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Several technological challenges delay the adoption of electrified powertrains in the heavy-duty transport sector. For fuel-cell hybrid electric trucks, key issues include slow cold start, reduced cooling power during high ambient temperatures, and uncertainties regarding durability. In addition, the engineers must handle the complexity of the system. In this article, a Matlab/Simulink library is introduced, which has been developed to aid engineers in the design and optimization of energy management systems and strategies of this complex system that consider mechanical, electrochemical, and thermal energy flows. The library is introduced through five example vehicle models, and through case studies that highlight the various kinds of analysis that can be performed using the provided models. All library code is open source, open for commercial use, and runs in Matlab/Simulink without any need for external libraries. [ABSTRACT FROM AUTHOR]

Aiming at the demand for subjective evaluation of driveability for fuel cell vehicles, the modeling and evaluation method of driveability for fuel cell vehicles were studied in this paper. Firstly, a real-time model of the fuel cell vehicle powertrain system was established, which included the fuel cell model, power battery model, DC/DC converter model and drive motor model. Secondly, it was integrated with the vehicle dynamics model to form a virtual prototype of a fuel cell vehicle. And a virtual subjective evaluation platform for fuel cell vehicles was built by combining the virtual prototype and high-fidelity driving simulator. Thirdly, a subjective evaluation method of driveability for fuel cell vehicles was proposed, which included the starting performance, acceleration performance, uniform speed performance and tip-in/tip-out performance. Finally, the paper used the platform and method mentioned above to conduct subjective evaluations of the fuel cell vehicles. [ABSTRACT FROM AUTHOR]

This paper presents the process of creating a model for electric vehicle (EV) energy consumption, enabling the rapid generation of results and the creation of energy maps. The most robust validation indicators were exhibited by an artificial intelligence method, specifically neural networks. Within this framework, two predictive models for EV energy consumption were developed for winter and summer conditions, based on actual driving cycles. These models hold particular significance for microscale road analyses. The resultant model, for test data in summer conditions, demonstrates validation indicators of an R2 of 86% and an MSE of 1.4, while, for winter conditions, its values are 89% and 2.8, respectively, confirming its high precision. The paper also presents exemplary applications of the developed models, utilizing both real and simulated microscale data. The results obtained and the presented methodology can be especially advantageous for decision makers in the management of city roads and infrastructure planners, aiding both cognitive understanding and the better planning of charging infrastructure networks. [ABSTRACT FROM AUTHOR]

Hybrid electric vehicles are certainly one of the key solutions for improving fuel efficiency and reducing emissions, especially in terms of special vehicles and with the use of CO2-neutral fuels. Determining the energy management strategy and finding the optimal solution with regard to the aforementioned goals remains one of the main challenges in the design of HEVs. This paper presents a new vehicle modeling method, with an emphasis on HEVs, which is based on the frequency analysis of emissions and consumption according to the current specific traction power of the vehicle. An evaluation of the newly introduced model in the RDE, NEDC and WLTP cycle was performed, and the results were compared with the standard verified vehicle model that was created in AVL's CruiseM R2021.2 software package. Positive traction energies have positive deviations of between 0.35% and 2.85%. The largest deviation in CO2 emissions was recorded for the HEV model in the RDE cycle and in the non-hybrid model in the WLTP cycle and were 3.79% and 4.4%, respectively. All other combinations of cycle and vehicles had deviations of up to about 1%. As expected, the largest relative deviations were recorded for NOx emissions and ranged from 0.13% to 9.62% for HEVs in the WLTP cycle. [ABSTRACT FROM AUTHOR]

In recent years, with the rapid growth in the number of electric vehicles (EVs), the large-scale grid connection of EVs has had a profound impact on the power grid. As a flexible energy storage resource, EVs can participate in auxiliary services of the power grid via vehicle-to-grid (V2G) technology. Due to the uncertainty of EVs accessing the grid, it is difficult to accurately control their charging and charging behaviors at both the day-ahead and real-time stages. Aiming at this problem, this paper proposes a two-stage scheduling strategy framework for EVs. In the presented framework, according to historical driving data, a day-ahead scheduling model based on distributionally robust optimization (DRO) is first established to determine the total power plan. In the real-time scheduling stage, a real-time scheduling model based on model predictive control (MPC) is established to track the day-ahead power plan. It can reduce the impact of EVs' uncertainties. This strategy can ensure the charging demand of users is under the control of the charging and discharging behaviors of EVs, which can improve the accuracy of controlling EVs. The case study shows that the scheduling strategy can achieve accurate and fast control of charging and discharging. At the same time, it can effectively contribute to the security and stability of grid operations. [ABSTRACT FROM AUTHOR]

As a result of ever-growing energy demands, motor vehicles are among the largest contributors to overall energy consumption. This has led researchers to focus on fuel consumption, which has important implications for the environment, the economy, and geopolitical stability. This article presents a comprehensive analysis of various fuel consumption modeling methods, with the aim of identifying parameters that significantly influence fuel consumption. The scientific novelty of this article lies in its use of low-cost technology, i.e., an OBD-II interface paired with a mobile phone, combined with modern mathematical modeling methods to create an accurate model of the fuel consumption of a vehicle. A vehicle test drive was performed, during which variations in selected parameters were recorded. Based on the obtained data, a model of the vehicle's fuel consumption was built using three forecasting methods: a multivariate regression model, decision trees, and neural networks. The results show that the multivariate regression model obtained the lowest MSE, MAR, and MRSE coefficients, indicating that this was the best forecasting method among those tested. Sufficient forecast error results were obtained using neural networks, with increases of approximately 73%, 10%, and 131% in MSE, MAE, and MRAE, respectively, compared to regression results. The worst results were obtained with the decision tree model, with increases of approximately 163%, 21%, and 92% in MSE, MAE, and MRAE compared to the regression results. [ABSTRACT FROM AUTHOR]

Current emission models primarily focus on traditional combustion vehicles and may not accurately represent emissions from the increasingly diverse vehicle fleet. The growing presence of hybrid and electric vehicles requires the development of accurate emission models to measure the emissions and energy consumption of these vehicles. This issue is particularly relevant for low-emission zones within cities, where effective mobility planning relies on simulation models using continuously updated databases. This research presents a two-dimensional emission model for hybrid vehicles, employing artificial neural networks for low-emission zones. The key outcome is the methodology developed to create a CO2 emission model tailored for hybrid vehicles, which can be used to simulate various road solutions. The CO2 emission model achieved an R2 coefficient of 0.73 and an MSE of 0.91, offering valuable information for further advancements in emission modelling. [ABSTRACT FROM AUTHOR]

