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Electric vehicles are considered as an emerging solution to mitigate the environmental footprint of transportation sector. Therefore, researchers and automotive developers devote significant efforts to enhance the performance of electric vehicles to promote broader adoption of such technology. One of the critical challenges of the electric vehicle is limited battery lifetime and entailed range anxiety. In his context, development of counter-aging control strategies based on precise battery modeling is regarded as an emerging approach that has a significant potential to address battery degradation challenges. This paper presents a combined trade-off strategy to minimize battery degradation while maintaining acceptable driving performance and charge retention in electric vehicles. A battery aging model has been developed and integrated into a full vehicle model. An optimal control problem has been formulated to tackle the afore-mentioned challenges. Non-dominant sorting genetic algorithms have been implemented to yield the optimal solution through the Pareto-front of three contending objectives, based upon which an online simulation has been conducted considering three standard driving cycles. The results reveal the ability of the proposed strategy to prolong the life cycle of the battery and extend the driving range by 25 % and 8 % respectively with minimal influence of 0.6 % on the driveability. [ABSTRACT FROM AUTHOR]

The coupled, dynamic loads from vehicles travelling on a bridge can cause excessive vibration of the bridge and limit its service life. The coupled vehicle–bridge interaction (VBI) is strongly determined by the properties of the vehicle suspension, the vehicle speed, and the bridge flexibility. A bridge-friendly vehicle is designed to minimize the contact force between the tires and the bridge, enhancing the vehicle’s performance and protecting the bridge from damage by optimizing the vehicle suspension system. In this paper, we investigate the concept of bridge-friendly vehicle by optimally tuning the parameters of the vehicle suspension to mitigate the bridge vibration. The vehicle is modeled with an inerter–spring–damper (ISD) suspension. A time-frozen technique is applied to obtain the time-varying displacement transmissibility functions of the coupled system, and effects of the suspension inerter on the time–frequency characteristics of the transmissibility are discussed. The fixed-point principle is applied to derive the optimal values of the ISD, which are shown to depend only on a priori known structural parameters of the bridge and vehicle parameters. Numerical simulations of the coupled system responses are presented to demonstrate the effectiveness of the tuned ISD in mitigating the vibration of the vehicle and the bridge. Effects of considering the inerter in the suspension model in this tuning problem for bridge-friendliness are also discussed. [ABSTRACT FROM AUTHOR]

New energy vehicles (NEVs) are considered a crucial means of reducing travel costs, enhancing consumer experiences, and innovating services. This paper aims to categorize the functional experiences of NEVs into two types: intelligent experience and eco-friendly experience, using a dual-path model. By analyzing 118,648 text data from automotive information and service platforms, the relevant factors influencing consumer satisfaction are explored. The research findings reveal that intelligent experience has a significantly positive impact on consumer satisfaction, whereas eco-friendly experience has a significantly negative impact on consumer satisfaction. This suggests that new energy vehicle companies need technological innovation in infrastructure and range to enhance consumer satisfaction. Furthermore, the research confirms that, when facing the intelligent experience of new energy vehicles, consumers' "rational" thinking plays a dominant role, and efficacy is an intermediate variable to enhance consumer satisfaction. On the other hand, when facing the ecofriendly experience of new energy vehicles, consumers' "emotional" thinking predominates, and identity is an intermediate variable to enhance consumer satisfaction. Additionally, the moderating effect of perceived usability is examined. When faced with the intelligent experience of NEVs, consumers with high perceived usability are more likely to generate a sense of efficiency. In the case of the eco-friendly experience of NEVs, consumers with low perceived usability are more likely to experience a sense of identity. [ABSTRACT FROM AUTHOR]

In this study, the Bald Eagle Search Algorithm performed hydrogen consumption and battery cycle optimization of a fuel cell electric vehicle. To save time and cost, the digital vehicle model created in Matlab/Simulink and validated with real-world driving data is the main platform of the optimization study. The digital vehicle model was run with the minimum and maximum battery charge states determined by the Bald Eagle Search Algorithm, and hydrogen consumption and battery cycle values were obtained. By using the algorithm and digital vehicle model together, hydrogen consumption was minimized and range was increased. It was aimed to extend the life of the parts by considering the battery cycle. At the same time, the number of battery packs was included in the optimization and its effect on consumption was investigated. According to the study results, the total hydrogen consumption of the fuel cell electric vehicle decreased by 57.8% in the hybrid driving condition, 23.3% with two battery packs, and 36.27% with three battery packs in the constant speed driving condition. [ABSTRACT FROM AUTHOR]

In complex terrain, such as uneven roads or irregular terrain, two-wheeled heavy-duty self-balancing vehicles are easily affected by external interference factors, causing rollover or rendering the vehicle unable to move, which poses a greater challenge to its stability control. Therefore, it is necessary to establish a kinematic model of a two-wheeled vehicle and design a control system to study its driving stability. This paper aims to study the stability control system of a two-wheeled self-balancing vehicle under complex terrain. First, a self-balancing vehicle modeling method based on complex terrain is designed. By analyzing the motion characteristics of the self-balancing vehicle, a kinematic model suitable for complex terrain is established, which provides a basis for subsequent control algorithms. Secondly, a precise control system is designed for different terrain conditions, and parameters such as vehicle attitude, speed and acceleration are adjusted through the Proportional–Integral–Derivative (PID) control algorithm to achieve the smooth operation of the self-balancing vehicle in complex terrain. In addition, a vehicle-mounted camera is used to capture terrain images in real time, and different terrains are accurately identified through the terrain recognition algorithm based on deep learning, thereby determining the friction coefficient and effectively improving the stability of the self-balancing vehicle on complex terrain. The experimental results show that the designed control system can enable the self-balancing two-wheeled vehicle to achieve stable balance control in different terrains, and has good applicability and stability. [ABSTRACT FROM AUTHOR]

Improvements to ArduSub for the BlueROV2 (BROV2) Heavy, necessary for accurate simulation and autonomous controller design, were implemented and validated in this work. The simulation model was made more accurate with new data obtained from real-world testing and values from the literature. The manual control algorithm in the BROV2 firmware was replaced with one compatible with automatic control. In a Robot Operating System (ROS), a proportional–derivative (PD) controller to assist augmented reality (AR) pilots in controlling angular degrees of freedom (DOF) of the vehicle was implemented. Open-loop testing determined the yaw hydrodynamic model of the vehicle. A general mathematical method to determine PD gains as a function of the desired closed-loop performance was outlined. Testing was carried out in the updated simulation environment. Step response testing found that a modified derivative gain was necessary. Comparable real-world results were obtained using settings determined in the simulation environment. Frequency response testing of the modified yaw control law discovered that the bandwidth of the nonlinear system had a one-to-one correspondence with the desired closed-loop natural frequency of a simplified linear approximation. The control law was generalized for angular DOF and linear DOF were operated with open-loop control. A full six-DOF simulated dive demonstrated excellent tracking. [ABSTRACT FROM AUTHOR]

