motor voltage. One method requires the implementation of boost hardware, while the other allows for voltage control in battery failure mode without any additional hardware requirements. The boost voltage strategy for the hybrid system is based on managing boost modes, determining target voltages, and implementing PI control. The boost mode control includes different modes such as initial mode, normal mode, shutdown mode, and fault mode. Determining the boost target voltage involves regulating the boost converter with variable voltages depending on the operating states of the motor and generator. The second voltage control method without boost hardware is proposed in order to ensure that the vehicle can still function like a traditional car even under abnormal conditions of high-voltage battery failure in micro-mixing systems. In this mode, instead of conventional torque control, the generator operates in a voltage control mode where
Jing, Junchao, Sun, Xudong, Liu, Yiqiang, Huang, Weishan
Technical Paper
Research on the Control Strategy of Electric Vehicle Active Suspension Based on Fuzzy Theory2024-01-229004/09/2024
The performance of suspension system has a direct impact on the riding comfort and smoothness. For the traditional suspension can not effectively alleviate the impact of road surface and the poor anti-vibration performance, The dynamics model of vehicle suspension system is established, and the control model of vehicle four-degree-of-freedom active suspension is designed with fuzzy control strategy. On this basis, a comprehensive simulation model of the control model of vehicle active suspension coupled with road excitation is established. and the ride comfort of vehicles under different types of suspension are tested through Simulink. The simulation results show that compared with the passive suspension, the reduction of vehicle acceleration and dynamic deformation of the active suspension controlled by fuzzy PID can reach 33.76% and 22.45%. and the reduction of pitch Angle speed and dynamic load of the active suspension controlled by fuzzy PID can reach 16.18% and 10.72%. Under fuzzy
Jing, Li Jing
Technical Paper
Process Improvements for Determining Fault Tolerant Time Intervals2024-01-279104/09/2024
ISO 26262-1:2018 defines the fault tolerant time interval (FTTI) as the minimum time span from the occurrence of a fault within an electrical / electronic system to a possible occurrence of a hazardous event. FTTI provides a time limit within which compliant vehicle safety mechanisms must detect and react to faults capable of posing risk of harm to persons. This makes FTTI a vital safety characteristic for system design. Common automotive industry practice accommodates recording fault times of occurrence definitively. However, current practice for defining the time of hazardous event onset relies upon subjective judgements. This paper presents a novel method to define hazardous event onset more objectively. The method introduces the Streetscope Collision Hazard Measure (SHMTM) and a refined approach to hazardous event classification. SHM inputs kinematic factors such as proximity, relative speed, and acceleration as well as environmental characteristics like traffic patterns
Jones, Darren, Gangadhar, Pavankumar, McGrail, Randall, Pati, Sudipta, Antonsson, Erik, Patel, Ravi
Technical Paper
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