This work proposes a centralized data-based orderly charging strategy that considers the user's charging choices. Three charging choices for different types of users are described. Then, a scheduling model of electric vehicles based on the time dimension is established. In this strategy, the optimization model not only considers the demand of the grid side and the user side, but also takes the driving data of electric vehicles as the driver. The grid-side optimization involves minimizing the equivalent load fluctuation, and the user-side is optimized to minimize the charging cost and maximize the charging electric quantity. The scheduling capabilities of the three charging strategies are analyzed based on a series of driving data of electric vehicles. The results show that the peak-valley difference and equivalent load fluctuation of the power grid in the data-based orderly charging strategy reduced by 22.2% and 22.7%, respectively, and the charging cost of users also reduced much more than the other two charging strategies. Additionally, the effect of users' charging choices on the charging strategy is analyzed, and the results show that the orderly charging strategy that considers users' charging choices can effectively decrease the scheduling deviation caused by users' charging choices. It greatly improves the security and economy of the grid. [ABSTRACT FROM AUTHOR]

The subject of electric vehicles (EVs) is constantly relevant from the perspective of climate change and sustainability. Multi-Criteria Decision Analysis (MCDA) methods can be successfully used to evaluate models of such vehicles. In many cases, the MCDA methods are modified to account for uncertainty in the data. There are many ways to express uncertainty, including more advanced ones, such as fuzzy sets, for example, but expressing attributes in terms of interval numbers remains a popular method because it is an easy-to-implement and easy-to-understand technique. This study focuses on interval extensions of the TOPSIS (Technique for Order Preference by Similarity to Ideal Solution) method. It aims to compare the most popular extension proposed by Jahanshahloo and the proposed new modification, which returns the result in an interval form. Certain inconsistencies of the Jahanshahloo extension are discussed, and it is explained how the new extension avoids them. Both extensions are applied to an EV evaluation problem taken from the literature as an example for sustainable assessment. The results are then analyzed, and the question of whether the input data of the interval should receive an evaluation in the form of interval results is addressed. [ABSTRACT FROM AUTHOR]

Fuel-saving-oriented collaborative driving is a highly promising yet challenging endeavor that requires satisfying the driver's operational intentions while surpassing the driver's fuel-saving performance. In light of this challenge, the paper introduces an innovative collaborative driving strategy tailored to the objective of fuel conservation in the context of commercial vehicles. An enhancement to this strategy involves the development of a network prediction model for vehicle speed, leveraging insights from driver style recognition. Employing the predicted speed as a reference, a model-predictive-control-based optimal controller is designed to track the reference while optimizing fuel consumption. Furthermore, a straightforward yet effective collaborative rule is proposed to ensure alignment with the driver's intention. Subsequently, the proposed control scheme is validated through simulation and real-world driving data, revealing that the human–machine cooperative driving controller saves 4% more fuel than human drivers. [ABSTRACT FROM AUTHOR]

Regarding the issue of individual purchasing behavior in the rapid growth of electric vehicles, this article studies the diffusion model of electric vehicles considering individual choices and social effects from the perspective of the scale and quantity changes of electric vehicles. First, the neural network was used to predict the charging data of electric vehicles, and the economic effects of purchasing electric vehicles were calculated by combining the purchase cost and government subsidies. Then, the utility function for owners to purchase electric or traditional fuel vehicles was created by considering economic effects, cognitive attitudes, and social effects as factors that individuals need to consider when purchasing electric or traditional fuel vehicles. Finally, the discrete choice model was used to calculate the probability of users choosing to purchase electric or traditional fuel vehicles, and the number of electric vehicles was statistically calculated. Analysis of simulation examples shows that the growth rate of fuel vehicles decreases year by year during the simulation period, and the trend of electric vehicle growth follows an S-curve. [ABSTRACT FROM AUTHOR]

Nowadays, the topic of reducing vehicles' energy consumption is very important. In particular, for electric vehicles, the reduction of energy consumption is necessary to remedy the most critical problems associated with this type of vehicle: the problem of the limited range of the electric traction, also associated with the long recharging times of the battery packs. To reduce use-phase impacts and energy consumptions of vehicles, it is useful to reduce the vehicle mass (lightweighting). The aim of this work is to analyze the parameters of a vehicle which influence the results of lightweighting, in order to provide guidelines for the creation of a vehicle model suitable for studying the effects of lightweighting. This study was carried out through two borderline case models, a compact car and an N1 vehicle, and simulating these through a consolidated vehicle simulation tool useful for consumption estimations. This study shows that the parameters that most influence the outcome of lightweighting are the rolling resistance, the battery pack characteristics, the aerodynamic coefficients, and the transmission efficiency, while the inertia contributions can be considered negligible. An analysis was also carried out with the variation of the driving cycle considered. [ABSTRACT FROM AUTHOR]

Advanced active safety systems play a crucial role in ensuring the safe driving of vehicles in critical conditions such as an obstacle avoidance manoeuvre. However, conventional techniques relying mainly on braking interventions may not result in the desired vehicle response in such situations. Over-actuation through the control of individual motion actuators could potentially improve the safety performance of vehicles. This study evaluates various configurations of motion actuators for path following and yaw stability control of vehicles in critical driving scenarios. The configurations include active front steering (S), active front steering + torque vectoring (ST), active front steering + active camber (SC) and active front steering + torque vectoring + active camber (STC). The evaluation is achieved based on a nonlinear model predictive control formulation, which considers yaw stability and the physical limits of motion actuators. This problem formulation uses a double-track vehicle model, combined with the Dugoff tyre model and its variant with the camber effect, to model the vehicle dynamics. The actuator configurations are evaluated regarding the passing velocity, tracking accuracy, safety distance and robustness to reference trajectory variation. The results indicate that the integrated control of STC performs the best among all the four configurations while S performs the worst. Furthermore, SC is generally superior to ST. [ABSTRACT FROM AUTHOR]

This work is focused on the simulation of a complete hybrid bus vehicle model performing a real-world driving cycle. The simulation framework consists of a coupled co-simulation environment, where all the vehicle sub-system models are linked to achieve a real time exchange of input and output signals. In the vehicle model also the electric devices of the powertrain and accumulation system are included. This co-simulation platform is applied to investigate the hybridization of a 12-m city bus, performing a typical urban driving mission. A comparison between the conventional powertrain is performed against the hybridized version, to highlight the advantages and challenges. In particular, the novelty of this modeling approach is that the IC engine simulation does not rely on pre-processed look-up tables, but exploits a high-fidelity one-dimensional thermo-fluid dynamic model. However, it was necessary to develop a fast simulation methodology to exploit this predictive tool, achieving a low computational cost. The 1D engine model is first validated against the experimental engine map data available, showing a good model predictivity. Then the 1D engine model and the other models of the powertrain are coupled to the vehicle model, in order to follow the prescribed velocity profile of the driving cycle. The complete model is applied under different conditions, to evaluate the impact on performance and emissions and assess the simulation predictivity. [ABSTRACT FROM AUTHOR]