Scheduling decisions for concurrent emergency response (CER) across multiple disaster sites presents numerous difficulties. The main challenge is to minimize human casualties while taking into account the rationality of resource allocation across different disaster sites. This paper establishes a joint scheduling model for emergency vehicles on freeways in the context of CER. The model aims to minimize the transportation time, dispatch cost, and casualty risk, by using the resource site scheduling scheme as the decision variable, addressing multiple disaster and resource sites. Specifically, a casualty risk function based on the rescue waiting time was designed to balance the competing needs among various disaster sites, enhance equitable resource allocation, and reduce the probability of casualties. To achieve global convergence in a high-dimensional solution space, a tailored heuristic algorithm called adaptive dual evolutionary particle swarm optimization (ADEPSO) is proposed. The numerical results show that the scheduling scheme proposed by the ADEPSO algorithm satisfies all constraints and demonstrates significant advantages in large-sized instances. Compared to the two basic algorithms, ADEPSO provides a more cost-effective scheme and reduces the average rescue waiting time. Moreover, integrating the casualty risk function significantly decreases the average rescue waiting time at both high- and low-priority disaster sites, thereby directly lowering the casualty risk. [ABSTRACT FROM AUTHOR]

This paper focuses on the cooperative driving challenges of connected and automated vehicles (CAVs) at single-lane roundabouts. First, a geometric path planning method is proposed for CAVs navigating a single-lane roundabout. Based on this method, a vehicle roundabout model is established. Four potential traffic scenarios for CAVs are established, and the optimal arrival times at conflict points are analyzed. By correlating the optimal arrival times at conflict points with the optimal entry times into the roundabout, the multi-vehicle coordination problem in complex intersections is simplified to a speed control issue during entry. Utilizing the principles of optimal control and Pontryagin minimization, two speed optimization strategies are proposed. Finally, MATLAB is employed for simulation analysis. The results indicate that the control strategy proposed in this paper enables the system to clearly identify potential conflicts between vehicles and implement an optimal control strategy, ensuring that vehicles can navigate the roundabout efficiently in terms of time and fuel without collisions. Additionally, the minimum time interval is established at 0.2 seconds to completely prevent vehicle collisions. In this study, the fusion problem involving two vehicles at a single conflict point is further expanded to encompass multiple vehicles at multiple conflict points. Thus, the efficient scheduling of multiple vehicles in single-lane roundabouts is realized. [ABSTRACT FROM AUTHOR]

In response to the issues of low merging success rates and poor safety in the on-ramp merging scenario within autonomous driving, we propose an on-ramp merging model for unmanned vehicles based on the Multi-Agent Proximal Policy Optimization (MAPPO) algorithm. Firstly, we introduce an Action-Mask (AM) to prevent the sampling of invalid actions during merging, thus enhancing safety by ensuring only valid actions are considered. Secondly, we incorporate noise advantage values to encourage unmanned vehicles to thoroughly explore the environment and avoid being trapped in local optimal solutions. Experimental results demonstrate that the AM-MAPPO algorithm model improves both safety and traffic efficiency. [ABSTRACT FROM AUTHOR]

In response to the fact that autonomous vehicles cannot avoid obstacles by emergency braking alone, this paper proposes an active collision avoidance method for autonomous vehicles based on model predictive control (MPC). The method includes trajectory tracking, adaptive cruise control (ACC), and active obstacle avoidance under high vehicle speed. Firstly, an MPC-based trajectory tracking controller is designed based on the vehicle dynamics model. Then, the MPC was combined with ACC to design the control strategies for vehicle braking to avoid collisions. Additionally, active steering for collision avoidance was developed based on the safety distance model. Finally, considering the distance between the vehicle and the obstacle and the relative speed, an obstacle avoidance function is constructed. A path planning controller based on nonlinear model predictive control (NMPC) is designed. In addition, the alternating direction multiplier method (ADMM) is used to accelerate the solution process and further ensure the safety of the obstacle avoidance process. The proposed algorithm is tested on the Simulink and CarSim co-simulation platform in both static and dynamic obstacle scenarios. Results show that the method effectively achieves collision avoidance through braking. It also demonstrates good stability and robustness in steering to avoid collisions at high speeds. The experiments confirm that the vehicle can return to the desired path after avoiding obstacles, verifying the effectiveness of the algorithm. [ABSTRACT FROM AUTHOR]

In this paper, we present a method for estimating GPS coordinates from visual information captured by a monocular camera mounted on a fixed-wing tactical Unmanned Aerial Vehicle at high altitudes (up to 3000 m) in GPS-denied zones. The main challenge in visual odometry using aerial images is the computation of the scale due to irregularities in the elevation of the terrain. That is, it is not possible to accurately convert from pixels in the image to meters in space, and the error accumulates. The contribution of this work is a reduction in the accumulated error by comparing the images from the camera with satellite images without requiring the dynamic model of the vehicle. The algorithm has been tested in real-world flight experiments at altitudes above 1000 m and in missions over 17 km. It has been proven that the algorithm prevents an increase in the accumulated error. [ABSTRACT FROM AUTHOR]

In vertical vehicle dynamics control, semi-active dampers are used to enhance ride comfort and road-holding with only minor additional energy expenses. However, a complex control problem arises from the combined effects of (1) the constrained semi-active damper characteristic, (2) the opposing control objectives of improving ride comfort and road-holding, and (3) the additionally coupled vertical dynamic system. This work presents the application of Reinforcement Learning to the vertical dynamics control problem of a real street vehicle to address these issues. We discuss the entire Reinforcement Learning-based controller design process, which started with deriving a sufficiently accurate training model representing the vehicle behavior. The obtained model was then used to train a Reinforcement Learning agent, which offered improved vehicle ride qualities. After that, we verified the trained agent in a full-vehicle simulation setup before the agent was deployed in the real vehicle. Quantitative and qualitative real-world tests highlight the increased performance of the trained agent in comparison to a benchmark controller. Tests on a real-world four-post test rig showed that the trained RL-based controller was able to outperform an offline-optimized benchmark controller on road-like excitations, improving the comfort criterion by about 2.5% and the road-holding criterion by about 2.0% on average. [ABSTRACT FROM AUTHOR]

This paper considers external disturbances imposed on vehicle systems. Based on a vehicle dynamics model of the vehicle with three degrees of freedom (3-DOFs), a union disturbance observer (UDO) composed of a nonlinear disturbance observer (NDO) and an extended state observer (ESO) was designed to obtain external disturbances and unmodeled items. Meanwhile, an improved adaptive unscented Kalman filter (iAUKF) with anti-disturbance and anti-noise properties is proposed, based on the UDO and the unscented Kalman filter (UKF) method, to evaluate the sideslip angle of vehicle systems. Finally, a vehicle yaw stability controller was designed based on UDO and the global fast terminal sliding mode control (GFTSMC) method. The results of co-simulation demonstrated that the proposed UDO was effectively able to observe external disturbances and unmodeled items. The proposed iAUKF, which considers external disturbances, not only achieves adaptive updating and adjustment of filtering parameters under different sensor noise intensities but can also resist external disturbances, improving the estimation accuracy and robustness of the UKF. In the anti-disturbance performance test, the maximum estimation error of the sideslip angle of the iAUKF under the three working conditions was less than 0.1°, 0.02°, and 0.5°, respectively. Based on the UDO and the GFTSMC, a vehicle yaw stability controller is described, which improves the accuracy of control and the robustness of the vehicle's stability control system and greatly strengthens the driving safety of the vehicle. [ABSTRACT FROM AUTHOR]

Nowadays, control is pervasive in vehicles, and a full and accurate knowledge of vehicle states is crucial to guarantee safety levels and support the development of Advanced Driver-Assistance Systems (ADASs). In this scenario, real-time monitoring of the vehicle sideslip angle becomes fundamental, and various virtual sensing techniques based on both vehicle dynamics models and data-driven methods are widely presented in the literature. Given the need for on-board embedded device solutions in autonomous vehicles, it is mandatory to find the correct balance between estimation accuracy and the computational burden required. This work mainly presents different physical KF-based methodologies and proposes both mathematical and graphical analysis to explore the effectiveness of these solutions, all employing equal tire and vehicle simplified models. For this purpose, results are compared with accurate sensor acquisition provided by the on-track campaign on passenger vehicles; moreover, to truthfully represent the possibility of using such virtual sensing techniques in real-world scenarios, the vehicle is also equipped with low-end sensors that provide information to all the employed observers. [ABSTRACT FROM AUTHOR]

In this paper, the removal effects and activation energy of Ce and Pd doping on pollutants (CO, C3H6, and NO) were comparatively analyzed by using characterization methods and constructed kinetic equations. Furthermore, the problems of the water influence mechanism on the NSR process were also discussed. The results show the following: (1) Pd doping effectively improves the removal of CO (80%) and C3H6 (71%) in the low-temperature section of the catalyst (150–250 °C) compared to Ce doping, while Ce doping exhibits excellent low-temperature conversion of NO. (2) The reaction activation energy of the LaKMnPdO3 catalyst was 9784 kJ/mol, which was significantly lower than that of the LaKMnCeO3 catalyst. (3) The presence of H2O has an important enhancement effect in the storage performance of the LaKMnPdO3 catalyst for NOx but decreases the catalytic reduction of NO. It provides a solution for the effective treatment of the increasing problems of particulate matter and ozone pollution. [ABSTRACT FROM AUTHOR]

Distinguishing identity-unrelated background information from discriminative identity information poses a challenge in unsupervised vehicle re-identification (Re-ID). Re-ID models suffer from varying degrees of background interference caused by continuous scene variations. The recently proposed segment anything model (SAM) has demonstrated exceptional performance in zero-shot segmentation tasks. The combination of SAM and vehicle Re-ID models can achieve efficient separation of vehicle identity and background information. This paper proposes a method that combines SAM-driven mask autoencoder (MAE) pre-training and background-aware meta-learning for unsupervised vehicle Re-ID. The method consists of three sub-modules. First, the segmentation capacity of SAM is utilized to separate the vehicle identity region from the background. SAM cannot be robustly employed in exceptional situations, such as those with ambiguity or occlusion. Thus, in vehicle Re-ID downstream tasks, a spatially-constrained vehicle background segmentation method is presented to obtain accurate background segmentation results. Second, SAM-driven MAE pre-training utilizes the aforementioned segmentation results to select patches belonging to the vehicle and to mask other patches, allowing MAE to learn identity-sensitive features in a self-supervised manner. Finally, we present a background-aware meta-learning method to fit varying degrees of background interference in different scenarios by combining different background region ratios. Our experiments demonstrate that the proposed method has state-of-the-art performance in reducing background interference variations. [ABSTRACT FROM AUTHOR]

Advanced finite element (FE) modeling and simulations were performed on vehicular crashes into a three-bar metal bridge rail (TMBR). The FE models of a sedan, a pickup truck, and a TMBR section were adopted in the crash simulations subject to Manual for Assessing Safety Hardware (MASH) Test Level 2 (TL-2) and Test Level 3 (TL-3) requirements. The test vehicle models were first validated using full-scale physical crash tests conducted on a two-bar metal bridge using a sedan and a pickup truck with similar overall physical properties and sizes to their respective vehicles used in the simulations. The validated vehicular models were then used to evaluate the crash performance of the TMBR using MASH evaluation criteria for structural adequacy, occupant risk, and post-impact trajectory. The TMBR met all MASH TL-2 requirements but failed to meet the MASH TL-3 Criteria H and N requirements when impacted by the sedan. The TMBR was also evaluated under in-service conditions (behind a 1.52 m wide sidewalk) and impacted by the sedan under MASH TL-3 conditions. The simulation results showed that the TMBR behind a sidewalk met all safety requirements except for the occupant impact velocity in the longitudinal direction, which exceeded the MASH limit by 3.93%. [ABSTRACT FROM AUTHOR]

To establish battery electric vehicles as an attractive alternative to internal combustion vehicles, charging times of 15 min or less are increasingly demanded. This is especially challenging for lower battery temperatures, as this exacerbates the risk of accelerated battery degradation due to lithium plating. Therefore, active battery heating is utilized in state-of-the-art electric vehicles. To evaluate the impact of such heating strategies at vehicle level, we deployed an electrochemical battery model coupled with a longitudinal vehicle dynamics model. Using anode potential control to prevent lithium plating, we assess the time-saving potential versus the energy cost of different preconditioning and fast-charging strategies. The results reveal substantial energy saving and charge speed increase potential through optimal charge-stop planning, preconditioning timing, cost-adjusted thermal management thresholds, and considering driving behavior. This emphasizes the need for advanced operation strategies, taking into account both battery-level electrical and thermal restrictions, as well as vehicle integration and route planning. [ABSTRACT FROM AUTHOR]