Accurate estimations and assessments of vehicle emissions can support decision-making processes. Current emission estimation tools involve several calculation methods that provide estimates of the exhaust components that result from driving on urban arterial roads. This is an important consideration, as the emissions generated have a direct impact on the health of pedestrians near the roads. In recent years, there has been an increase in the use of emission models, especially in combination with traffic simulator models. This is because it is very difficult to obtain an actual measurement of road emissions for all vehicles travelling along the analysed road section. This paper concerns a review of selected traffic simulations and the estimation of exhaust gas components models. The models presented have been aggregated into a group with respect to their scale of accuracy as micro, meso, and macro. This paper also presents an overview of selected works that combine both traffic and emission models. The presented literature review also emphasises the proper calibration process of simulation models as the most important factor in obtaining accurate estimates. This work also contains information and recommendations on modelling that may be helpful in selecting appropriate emission estimation tools to support decision-making processes for, e.g., road managers. [ABSTRACT FROM AUTHOR]

As one of the effective and crucial ways to achieve the energy saving and emission reduction of loaders, hybrid technology has attracted the attention of many scholars and manufacturers. Selecting an appropriate energy management strategy (EMS) is essential to reduce fuel consumption and emissions for hybrid loaders (HLs). In this paper, firstly, the application status of drivetrain configuration of HLs is presented. Then, the working condition characteristics of loaders are analyzed. On the basis of this, the configurations of HLs are classified, and the features and research status of each configuration are described. Next, taking the energy consumption optimization of HLs as the object, the implementation principle and research progress of the proposed rule strategy and optimization strategy are compared and analyzed, and the differences of existing EMSs and future development challenges are summarized. Finally, combining the advantages of intelligent control and optimal control, the future prospective development direction of EMSs for HLs is considered. The conclusions of the paper can be identified in two points: firstly, although the existing EMSs can effectively optimize the energy consumption of HLs, the dependence of the strategy on the mechanism model and the vehicle parameters can reduce the applicability of the strategy to heterogeneous HLs and the robustness to a complex working condition. Secondly, combining the advantages of intelligent control and optimal control, designing an intelligent EMS not depending on the vehicle analytical model will provide a new method for solving the energy consumption optimization problem of HL. [ABSTRACT FROM AUTHOR]

The vehicle market at the European level (and also elsewhere) has registered a high dynamic for the adoption of electric vehicles as the future means of transport. Government policies and decisions fully support this move, but there are still massive barriers to entry into the EV market due to consumer attitudes and perceptions. Consumer attitudes and perceptions will be decisive in the market success of future electric vehicle models, given that consumers are particularly interested in the vehicles' technical and dynamic performance. The pressure from customers' demands for performance leaves its mark not only on the increase of performance and technical parameters, but directly contributes to the generation of interdependence between these parameters. This article presents a comparative statistical analysis of 203 electric vehicle models (from various construction categories), present in the European vehicle market (between the years 2019 and 2022), to highlight the direct and indirect links (interdependencies) between technical and performance parameters depending on the constructive class (type). The goal of this article is to determine whether there is a relationship between the three key performance metrics for electric vehicles—autonomy, top speed, and acceleration—and five significant technical/constructive metrics for these vehicles—battery capacity, energy efficiency, electric motor power, fast charging speed, and vehicle weight (brand and year of availability in the market). Based on the analyzed data, it can be stated that the design and construction of an electric vehicle model currently takes into account both performance and technical parameters, with a strong link between the weight of the vehicle and the energy capacity of the battery (+0.687) being highlighted and also the relationship between autonomy and vehicle weight (+0.355). The conclusions of this study can be used in the future by manufacturers for the development of new models of electric vehicles (new generic platforms and chassis) by classifying/standardizing these vehicles into specific classes, corresponding to the requirements of different classes of consumers or identifying constructive solutions specific to each type of consumer. [ABSTRACT FROM AUTHOR]

One method to reduce CO2 emissions from vehicle exhaust is the use of liquified petroleum gas (LPG) fuel. The global use of this fuel is high in European countries such as Poland, Romania, and Italy. There are a small number of computational models for the purpose of estimating the emissions of LPG vehicles. This work is one of the first to present a methodology for developing microscale CO2 emission models for LPG vehicles. The developed model is based on data from road tests using the portable emission measurement system (PEMS) and on-board diagnostic (OBDII) interface. This model was created from a previous exploratory data analysis while using gradient-boosting machine learning methods. Vehicle velocity and engine RPM were chosen as the explanatory variables for CO2 prediction. The validation of the model indicates its good precision, while its use is possible for the analysis of continuous CO2 emissions and the creation of emission maps for environmental analyses in urban areas. The validation coefficients for the selected gradient-boosting method of modelling CO2 emissions for an LPG vehicle are the R2 test of 0.61 and the MSE test of 0.77. [ABSTRACT FROM AUTHOR]

The damage behavior of Li-ion vehicle battery modules with prismatic cells has been investigated through mechanical experiments and numerical simulations. The modules were subjected to quasi-static indentation using a V-shaped stainless-steel wedge along three orthogonal directions. One higher speed test was also performed. Force and voltage were measured as a function of displacement to monitor damage during loading. A detailed finite element (FE) model was developed to simulate force-displacement with very good comparison to experimental results. Based on the FE model, energy absorption contributions of four major component groups were analyzed along with detailed effects of enclosure weld defects. Analysis indicates the steel parts absorbed significant amounts of energy irrespective of indentation direction. The welds connecting the side plates were the weak link in the protective structure. Increasing the thickness of the steel plates could help absorb more energy. [ABSTRACT FROM AUTHOR]

The use of simulation and modelling has been proposed for determining the excitations to be applied in the procedures of laboratory testing of a car's structural components, without the need to test the complete vehicle. The paper presents the general concept as well as an example of the procedure. It covers determining the spectrum and time-domain realization of a load on a selected node of the vehicle structure under durability tests. The author used both the mathematical and physical model of the tractor-semitrailer unit, where the input was considered as a random process resulting from the road profile. He calculated the transmittance modules and the power spectral densities of the vertical force on the joint between the tractor's fifth wheel and the kingpin of the semitrailer and the extreme values of the dynamic components of this force. The inverse discrete Fourier transform makes it possible to generate the realization of the said force. It can be used in durability studies. The limitation of the work to the testing of a specific structural node reduces the scope and, in consequence, the cost of the process. The method presented may also be used for various types of vehicle models, including hybrid and electric vehicles. [ABSTRACT FROM AUTHOR]