With the rapid advancement of autonomous driving technology, the recognition of vehicle lane-changing can provide effective environmental parameters for vehicle motion planning, decision-making and control, and has become a key task for intelligent vehicles. In this paper, an improved method for vehicle taillight detection and intent recognition based on YOLOv8 (You Only Look Once version 8) is proposed. Firstly, the CARAFE (Context-Aware Reassembly Operator) module is introduced to address fine perception issues of small targets, enhancing taillight detection accuracy. Secondly, the TriAtt (Triplet Attention Mechanism) module is employed to improve the model's focus on key features, particularly in the identification of positive samples, thereby increasing model robustness. Finally, by optimizing the EfficientP2Head (a small object auxiliary head based on depth-wise separable convolutions) module, the detection capability for small targets is further strengthened while maintaining the model's practicality and lightweight characteristics. Upon evaluation, the enhanced algorithm demonstrates impressive results, achieving a precision rate of 93.27%, a recall rate of 79.86%, and a mean average precision (mAP) of 85.48%, which shows that the proposed method could effectively achieve taillight detection. [ABSTRACT FROM AUTHOR]

Vehicle classification technology is one of the foundations in the field of automatic driving. With the development of deep learning technology, visual transformer structures based on attention mechanisms can represent global information quickly and effectively. However, due to direct image segmentation, local feature details and information will be lost. To solve this problem, we propose an improved vision transformer vehicle classification network (IND-ViT). Specifically, we first design a CNN-In D branch module to extract local features before image segmentation to make up for the loss of detail information in the vision transformer. Then, in order to solve the problem of misdetection caused by the large similarity of some vehicles, we propose a sparse attention module, which can screen out the discernible regions in the image and further improve the detailed feature representation ability of the model. Finally, this paper uses the contrast loss function to further increase the intra-class consistency and inter-class difference of classification features and improve the accuracy of vehicle classification recognition. Experimental results show that the accuracy of the proposed model on the datasets of vehicle classification BIT-Vehicles, CIFAR-10, Oxford Flower-102, and Caltech-101 is higher than that of the original vision transformer model. Respectively, it increased by 1.3%, 1.21%, 7.54%, and 3.60%; at the same time, it also met a certain real-time requirement to achieve a balance of accuracy and real time. [ABSTRACT FROM AUTHOR]

This study explores the effectiveness of vertical force control in in-wheel motors (IWMs) to enhance ride comfort in electric vehicles (EVs). A dynamic vehicle model and a proportional ride-blending controller were used to reduce vertical vibrations of the sprung mass. By converting the state-space model into a transfer function, the system's frequency response was evaluated using road profiles generated according to ISO 8608 standards and converted into Power Spectral Density (PSD) inputs. The frequency-weighted acceleration ( a w ) was calculated based on ISO 2631 standards to measure ride comfort improvements. The results showed that increasing the proportional gain ( K p ) effectively reduced the frequency-weighted acceleration and the RMS of the vertical acceleration of the sprung mass. However, the proportional gain could not be increased indefinitely due to the torque limitations of the IWMs. Optimal proportional gains for various road profiles demonstrated significant improvements in ride comfort. This study concludes that advanced suspension technologies, including the proportional ride-blending controller, can effectively mitigate the challenges of increased unsprung mass in IWM vehicles, thereby enhancing ride quality and vehicle dynamics. [ABSTRACT FROM AUTHOR]

Traditional vehicle fault diagnosis methods rely heavily on the expertise of mechanics or diagnostic tools available at service centers, which can be costly, time-consuming, and may not always provide accurate results. This study presents a comprehensive vehicle fault diagnosis framework, which utilized Mel-Frequency Cepstral Coefficients (MFCCs), Discrete Wavelet Transform (DWT)-based features, and the Extreme Learning Machine (ELM) classifier. To address the limitations of previous works, the proposed framework leverages a large, diverse dataset encompassing various vehicle models and real-world operating conditions. Significantly improved robustness and generalizability of the fault diagnosis system were achieved. The results of the experiments demonstrate the superiority of the MFCC-based features combined with the ELM classifier, achieving the highest performance metrics in terms of accuracy, precision, recall, F1-score, macro F1-score, and weighted F1-score, which are 92.17%, 92.24%, 92.22%, 92.10%, and 92.06%, respectively. Slightly lower performance was obtained while employing the DWT-based features compared to employing MFCC-based features. Additionally, frequency analysis was conducted to identify specific frequency bins, which are the most indicative of different fault types in providing valuable guidance for future diagnostic efforts. Overall, the proposed framework provides a reliable and practical solution for accurate vehicle fault detection, paving the way for future advancements in automotive diagnostics. [ABSTRACT FROM AUTHOR]

In the automotive sector, the use of multi-body software for modeling of existing vehicles has become essential due to its advantages in understanding vehicle dynamics in different situations and improving vehicle performances. This paper aims to model an off-road truck (4 × 4) by using ADAMS software 2020. Several steps must be achieved, including experimentally identifying some truck characteristics such as the mass, center of gravity coordinates, and tire vertical stiffness. The truck features leaf springs in both the front and rear suspensions, which must be validated before their integration into the full model due to their modeling complexity. This validation is performed by comparing the force–displacement characteristics obtained experimentally with simulation results from ADAMS, showing a good agreement. Then, the full truck is modeled in ADAMS software and validated through an experimental test using a repeated double-lane change scenario with two tests for the validation of the truck's lateral dynamics. The comparison between the results shows a good correlation, validating the multi-body truck model. [ABSTRACT FROM AUTHOR]

This paper presents a design method of a suspension controller with an adaptive feedforward algorithm for ride comfort enhancement and motion sickness mitigation. Recently, it was shown that motion sickness is caused by combined heave and pitch motions of a sprung mass within the range of 0.8 and 8 Hz. For this reason, it is necessary to design a suspension controller for the purpose of reducing the heave and pitch vibration of a sprung mass within this range. To represent the heave acceleration and the pitch rate of a sprung mass, a 4-DOF half-car model is adopted as a vehicle model. For easy implementation in a real vehicle, a static output feedback control is adopted instead of a full-state one. To reduce the heave acceleration of a sprung mass for ride comfort enhancement, a linear quadratic SOF controller is designed. To reduce the pitch rate of a sprung mass for motion sickness mitigation, a filtered-X LMS algorithm is applied. To validate the method, simulation on vehicle simulation software is conducted. From the simulation results, it is shown that the proposed method is effective for ride comfort enhancement and motion sickness mitigation. [ABSTRACT FROM AUTHOR]

Providing safe, smooth, and efficient trajectories for autonomous vehicles has long been a question of great interest in the field of autopiloting. In dynamic and ever-changing urban environments, safe and efficient trajectory planning is fundamental to achieving autonomous driving. Nevertheless, the complexity of environments with multiple constraints poses challenges for trajectory planning. It is possible that behavior planners may not successfully obtain collision-free trajectories in complex urban environments. Herein, this paper introduces spatio–temporal joint optimization-based trajectory planning (SJOTP) with multi-constraints for complex urban environments. The behavior planner generates initial trajectory clusters based on the current state of the vehicle, and a topology-guided hybrid A* algorithm applied to an inflated map is utilized to address the risk of collisions between the initial trajectories and static obstacles. Taking into consideration obstacles, road surface adhesion coefficients, and vehicle dynamics constraints, multi-constraint multi-objective coordinated trajectory planning is conducted, using both differential-flatness vehicle models and point-mass vehicle models. Taking into consideration longitudinal and lateral coupling in trajectory optimization, a spatio–temporal joint optimization solver is used to obtain the optimal trajectory. The simulation verification was conducted on a multi-agent simulation platform. The results demonstrate that this methodology can obtain optimal trajectories safely and efficiently in complex urban environments. [ABSTRACT FROM AUTHOR]

Transforming an up-to-date vehicle into a measurement system is a rewarding task due to the large number of different sensors in the onboard control and diagnostic systems. These procedures are not performed by a single control unit; it is necessary to share the signal values over a communication network, to which an external device can be connected to record the real traffic. The paper aims to use these recorded data for 1 DOF longitudinal vehicle and powertrain model validation. For repeatability, three city routes are selected: plain road, smaller road grade, and higher road grade in both directions. Therefore, the drivetrain system is tested in a high load range, even with long-term recuperation. The altitude changes are recorded with a DGPS system. By the recorded measurements, the vehicle and the drivetrain model can be calibrated, such as the air drag parameters, the rolling resistances, and the efficiencies of the drivetrain. The validation criteria are defined for speed tracking, and the relative tolerance of the cumulated energy should be below 10%. At the end of the day, a developed model is ready for energetic analysis or control strategy design. The energy balance of the applied cycles is also presented to prove that. [ABSTRACT FROM AUTHOR]

The bird's-eye view (BEV) method, which is a vision-centric representation-based perception task, is essential and promising for future Autonomous Vehicle perception. It has advantages of fusion-friendly, intuitive, end-to-end optimization and is cheaper than LiDAR. The performance of existing BEV methods, however, would be deteriorated under the situation of a tire blow-out. This is because they quite rely on accurate camera calibration which may be disabled by noisy camera parameters during blow-out. Therefore, it is extremely unsafe to use existing BEV methods in the tire blow-out situation. In this paper, we propose a geometry-guided auto-resizable kernel transformer (GARKT) method, which is designed especially for vehicles with tire blow-out. Specifically, we establish a camera deviation model for vehicles with tire blow-out. Then we use the geometric priors to attain the prior position in perspective view with auto-resizable kernels. The resizable perception areas are encoded and flattened to generate BEV representation. GARKT predicts the nuScenes detection score (NDS) with a value of 0.439 on a newly created blow-out dataset based on nuScenes. NDS can still obtain 0.431 when the tire is completely flat, which is much more robust compared to other transformer-based BEV methods. Moreover, the GARKT method has almost real-time computing speed, with about 20.5 fps on one GPU. [ABSTRACT FROM AUTHOR]

Background: Concerns about the sustainability of commercially available batteries have driven the development of post-lithium systems. While previous studies on Magnesium batteries have explored both the potential environmental footprint of battery production and their possible use in stationary applications, their environmental impact in electromobility remains unexplored. This study provides an initial prospective evaluation of the environmental performance of a theoretical Mg–S battery for potential use in electric vehicles (EVs). Utilizing life cycle assessment (LCA) methodology, various scenarios are analyzed and compared to conventional systems. The analysis focuses on potential environmental impacts, including climate change, resource criticality, acidification of the biosphere, and particulate matter emissions. Results: In the battery pack level, the Magnesium anode and its respective supply chain have been identified as main drivers of environmental burdens. Additional concerns arise from the uneven geographical distribution of Mg production, which leads to dependency on few producers. In terms of resource criticality, the Mg–S battery could carry significant advantages over benchmark systems. A look into the use-phase via theoretical implementation in an electric vehicle (EV) also suggests that the Magnesium based EV could perform on a comparable level to an LIB EV, also outperforming conventional ICEVs in several impact categories. Conclusions: This study is based on optimistic assumptions, acknowledging several remaining technical challenges for the Mg battery. Consequently, the results are indicative and carry a significant degree of uncertainty. Nonetheless, they suggest that the Mg–S system shows promising environmental sustainability performance, comparable to other reference systems. [ABSTRACT FROM AUTHOR]

Lane-keeping assistance (LKA) systems aim to address the vehicle deviation problem from normal lanes due to driver distraction, and their performance is affected by factors such as the stability of the steering system and external interference. This study proposed a vehicle LKA strategy based on the electric power steering system (EPS) to reveal the relationship between the control strategy and the performance of LKA systems. Firstly, an EPS system, a vehicle three-degree-offreedom dynamics model, and a driver model were established for the nonlinear electromechanically coupled vehicle EPS system. Both the serial lane-keeping control strategy for the EPS system controller based on robust sliding mode observers and the model prediction controller based on vehicle trajectory were devised. Then, based on various driving conditions, the vehicle's intervention coefficient outputs were dynamically adjusted in accordance with the lateral safety deviation and the driver's manual force. Finally, the intervention coefficients of the lane-keeping system were designed, and the accuracy of the control strategy was verified through experiments. Results show that after adding lane-keeping auxiliary control, the wheel turning angle is reduced by a maximum of 9°, the traverse angular velocity is decreased by a maximum of 0.52 rad, and the vehicle lateral offset is reduced by a maximum of 3.4 m. This study provides a significant reference for constructing vehicle models and evaluating the performance of LKA control strategies. [ABSTRACT FROM AUTHOR]