In this study, a hierarchical chassis control strategy is designed to enhance vehicle economy and safety for four-wheel independent-drive electric vehicles (FWID-EVs). In the upper-level, a vehicle dynamics model based on multiple agents is proposed, and a distributed model predictive control (DMPC) method is designed to dimensionally solve the problem of tracking the center-of-mass torque of the demanded velocity trajectory and stability parameters. In the bottom-level, a multi-objective torque distribution strategy that weighs safety, dynamics and economy based on multi-agent theory is designed by comprehensively considering the motor efficiency and tire energy loss. Finally, a hardware-in-the-loop (HIL) simulation platform is built to verify the method formulated in this paper. The results show that the method in this paper is effective in tracking the desired trajectory and further enhancing the stability of the vehicle under various conditions. Compared with other algorithms, while guaranteeing safety and dynamics, the energy consumption of the powertrain is reduced by 9.51%. [ABSTRACT FROM AUTHOR]

The continuous technical improvements involving electric motors, battery packs, and general powertrain equipment make it strictly necessary to predict or evaluate the energy consumption of electric vehicles (EVs) with reasonable accuracy. The significant improvements in computing power in the last decades have allowed the implementation of various simulation scenarios and the development of strategies for vehicle modelling, thus estimating energy consumption with higher accuracy. This paper gives a general overview of the strategies adopted to model EVs for evaluating or predicting energy consumption. The need to develop such solutions is due to the basis of each analysis, as well as the type of results that must be produced and delivered. This last point strongly influences the whole set-up process of the analysis, from the available and collected dataset to the choice of the algorithm itself. [ABSTRACT FROM AUTHOR]

Short-term, automated car rental services, i.e., car sharing, are a solution that has been improving in urban transportation systems over the past few years. Due to the intensive expansion of the systems, service providers face increasing challenges in their competitiveness. One of them is to meet the customer expectations for the fleet of vehicles offered in the system. Although this aspect is noted primarily in the literature review on fleet optimization and management, there is a gap in research on the appropriate selection of vehicle models. In response, the article aimed to identify the vehicles best suited for car-sharing systems from the customer's point of view. The selection of suitable vehicles was treated as a multi-criteria decision-making issue; therefore, the study used ELECTRE III—one of the multi-criteria decision-making methods. The work focuses on researching the opinions of users who rarely use car-sharing services in Poland. The most popular car models in 2021, equipped with internal combustion, hybrid, and electric engines, were selected for the analysis. The results indicate that the best suited cars are relatively large, spacious, and equipped with electric drive and represent the D segment of vehicles in Europe. In addition, these vehicles are to be equipped with a powerful engine, a spacious boot, and a fast battery charging time. Interestingly, small city cars, so far associated with car sharing, ranked the worst in the classification method. In addition, factors such as the warranty period associated with the quality of the vehicles, or the number of car doors, are not very important to users. The results support car-sharing operators in the process of selecting or modernizing a fleet of vehicles. [ABSTRACT FROM AUTHOR]

The ongoing spread of electric sustainable mobility is transforming the local ways of transport in metropolitan areas. This is meant to be extended outside of big cities in the near future thanks to new technological developments. Little towns should adapt to these changes, as they are located geographically far from the big cities and are generally characterized by low economic and demographic indicators. Hence, little towns must keep pace with these changes in mobility to avoid being isolated from the main cities in a country. People living in the countryside usually move toward big cities for various reasons, either related to work or living necessities. Therefore, it must be possible to conduct usual displacements through the use of electric vehicles (EVs), i.e., reaching the destinations and supplying the batteries through charging infrastructures. This paper studies the full implementation of electric mobility applied in the case of Cuenca, a city located in middle Spain. A brief geographical context is provided, together with the routes and destinations of interest considered. Then, different EVs are considered and an analytical vehicle model is provided. The model was exploited to simulate the electrical energy demand to reach the destinations chosen; the results allow comparing the performances offered by different types of EVs. This aspect is then considered as the basis to propose further upgrades in the charging infrastructures where needed, to comply with the widespread use of electric mobility. [ABSTRACT FROM AUTHOR]

Short-term car rental services, i.e., carsharing, is a solution that has been developing better and better in urban transport systems in recent years. Along with intensive expansion, service providers have to face an increasing number of challenges to compete with each other. One of them is meeting the expectations of customers about the fleet of vehicles offered in the system. While this aspect is noticed in the literature review mainly in terms of fleet optimization and management, there is a research gap regarding the appropriate selection of vehicle models. In response, the article was dedicated to identifying the vehicles that were best suited to carsharing systems from the point of view of frequent customers. The selection of appropriate vehicles was treated as a multi-criteria decision issue, therefore the study used one of the multi-criteria decision support methods—ELECTRE III. The work focuses on researching the opinions of users (experts) who often use carsharing services in Poland. The study included a list of the most popular vehicles in Europe in 2021, including classic, electric, and hybrid cars, and a list of 11 evaluation criteria. The research results indicate for frequent users the advantage of conventional drive vehicles over electric and hydrogen vehicles. Moreover, they indicate that the best vehicles are relatively large cars (European car segments C and D) with the greatest possible length, boot capacity, engine power, number of safety systems, and quality. On the other hand, the least important issues are the number of seats in the vehicle and the number of doors. Interestingly, the vehicles selected by frequent users questioned the concept of small city cars, which occupied a small public space on which carsharing was supposed to focus. The results obtained support the operators of carsharing services in making fleet decisions. [ABSTRACT FROM AUTHOR]

A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and a path following error model are built and the desired yaw rate is obtained through backstepping. Then, a model predictive controller is adopted to track the desired yaw rate and obtain the optimal front wheel steering and external yaw moment. Meanwhile, an optimal torque distribution algorithm is carried out to allocate it to each tire. Finally, the effectiveness and superiority of the strategy is validated via CarSim–Simulink joint simulation. Results show that the strategy has higher following accuracy, smaller sideslip angle, and better yaw rate tracking. [ABSTRACT FROM AUTHOR]

Electric vehicles (EVs) have become increasingly popular because they are highly efficient and sustainable. However, EVs have intensive electric loads. Their penetrations into the power system pose significant challenges to the operation and control of the power distribution system, such as a voltage drop or transformer overloading. Therefore, grid operators need to prepare for high-level EV penetration into the power system. This study proposes data-driven, parameterized, individual, and aggregated EV charging models to predict EV charging loads in the urban residential sector. Actual EV charging profiles in Saskatchewan, Canada, were analyzed to understand the characteristics of EV charging. A location-based algorithm was developed to identify residential EV charging from raw data. The residential EV charging data were then used to tune the EV charging model parameters, including battery capacity, charging power level, start charging time, daily EV charging energy, and the initial state of charge (SOC). These parameters were modeled by random variables using statistic methods, such as the Burr distribution, the uniform distribution, and the inverse transformation methods. The Monte Carlo method was used for EV charging aggregation. The simulation results show that the proposed models are valid, accurate, and robust. The EV charging models can predict the EV charging loads in various future scenarios, such as different EV numbers, initial SOC, charging levels, and EV types (e.g., electric trucks). The EV charging models can be embedded into load flow studies to evaluate the impact of EV penetration on the power distribution systems, e.g., sustained under voltage, line loss, and transformer overloading. Although the proposed EV charging models are based on Saskatchewan's situation, the model parameters can be tuned using other actual data so that the proposed model can be widely applied in different cities or countries. [ABSTRACT FROM AUTHOR]