In the paper, some selected results concerning the ellipses of adhesion for various conditions of motion of a vehicle model, have been presented. The analysis, regarding the phenomena between the road and the wheels of the given motor vehicle's model, was previously carried out in the earlier paper by the author. However, they proved useful for the second part of research based on determination of the ellipses of adhesion. This can enable answering the question whether the road conditions may affect the maximum longitudinal and lateral forces combining such ellipses in the contact plane between the road and the wheels. The analysis has been presented based on the previously obtained results. [ABSTRACT FROM AUTHOR]

• A comprehensive vertical dynamics model of the electric vehicle considering the integrated powertrain system is proposed. • The limitations of traditional vertical dynamics model of electric vehicle in the high frequency range are revealed. • The effects of mounting stiffness and damping on the vibration of chassis and integrated powertrain system are explored. • A multi-objective optimization model is designed to minimize the vibration of chassis and integrated powertrain system. Integrated powertrain system, mainly composed of driving motor and reducer, is one of the excitation sources to electric vehicle vibration but is limited in coupling with the vertical vehicle dynamic in the existing research, which restricts the reliability of dynamics investigation of vehicle and integrated powertrain system. This work proposes a novel vertical dynamic model of the electric vehicle considering the integrated powertrain system, enabling the way to access the coupled vibration among the chassis, unsprung mass, and integrated powertrain system. The road irregularity, unbalanced magnetic pull, and gear mesh excitation are developed and are further applied to the novel vehicle dynamic model with ten degrees of freedom (DOFs). Then, the dynamic response between the novel model and traditional one is compared. Further, the effects of the stiffness and damping of suspension and mounting on the vibration of chassis and integrated powertrain system are explored by numerical calculation. Finally, a multi-objective optimization model is proposed and is driven by the dragonfly algorithm to minimize the vibration of chassis and integrated powertrain system. The research results shown that there will be present the new complex dynamic characteristics with considering the excitation from the integrated powertrain system. The suspension and mounting parameters have the nonlinear effects on the vehicle vibration. And the system vibration can be globally optimized with the optimization algorithm. [ABSTRACT FROM AUTHOR]

Hybrid wheel–track systems have found extensive applications due to the advantages a combination of wheels and tracks. However, the coupling influence between the wheeled and tracked mechanisms poses a challenge to stable and efficient controller design and implementation. This paper focuses on the lateral dynamic control of a vehicle in scenarios where both tracks and wheels are in contact with the ground. A dynamic model of a vehicle is first established based on the tire brush model and linearized general track model. Based on the dynamic model, a novel adaptive model predictive control (AMPC) method is designed considering the coupling and nonlinearity of the wheels and tracks to simultaneously regulate both mechanisms. Compared with traditional model predictive control approaches, the AMPC controller takes the side-slip angle and slip ratio as constraints to prevent the vehicle from reaching unstable states. Simulations are conducted to validate the effectiveness of the controller, and the results indicate that the controller has the capacity to optimize the objective's yaw-rate response while maintaining lateral vehicle stability and preventing slip by imposing constraints. [ABSTRACT FROM AUTHOR]

The hybrid system can extend the range of special vehicles and meet the electrical requirements of on-board equipment. In this paper, the driving force plummet problem of a new two-gear power-split hybrid system was studied during gear switches in a hybrid mode. The dynamic model of a hybrid electric system was established, and the effects of the engine angular acceleration and angular jerk on vehicle power and ride performance were obtained. The optimal ratio of the torque change rate of the motor and engine in the mode switch process was proposed. Considering the battery limitation and the external characteristics of the engine, the method of determining the target speed of the engine during shifting was proposed. Considering the response characteristics of each power source, the dynamic coordinated control strategy of multiple power sources in the mode switch process was proposed. The vehicle dynamics model was established based on the Matlab/Simulink 2020b and verified by simulation and a hardware-in-the-loop (HIL) test. The results show that the dynamic coordinated control strategy can reduce the peak impact by 80.33%, effectively improve the vehicle power and ride performance, and prevent the occurrence of high-current battery charging. [ABSTRACT FROM AUTHOR]

This work investigates the aerodynamic performance of a hypersonic waverider designed to operate at Mach 7, focusing on optimizing its design through advanced computational methods. Utilizing the Direct Simulation Monte Carlo (DSMC) method, the three-dimensional flow field around the specifically designed waverider was simulated to understand the shock wave interactions and thermal dynamics at an altitude of 90 km. The computational approach included detailed meshing around the vehicle's critical leading edges and the use of three-dimensional iso-surfaces of the Q-criterion to map out the shock and vortex structures accurately. Additional simulation results demonstrate that the waverider achieved a lift–drag ratio of 2.18, confirming efficient aerodynamic performance at a zero-degree angle of attack. The study's findings contribute to the broader understanding of hypersonic flight dynamics, highlighting the importance of precise computational modeling in developing vehicles capable of operating effectively in near-space environments. [ABSTRACT FROM AUTHOR]

Autonomous vehicles (AVs) present a paradigm shift in addressing conventional parking challenges. Unlike human‐driven vehicles, AVs can strategically park or cruise until summoned by users. Utilizing utility theory, the parking decision‐making processes of AVs users are explored, taking into account constraints related to both cost and time. An agent‐based simulation approach is adopted to construct an AV parking model, reflecting the complex dynamics of the parking decision process in the real world, where each user's choice has a ripple effect on traffic conditions, consequently affecting the feasible options for other users. The simulation experiments indicate that 11.50% of AVs gravitate towards parking lots near their destinations, while over 50% of AVs avoid public parking amenities altogether. This trend towards minimizing individual parking costs prompts AVs to undertake extended empty cruising, resulting in a significant increase of 48.18% in total vehicle mileage. Moreover, the pricing structure across various parking facilities and management dictates the parking preferences of AVs, establishing a nuanced trade‐off between parking expenses and proximity for these vehicles. [ABSTRACT FROM AUTHOR]

Path planning is the core problem of orchard fertilization robots during their operation. The traditional full-coverage job path planning algorithm has problems, such as being not smooth enough and having a large curvature fluctuation, that lead to unsteady running and low working efficiency of robot trajectory tracking. To solve the above problems, an improved A* path planning algorithm based on a multi-constraint Bessel curve is proposed. First, by improving the traditional A* algorithm, the orchard operation path can be fully covered by adding guide points. Second, according to the differential vehicle kinematics model of the orchard fertilization robot, the robot kinematics constraint is combined with a Bessel curve to smooth the turning path of the A* algorithm, and the global path meeting the driving requirements of the orchard fertilization robot is generated by comprehensively considering multiple constraints such as the minimum turning radius and continuous curvature. Finally, the pure tracking algorithm is used to carry out tracking experiments to verify the robot's driving accuracy. The simulation and experimental results show that the maximum curvature of the planned trajectory is 0.67, which meets the autonomous operation requirements of the orchard fertilization robot. When tracking the linear path in the fertilization area, the average transverse deviation is 0.0157 m, and the maximum transverse deviation is 0.0457 m. When tracking the U-turn path, the average absolute transverse deviation is 0.1081 m, and the maximum transverse deviation is 0.1768 m, which meets the autonomous operation requirements of orchard fertilization robots. [ABSTRACT FROM AUTHOR]

The investigation on vehicle–bridge interaction systems (VBIS) plays an important role in evaluating the performance of bridges and/or vehicles. However, due to the limitations of traditional simulation methods and testing methods, the impact of vehicle jumping (VJ) on the VBIS has never been precisely disclosed. In order to accurately and comprehensively reveal the impact of VJ on the dynamic performance of VBIS, one real-time hybrid simulation method (RHSM) for VBIS considering the impact of VJ (VBIS-VJ) is proposed in this paper. In the proposed method, the vehicle system is chosen as the experimental substructure loaded by servo-hydraulic actuator loading system in real-time, whilst the bridge system is chosen as the numerical substructure numerically simulated in one computer. During the vehicle jumping, the vehicle and bridge vibrate freely respectively, otherwise, the experimental substructure and numerical substructure are synchronized at the coupling points in terms of force equilibrium and deformation compatibility in RHSM for VBIS-VJ. Firstly, the principle and numerical models of RHSM for VBIS-VJ are proposed. Furthermore, numerical simulations of RHSM for VBIS-VJ are conducted for verifying the feasibility of the proposed method. Finally, the influence of jumping position, jumping height, and driving speed on the VBIS is disclosed by hybrid simulations. It is shown that compared with the ever-known investigation methods, the proposed method could economically and accurately disclose the dynamic performance of VBIS-VJ. It is shown from the simulation results that compared with the referenced results, the quantitative errors of the proposed method with quarter vehicle model and half vehicle model are less than 2.5152% and 3.5599% respectively, which prove the effectiveness and accuracy of proposed RHSM for VBIS-VJ. The peak displacement of the bridge at a quarter-span and mid-span exceeds the three-quarters span by about 1.9–2.9 mm. The influence of jumping position of a quarter span and midspan of bridge is much huger than that in the three-quarters span. The dynamic response of bridge increases with the increase the jumping height, but the deformation of the bridge is reduced when the jumping height is more than 0.05 m. Meanwhile, the requirements for experimental loading equipment are acquired through the hybrid simulations, which could be used as a reference for selecting the loading system of the RHSM for VBIS-VJ. [ABSTRACT FROM AUTHOR]

The rapid advancement of electric vehicles (EVs) accentuates the criticality of efficient thermal management systems for electric motors, which are pivotal for performance, reliability, and longevity. Traditional thermal modeling techniques often struggle with the dynamic and complex nature of EV operations, leading to inaccuracies in temperature prediction and management. This study introduces a novel thermal modeling approach that utilizes a multihead attention mechanism, aiming to significantly enhance the prediction accuracy of motor temperature under varying operational conditions. Through meticulous feature engineering and the deployment of advanced data handling techniques, we developed a model that adeptly navigates the intricacies of temperature fluctuations, thereby contributing to the optimization of EV performance and reliability. Our evaluation using a comprehensive dataset encompassing temperature data from 100 electric vehicles illustrates our model's superior predictive performance, notably improving temperature prediction accuracy. [ABSTRACT FROM AUTHOR]

In the field of intelligent transportation, the planning of traffic flows that meet energy-efficient driving requirements necessitates the acquisition of energy consumption data for each vehicle within the traffic flow. The current methods for calculating vehicle energy consumption generally rely on longitudinal dynamics models, which require comprehensive knowledge of all vehicle power system parameters. While this approach is feasible for individual vehicle models, it becomes impractical for a large number of vehicle types. This paper proposes a digital model for vehicle driving energy consumption using vehicle speed, acceleration, and battery state of charge (SOC) as inputs and energy consumption as output. The model is trained using an optimized CNN-BiLSTM-Attention (OCBA) network architecture. In comparison to other methods, the OCBA-trained model for predicting PHEV driving energy consumption is more accurate in simulating the time-dependency between SOC and instantaneous fuel and power consumption, as well as the power distribution relationship within PHEVs. This provides an excellent framework for the digital modeling of complex power systems with multiple power sources. The model requires only 54 vehicle tests for training, which is significantly fewer than over 2000 tests typically needed to obtain parameters for power system components. The model's prediction error for fuel consumption under unknown conditions is reduced to 5%, outperforming the standard error benchmark of 10%. Furthermore, the model demonstrates high generalization capability with an R2 value of 0.97 for unknown conditions. [ABSTRACT FROM AUTHOR]

Creating accurate emission models capable of capturing the variability and dynamics of modern propulsion systems is crucial for future mobility planning. This paper presents a methodology for creating THC and NOx emission models for vehicles equipped with start–stop technology. A key aspect of this endeavor is to find techniques that accurately replicate the engine's stop stages when there are no emissions. To this end, several machine learning techniques were tested using the Python programming language. Random forest and gradient boosting methods demonstrated the best predictive capabilities for THC and NOx emissions, achieving R2 scores of approximately 0.9 for engine emissions. Additionally, recommendations for effective modeling of such emissions from vehicles are presented in the paper. [ABSTRACT FROM AUTHOR]

Considering the requirements pertaining to the trafficability of off-road vehicles on rough roads, and since their roll stability deteriorates rapidly when turning violently or passing slant roads due to a high center of gravity (CG), an efficient anti-slip control (ASC) method with superior instantaneity and robustness, in conjunction with a rollover prevention algorithm, was proposed in this study. A nonlinear 14 DOF vehicle model was initially constructed in order to explain the dynamic coupling mechanism among the lateral motion, yaw motion and roll motion of vehicles. To acquire physical state changes and friction forces of the tires in real time, corrected LuGre tire models were utilized with the aid of resolvers and inertial sensors, and an adaptive sliding mode controller (ASMC) was designed to suppress each wheel's slip ratio. In addition, a model predictive controller (MPC) was established to forecast rollover risk and roll moment in reaction to the change in the lateral forces as well as the different ground heights of the opposite wheels. During experimentation, the mutations of tire adhesion capacity were quickly discerned and the wheel-hub drive motors (WHDM) and ASC maintained the drive efficiency under different adhesion conditions. Finally, a hardware-in-the-loop (HIL) platform made up of the vehicle dynamic model in the dSPACE software, semi-active suspension (SAS), a vehicle control unit (VCU) and driver simulator was constructed, where the prediction and moving optimization of MPC was found to enhance roll stability effectively by reducing the length of roll arm when necessary. [ABSTRACT FROM AUTHOR]