A comprehensive electric vehicle model is developed to characterize the behavior of the Smart e.d. (2013) while driving, charging and providing vehicle-to-grid services. To facilitate vehicle-to-grid strategy development, the EV model is completed with the measurement of the on-board charger efficiency and the charging control behavior upon external set-point request via IEC 61851-1. The battery model is an electro-thermal model with a dual polarization equivalent circuit electrical model coupled with a lumped thermal model with active liquid cooling. The aging trend of the EV's 50 Ah large format pouch cell with NMC chemistry is evaluated via accelerated aging tests in the laboratory. Performance of the model is validated using laboratory pack tests, charging and driving field data. The RMSE of the cell voltage was between 18.49   m V and 67.17   m V per cell for the validation profiles. Cells stored at 100% SOC and 40 °C reached end-of-life (80% of initial capacity) after 431–589 days. The end-of-life for a cell cycled with 80% DOD around an SOC of 50% is reached after 3634 equivalent full cycles which equates to a driving distance of over 420,000 k m. The full parameter set of the model is provided to serve as a resource for vehicle-to-grid strategy development. [ABSTRACT FROM AUTHOR]

Aiming at the negative vibration effect caused by the increased unsprung mass of the hub motor-air suspension (HM-AS) vehicle and the unbalanced magnetic force (UMF) of the hub motor, a linear quadratic regulator (LQR) air suspension control strategy based on a genetic algorithm is proposed. Considering the coupling effect of road surface excitation and UMF, the model of the HM-AS vehicle is established. Then, according to optimal control theory and the genetic algorithm, the LQR controller is designed to suppress the vibration of the HM-AS vehicle, and the weight matrix of the LQR controller is optimized through the genetic algorithm. The simulation results show that the proposed LQR control strategy effectively improves the ride comfort and motor safety of the HM-AS vehicle. [ABSTRACT FROM AUTHOR]

The Equivalent Consumption Minimization Strategy (ECMS) is a well-known control strategy for the definition of optimal power-split in hybrid-electric vehicles, because of its effectiveness and reduced calibration effort. In this kind of Energy Management Systems (EMS), the correct identification of an equivalence factor (K), which translates electric power in equivalent fuel consumption, is of paramount importance. To guarantee charge sustaining operation, the K factor must be adjusted to different mission profiles. Adaptive ECMS (A-ECMS) techniques have thus been introduced, which automatically determine the optimal equivalence factor based on the vehicle mission. The aim of this research activity is to assess the potential in terms of fuel consumption and charge sustainability of different A-ECMS techniques on a gasoline hybrid-electric passenger car. First, the 0D vehicle and powertrain model was developed in the commercial CAE software GT-SUITE. An ECMS-based EMS was used to control the baseline powertrain and three alternative versions of an auto-adaptive algorithm were implemented on top of that. The first A-ECMS under study was based on feedback from the battery State of Charge, while the second and third on a Driving Pattern Recognition/Prediction algorithm. Fuel consumption was assessed using the New European Driving Cycle (NEDC), the Worldwide Harmonized Light Vehicles Test Cycle (WLTC) and Real Driving Emissions (RDE) driving cycles by means of numerical simulation. A potential improvement of up to 4% Fuel Economy was ultimately achieved on an RDE driving cycle with respect to the baseline ECMS. [ABSTRACT FROM AUTHOR]

In this paper, driving strategy optimization for a track is proposed for an energy efficient battery electric vehicle dedicated to the Shell Eco-marathon. A measurement-based mathematical vehicle model was developed to simulate the behavior of the vehicle. The model contains complicated elements such as the vehicle's cornering resistance and the efficiency field of the entire powertrain. The validation of the model was presented by using the collected telemetry data from the 2019 Shell Eco-marathon competition in London (UK). The evaluation of applicable powertrains was carried out before the driving strategy optimization. The optimal acceleration curve for each investigated powertrain was defined. Using the proper powertrain is a crucial part of energy efficiency, as the drive has the most significant energy demand among all components. Two tracks with different characteristics were analyzed to show the efficiency of the proposed optimization method. The optimization results are compared to the reference method from the literature. The results of this study provide an applicable vehicle modelling methodology with efficient optimization framework, which demonstrates 5.5% improvement in energy consumption compared to the reference optimization theory. [ABSTRACT FROM AUTHOR]

The large fluctuations in charging loads of electric vehicles (EVs) make short-term forecasting challenging. In order to improve the short-term load forecasting performance of EV charging load, a corresponding model-based multi-channel convolutional neural network and temporal convolutional network (MCCNN-TCN) are proposed. The multi-channel convolutional neural network (MCCNN) can extract the fluctuation characteristics of EV charging load at various time scales, while the temporal convolutional network (TCN) can build a time-series dependence between the fluctuation characteristics and the forecasted load. In addition, an additional BP network maps the selected meteorological and date features into a high-dimensional feature vector, which is spliced with the output of the TCN. According to experimental results employing urban charging station load data from a city in northern China, the proposed model is more accurate than artificial neural network (ANN), long short-term memory (LSTM), convolutional neural networks and long short-term memory (CNN-LSTM), and TCN models. The MCCNN-TCN model outperforms the ANN, LSTM, CNN-LSTM, and TCN by 14.09%, 25.13%, 27.32%, and 4.48%, respectively, in terms of the mean absolute percentage error. [ABSTRACT FROM AUTHOR]

This paper aims to study the torque optimization control of distributed drive electric vehicles in the cornering process and reduce the cornering energy consumption. The main energy consumption of the vehicle in the cornering process is analyzed clearly based on the 7-DOF vehicle dynamics model. The torque vectoring distribution (TVD) of a distributed drive electric vehicle in the process of turning was studied on the basis of the Pontryagin Minimum Principle (PMP). The Beetle Antenna Search–Particle Swarm Optimization (BAS-PSO) algorithm was used to optimize the torque distribution coefficient offline, and the algorithm was improved to improve the operation speed. Based on the vehicle dynamics characteristics, the table of torque distribution coefficient of minimum turning energy consumption and the optimal energy-saving degree of TVD control in different bending conditions were worked out. [ABSTRACT FROM AUTHOR]

The importance of a flexible and comprehensive vehicle fuel consumption model cannot be understated for understanding the implications of the modal changes currently occurring in the transportation sector. In this study, a model is developed to determine the tank-to-wheel energy demand for passenger and freight transportation within Germany for different modes of transport. These modes include light-duty vehicles (LDVs), heavy-duty vehicles (HDVs), airplanes, trains, ships, and unmanned aviation. The model further estimates future development through 2050. Utilizing standard driving cycles, backward-looking longitudinal vehicle models are employed to determine the energy demand for all on-road vehicle modes. For non-road vehicle modes, energy demand from the literature is drawn upon to develop the model. It is found that various vehicle parameters exert different effects on vehicle energy demand, depending on the driving scenario. Public transportation offers the most energy-efficient means of travel in the forms of battery electric buses (33.9 MJ/100 pkm), battery electric coaches (21.3 MJ/100 pkm), fuel cell electric coaches (32.9 MJ/100 pkm), trams (43.3 MJ/100 pkm), and long-distance electric trains (31.8 MJ/100 pkm). International shipping (9.9 MJ/100 tkm) is the most energy-efficient means of freight transport. The electrification of drivetrains and the implementation of regenerative braking show large potential for fuel consumption reduction, especially in urban areas. Occupancy and loading rates for vehicles play a critical role in determining the energy demand per passenger-kilometer for passenger modes, and tonne-kilometer for freight modes. [ABSTRACT FROM AUTHOR]

There is consensus in industry and academia that Highly Automated Vehicles (HAV) and Connected Automated Vehicles (CAV) will be launched into the market in the near future due to emerging autonomous driving technology. In this paper, a mixed traffic simulation framework that integrates vehicle models with different automated driving systems in the microscopic traffic simulation was proposed. Currently, some of the more mature Automated Driving Systems (ADS) functions (e.g., Adaptive Cruise Control (ACC), Lane Keeping Assistant (LKA), etc.) are already equipped in vehicles, the very next step towards a higher automated driving is represented by Level 3 vehicles and CAV which show great promise in helping to avoid crashes, ease traffic congestion, and improve the environment. Therefore, to better predict and simulate the driving behavior of automated vehicles on the motorway scenario, a virtual test framework is proposed which includes the Highway Chauffeur (HWC) and Vehicle-to-Vehicle (V2V) communication function. These functions are implemented as an external driver model in PTV Vissim. The framework uses a detailed digital twin based on the M86 road network located in southwestern Hungary, which was constructed for autonomous driving tests. With this framework, the effect of the proposed vehicle models is evaluated with the microscopic traffic simulator PTV Vissim. A case study of the different penetration rates of HAV and CAV was performed on the M86 motorway. Preliminary results presented in this paper demonstrated that introducing HAV and CAV to the current network individually will cause negative effects on traffic performance. However, a certain ratio of mixed traffic, 60% CAV and 40% Human Driver Vehicles (HDV), could reduce this negative impact. The simulation results also show that high penetration CAV has fine driving stability and less travel delay. [ABSTRACT FROM AUTHOR]

Real-time simulations refer to the simulations of a physical system where model equations for one time-step are solved within the same time period as in reality. An FPGA/CPU-based real-time simulation platform is presented in this paper, with a full-electric vehicle model implemented in a central processing unit (CPU) board and an electric drive model implemented in a field programmable gate arrays (FPGA) board. It has been a challenge to interface two models solved with two different processors. In this paper, one open-loop and three closed-loop interfaces are proposed. Real-time simulation results show that the best method is to transmit electric machine speed from the vehicle model to the electric derive model, with feedback electric machine torque calculated in FPGA. In addition, a virtual vehicle testing tool (CarMaker) is used when building the vehicle model, achieving more accurate modeling of vehicle subsystems. The presented platform can be used to verify advanced vehicle control functions during hardware-in-the-loop (HIL) testing. Vehicle anti-slip control is used as an example here. Finally, experiments were performed by connecting the real-time platform with a back-to-back electric machine test bench. Results of torque, rotor speed, and d&q axis currents are all in good agreement between simulations and experiments. [ABSTRACT FROM AUTHOR]

Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity profile, which are then sent to the vehicle's actuators. This paper proposes a new local path planner for autonomous vehicles based on the Attractor Dynamic Approach (ADA), which was inspired by the behavior of movement of living beings, along with an algorithm that takes into account four acceleration policies, the ST dynamic vehicle model, and several constraints regarding the comfort and security. The original functions that define the ADA were modified in order to adapt it to the non-holonomic vehicle's constraints and to improve its response when an impact scenario is detected. The present approach is validated in a well-known simulator for autonomous vehicles under three representative cases of study where the vehicle was capable of generating local paths that ensure the security of the vehicle in such cases. The results show that the approach proposed in this paper is a promising tool for the local path planning of autonomous vehicles since it is able to generate trajectories that are both safe and efficient. [ABSTRACT FROM AUTHOR]

This paper conducts an analysis of the aerodynamic influence of different ground and wheel states on the Notchback DrivAer by numerical simulation. The effects of the moving ground and rotating wheels are investigated individually and comprehensively. Experimental data are also included for validation. Through this study, a unique and important low-drag state is observed, in which the vehicle wake near the center region becomes more symmetrical, the pressure on the upper middle base is recovered and the total aerodynamic drag decreases significantly. Furthermore, the formation of this state is determined by the flow rate near the surface of the rear underbody. When the wheels are rotating, the wheel wakes are weakened. On one hand, the drag of wheels and the two sides of the base region is reduced. On the other hand, the boundary layer near the underbody is thinned and the flow near the underbody surface is accelerated, transforming the wake to the low-drag state. Moreover, the moving ground can enhance the wheel wake but its effect on the flow rate near the underbody is complicated. This may be one of the important reasons why the aerodynamic effects of wheel & ground states depend on the vehicle model. Finally, the global effects of wheel rotation and ground movement can affect each other so they should be analyzed together in the vehicle design process. [ABSTRACT FROM AUTHOR]

This paper presents a model predictive control (MPC)-based algorithm for rollover prevention of an autonomous electric road sweeper (AERS). For AERS, the basic function of autonomous driving is a path- and velocity-tracking control needed to make a vehicle follow given path and velocity profiles. On the other, the AERS adopts an articulated frame steering (AFS) mechanism which can make cornering behavior agile. Moreover, the tread of the AERS is narrow, and the height of the mass center is high. As a result, it is prone to roll over. For this reason, it is necessary to design a controller for path and velocity tracking and rollover prevention in order to improve maneuverability and roll safety of the AERS. A kinematic model was adopted as a vehicle one for the AERS. With the vehicle model, reference states of position and velocity were determined that are needed to make the AERS track the reference path and prevent rollover. With the vehicle model and reference states, an MPC-based motion controller was designed to optimize articulation angle and velocity commands. The load-transfer ratio (LTR) was used to measure a rollover propensity. To evaluate the proposed algorithm, a simulation was conducted for the U-turn scenario. Simulation results show that the proposed algorithm improves path tracking and prevents the rollover of the AERS. [ABSTRACT FROM AUTHOR]

Automation and electrification are changing vehicles and mobility. Whereas electrification is mainly changing the powertrain, automation enables the rethinking of the vehicle and its applications. The actual driving range is an important requirement for the design of automated and electric vehicles, especially if they are part of a fleet. To size the battery accordingly, not only the consumption of the powertrain has to be estimated, but also that of the auxiliary users. Heating Ventilation and Air Conditioning (HVAC) is one of the biggest auxiliary consumers. Thus, a variable HVAC model for vehicles with electric powertrain was developed to estimate the consumption depending on vehicle size and weather scenario. After integrating the model into a tool for autonomous and electric vehicle concept development, various vehicle concepts were simulated in different weather scenarios and driving cycles with the HVAC consumption considered for battery sizing. The results indicate that the battery must be resized significantly depending on the weather scenario to achieve the same driving ranges. Furthermore, the percentage of HVAC consumption is in some cases higher than that of the powertrain for urban driving cycles, due to lower average speeds. Thus, the HVAC and its energy demand should especially be considered in the development of autonomous and electric vehicles that are primarily used in cities. [ABSTRACT FROM AUTHOR]

This paper focuses on the estimation of energy consumption of Electric Vehicles (EVs) by means of models derived from traffic flow theory and vehicle locomotion laws. In particular, it proposes a bi-level procedure with the aim to calibrate (or update) the whole parameters of traffic flow models and energy consumption laws by means of Floating Car Data (FCD) and probe vehicle data. The reported models may be part of a procedure for designing and planning transport and energy systems. This aim is to verify if, and in what amount, the existing parameters of the resistances/energy consumptions model calibrated in the literature for Internal Combustion Engines Vehicles (ICEVs) change for EVs, considering the above circular dependency between supply, demand, and supply–demand interaction. The final results concern updated parameters to be used for eco-driving and eco-routing applications for design and a planning transport system adopting a multidisciplinary approach. The focus of this manuscript is on the transport area. Experimental data concern vehicular data extracted from traffic (floating car data and probe vehicle data) and energy consumption data measured for equipped EVs performing trips inside a sub-regional area, located in the Città Metropolitana of Reggio Calabria (Italy). The results of the calibration process are encouraging, as they allow for updating parameters related to energy consumption and energy recovered in terms of EVs obtained from data observed in real conditions. The latter term is relevant in EVs, particularly on urban routes where drivers experience unstable traffic conditions. [ABSTRACT FROM AUTHOR]

The paper proposes a novel approach to modeling electrified transportation systems. The proposed solution reflects the mechanical dynamics of vehicles as well as the distribution and losses of electric supply. Moreover, energy conversion losses between the mechanical and electrical subsystems and their bilateral influences are included. Such a complete model makes it possible to replicate, e.g., the impact of voltage drops on vehicle acceleration or the necessity of partial disposal of regenerative braking energy due to temporary lack of power transmission capability. The modeling methodology uses a flexible twin data-bus structure, which poses no limitation on the number of vehicles and enables modeling complex traction power supply structures. The proposed solution is suitable for various electrified transportation systems including suburban and urban systems. The modeling methodology is applicable i.a. to Matlab/Simulink, which makes it broadly available and customizable, and provides short computation time. The applicability and accuracy of the method were verified by comparing simulation and measurement results on an exemplary trolleybus system operating in Pilsen, Czech Republic. Simulation of daily operation of an area including four supply sections and maximal simultaneous number of nine vehicles showed a good conformance with the measured data, with the difference in the total consumed energy not exceeding 5%. [ABSTRACT FROM AUTHOR]

Smart transportation a smart city application where traditional individual models are transforming to shared and distributed ownership. These models are used to serve commuters for inter- and intra-city travel. However, short-range urban transportation services within campuses, residential compounds, and public parks are not explored to their full capacity compared to the distributed vehicle model. This paper aims to explore and design an adequate framework for battery-operated shared mobility within a large community for short-range travel. This work identifies the characteristics of the shared mobility for battery-operated vehicles and accordingly proposes an adequate solution that deals with real-time data collection, tracking, and automated decisions. Furthermore, given the requirement for real-time decisions with low latency for critical requests, the paper deploys the proposed framework within the 3-tier computing model, namely edge, fog, and cloud tiers. The solution design considers the power consumption requirement at the edge by offloading the computational requests to the fog tier and utilizing the LoRaWAN communication technology. A prototype implementation is presented to validate the proposed framework for a university campus using e-bikes. The results show the scalability of the proposed design and the achievement of low latency for requests that require real-time decisions. [ABSTRACT FROM AUTHOR]

This paper presents the performance analysis of a latest-generation hybrid vehicle (Toyota Yaris 2020) with a testing campaign in real road conditions and a comparison with the previous model (Toyota Yaris 2017). The study was conducted by applying the Real Drive Truth Test protocol, developed by the research group, validated and spread to other full hybrid vehicles: Toyota Prius IV (2016) and Toyota Yaris 2017 (2017). In the case of the 2020 tests, the co-presence on board—deemed unsafe in the usual ways given the ongoing pandemic—was achieved through precise and sophisticated remote control. An on-board diagnostic computer, video transmission and recording equipment guarantee the virtual co-presence of a technical control room and a driver. Thus, several engineers can follow and monitor each vehicle via a 4G modem (installed in each vehicle), analysing data, route and driver behaviour in real-time, and therefore even in the presence of a single occupant in the car under test. The utmost attention has also been paid to adopting anti-COVID behaviours and safety standards: limited personal interactions, reduced co-presence in shared rooms (especially in the control room), vehicle sanitising between different drivers, computers and technicians and video technicians working once at a time. The comparison between the two subsequent vehicle models shows a significant improvement in the performance of the new generation Yaris, both in terms of operation in ZEV (zero-emission vehicle) mode (+15.3%) and in terms of consumption (−35.1%) and overall efficiency of the hybrid powertrain (+8.2%). [ABSTRACT FROM AUTHOR]

In the European Green Deal, EU Commission has set a goal to reduce greenhouse gas emissions in the transport sector by 90% by 2050 compared to the 1990 level. Most likely, transport decarbonization will rely on a rapid expansion of electric and hydrogen vehicle fleet, which would seriously affect not just overall electricity demand, but also the shape of the electricity consumption curve. Consequently, our research focuses on integrated energy and transport modelling when analyzing its development pathways up to 2050 and beyond. This paper describes how already established transport modeling practices can be further improved by differentiating vehicles by age groups and setting vehicle age distributions to improve the representation of vehicle stock, fuel efficiencies and emissions, especially for countries that have non-declining vehicle age distributions. Modeling results using proposed and traditional approaches were compared for the Lithuanian case. It shows that the transport fuel shift using the proposed approach is more gradual than the traditional one. Diesel cars are phased out by 2050 versus 2040. Furthermore, the proposed approach provided more realistic CO2 emissions, 7% lower emissions for 2018 than estimated based on statistical data, while traditional approach was 27% lower. [ABSTRACT FROM AUTHOR]

Vehicle speeds have a direct relationship with the severity of road crashes and may influence their probability of occurrence. Solar-powered active road studs have been shown to have a positive effect on driver confidence, but their impact on vehicle speed in conjunction with other road features is little understood. This study aims to address this gap in knowledge through a case study of a 20 km section of a strategic major road featuring a variety of highway infrastructure features. Before-and-after surveys were undertaken at 21 locations along the route using manual radar speed measurement. Analysis of nearly 10,000 speed measurements showed no statistically significant change in mean speeds following the implementation of the road studs. Linear regression models are proposed for two different posted speed limits, associating road features with expected vehicle speed. The models suggest that vehicle speeds are chiefly influenced by merges, curves, gradients, and ambient light conditions. The findings of this study should provide confidence that active road studs may be implemented without a negative impact on speed-related safety. The work also provides further expansion of the evidence base describing the effect of highway infrastructure features on vehicle speeds. [ABSTRACT FROM AUTHOR]

This paper aims to explore torque optimization control issue in the turning of EV (Electric Vehicles) with motorized wheels for reducing energy consumption in this process. A three-degree-of-freedom (3-DOF) vehicle dynamics model is used to analyze the total longitudinal force of the vehicle and explain the influence of torque vectoring distribution (TVD) on turning resistance. The Genetic Algorithm-Particle Swarm Optimization Hybrid Algorithm (GA-PSO) is used to optimize the torque distribution coefficient offline. Then, a torque optimization control strategy for obtaining minimum turning energy consumption online and a torque distribution coefficient (TDC) table in different cornering conditions are proposed, with the consideration of vehicle stability and possible maximum energy-saving contribution. Furthermore, given the operation points of the in-wheel motors, a more accurate TDC table is developed, which includes motor efficiency in the optimization process. Various simulation results showed that the proposed torque optimization control strategy can reduce the energy consumption in cornering by about 4% for constant motor efficiency ideally and 19% when considering the motor efficiency changes in reality. [ABSTRACT FROM AUTHOR]

Increasing the market share of low-emission vehicles in relation to individual mobility is one of the main postulates of modern transport policy. In the discussion on low-emission and the new structure of the car fleet, the role of new vehicles is emphasized above all, ignoring the importance of the secondary market. In recent years, both in Poland and in other European Union countries, there has been a noticeable dynamic development of electromobility implementation processes in urban areas, the initial effect of which is increasing market accessibility to commercial vehicles with electric EV/BEV, hybrid HEV/PHEV and fuel cell powered FCEV. As in the case of vehicles powered by conventional ICEV fuels, also in relation to those defined as low-emission, their residual value is lost along with the operational process. Information on this variable is important both for the owner of a newly purchased vehicle, which after the period of its operation will decide to sell it as well as to the future buyer. The scientific aim of the study is to analyze the residual values of selected vehicle models from the primary and secondary market, with particular emphasis on stochastic operational phenomena. The subject of the research is to obtain extensive knowledge on the achieved changes in the residual values of low-emission vehicles in relation to ICEVs. For this purpose, a comparative analysis of the commercial program, data approximated from auction portals and own numerical modeling tool based on a neural network was performed. The research sample included, among others, selected models of passenger cars, the purchase offer of which included the choice of a drive unit powered by conventional and low-emission fuels. The use of this method allowed to answer the question whether low-emission vehicles are characterized by a greater or lesser loss of value in relation to conventionally powered vehicles ICEV. [ABSTRACT FROM AUTHOR]

Regenerative braking can significantly improve the energy efficiency of hybrid and electric vehicles, and many studies have been carried out in order to improve and optimize the energy recovery of the braking energy. In the paper, the optimization of regenerative braking by means of braking force modulation is analysed, with specific application to the case of cars converted into Through-the-road (TTR) hybrid vehicles, and an optimal modulation strategy is also proposed. Car hybridization is an emerging topic since it may be a feasible, low-cost, intermediate step toward the green transition of the transport system with a potential positive impact in third-world countries. In this case, the presence of two in-wheel-motors installed on the rear axle and of the original mechanical braking system mounted on the vehicle can result in limited braking energy recovery in the absence of proper braking management strategies. A vehicle longitudinal model has been integrated with an algorithm of non-linear constrained optimization to maximize the energy recovery for various starting speed and stopping time, also considering the efficiency map and power limitations of the electric components. In the best conditions, the recovery can reach about 40% of the vehicle energy, selecting the best deceleration at each speed and proper modulation, and with a realistic estimate of the grip coefficient. [ABSTRACT FROM AUTHOR]

The aim of this study was to develop trajectory planning that would allow an autonomous racing car to be driven as close as possible to what a driver would do, defining the most appropriate inputs for the current scenario. The search for the optimal trajectory in terms of lap time reduction involves the modeling of all the non-linearities of the vehicle dynamics with the disadvantage of being a time-consuming problem and not being able to be implemented in real-time. However, to improve the vehicle performances, the trajectory needs to be optimized online with the knowledge of the actual vehicle dynamics and path conditions. Therefore, this study involved the development of an architecture that allows an autonomous racing car to have an optimal online trajectory planning and path tracking ensuring professional driver performances. The real-time trajectory optimization can also ensure a possible future implementation in the urban area where obstacles and dynamic scenarios could be faced. It was chosen to implement a local trajectory planning based on the Model Predictive Control (MPC) logic and solved as Linear Programming (LP) by Sequential Convex Programming (SCP). The idea was to achieve a computational cost, 0.1 s, using a point mass vehicle model constrained by experimental definition and approximation of the car's GG-V, and developing an optimum model-based path tracking to define the driver model that allows A car to follow the trajectory defined by the planner ensuring a signal input every 0.001 s. To validate the algorithm, two types of tests were carried out: a Matlab-Simulink, Vi-Grade co-simulation test, comparing the proposed algorithm with the performance of an offline motion planning, and a real-time simulator test, comparing the proposed algorithm with the performance of a professional driver. The results obtained showed that the computational cost of the optimization algorithm developed is below the limit of 0.1 s, and the architecture showed a reduction of the lap time of about 1 s compared to the offline optimizer and reproducibility of the performance obtained by the driver. [ABSTRACT FROM AUTHOR]