Real-time target detection plays an important role in campus intelligent surveillance systems. This paper introduces Soft-NMS, GSConv, Triplet Attention, and other advanced technologies to propose a lightweight pedestrian and vehicle detection model named SGST-YOLOv8. In this paper, the improved YOLOv8 model is trained on the self-made dataset, and the tracking algorithm is combined to achieve an accurate and efficient real-time pedestrian and vehicle tracking detection system. The improved model achieved an accuracy of 88.6%, which is 1.2% higher than the baseline model YOLOv8. Additionally, the mAP0.5:0.95 increased by 3.2%. The model parameters and GFLOPS reduced by 5.6% and 7.9%, respectively. In addition, this study also employed the improved YOLOv8 model combined with the bot sort tracking algorithm on the website for actual detection. The results showed that the improved model achieves higher FPS than the baseline YOLOv8 model when detecting the same scenes, with an average increase of 3–5 frames per second. The above results verify the effectiveness of the improved model for real-time target detection in complex environments. [ABSTRACT FROM AUTHOR]

The accuracy of bridge performance monitoring and evaluation is easily affected by unfavorable factors such as vehicle coupling and test noise. In order to accurately evaluate the dynamic response and health monitoring threshold of the bridge under different operating conditions, a time-varying dynamic vehicle group model including the main uniform mass and the coupling mass was established, and the influence of road roughness was considered in the coupling equation. A bridge monitoring strategy considering signal noise ratio and vehicle–bridge interaction was proposed, and the effectiveness of the monitoring strategy was verified by taking a simple supported beam as an example. The results showed that the proposed time-varying dynamic vehicle group model could accurately consider the influence of road roughness and estimate the threshold of health monitoring, and the proposed bridge monitoring strategy could filter out a large amount of low signal-to-noise ratio or meaningless data, thus saving computing resources and realizing the lightweight safety monitoring of bridges. [ABSTRACT FROM AUTHOR]

The adoption of electric vehicles (EVs) has emerged as a solution to reduce greenhouse gas emissions in the transportation sector, which has motivated the implementation of public policies to promote their use in several countries. However, the high adoption of EVs poses challenges for the electricity sector, as it would imply an increase in energy demand and possible impacts on the power quality (PQ) of the power grid. Therefore, it is important to conduct EV integration studies in the power grid to determine the amount that can be incorporated without causing problems and identify the areas of the power sector that will require reinforcements. Accurate EV load patterns are required for this type of study that, through mathematical modeling, reflect both the dynamic behavior and the factors that influence the decision to recharge EVs. This article aims to present an overview of EVs, examine the different factors considered in the literature for modeling EV load patterns, and review modeling methods. EV load modeling methods are classified into deterministic, statistical, and machine learning. The article shows that each modeling method has its advantages, disadvantages, and data requirements, ranging from simple load modeling to more accurate models requiring large datasets. [ABSTRACT FROM AUTHOR]

Collision accidents of construction vehicles frequently occur during the construction of building projects. It is difficult to warn of collision risk efficiently by using the safety control methods of on-site inspection and viewing surveillance video. Therefore, a novel collision risk warning model for construction vehicles is proposed in this paper. The model comprises a state awareness module and a collision risk assessment module. In the state awareness module, the YOLOv7 algorithm is used to identify and locate construction vehicles. The DeepSORT algorithm is used for the real-time tracking of construction vehicles. Finally, the state awareness module obtains a wealth of sensing information and provides it to the collision risk assessment module. In the collision risk assessment module, the speed assessment method and the minimum safety distance assessment method of construction vehicles are innovatively proposed and compiled. In the speed assessment method, the speed of construction vehicles is calculated and speeding warnings are performed using the transformation matrix between latitude and longitude coordinates and image pixel coordinates. In the minimum safety distance assessment method, the original surveillance picture is converted into a bird's eye view (BEV) of the world coordinate system through inverse perspective mapping (IPM). Then the distance of all construction vehicles is traversed, and the visual warning of the minimum safe distance is provided. The effectiveness and robustness of this collision risk warning model were verified by taking three practical projects in different construction stages as examples. The research results show that the mean average precision (mAP@0.5:0.95) of the construction vehicles collision risk warning model can reach 89.10%, and it has a good tracking effect and an efficient collision risk warning strategy. [ABSTRACT FROM AUTHOR]

Many companies prefer to use third party logistics firms to deliver their goods and as such planning the return of the vehicles to the depot is not required. This is called open vehicle routing problem (OVRP). In literature, the OVRP is handled with minimum distance as objective function like vehicle routing problem. But in the real world, the objective function achieves minimum many costs like standard routing cost, stopping by cost and the deviation cost. The standard routes are previously defined under free market conditions by third party logistic firms. The deviation from the standard route is required to arrive cities which are not on the standard route. The stop by cost occurs on the delivery points. In this paper mentioned three costs are considered in the objective function while many papers consider only distance related costs in the literature. This paper proposes a new mathematical model for the OVRP. In the constraints, the last points of the routes are researched in detail. The standard route costs are determined by considering the last point of the route. Because of the NP-hard structure of the OVRP, the proposed mathematical model is solved with a hybrid metaheuristic called Civilized Genetic Algorithm (CGA). CGA is developed by hybridizing a modified genetic algorithm and a local search algorithm. The application of this study is implemented for the delivery routing of a combi boiler producer in Turkey. The third party logistic firms may use this proposed model and the solution approach for the real life applications. [ABSTRACT FROM AUTHOR]

Direct yaw moment control (DYC) can effectively improve the yaw stability of four-wheel distributed drive electric vehicles (4W-DDEVs) under extreme conditions, which has become an indispensable part of active safety control for 4W-DDEVs. This study proposes a novel hierarchical DYC architecture for 4W-DDEVs to enhance vehicle stability during ever-changing road conditions. Firstly, a vehicle dynamics model is established, including a two-degree-of-freedom (2DOF) vehicle model for calculating the desired yaw rate and sideslip angle as the control target of the upper layer controller, a DDEV model composed of a seven-degree-of-freedom (7DOF) vehicle model, a tire model, a motor model and a driver model. Secondly, a hierarchical DYC is designed combining the upper layer yaw moment calculation and low layer torque distribution. Specifically, based on Matlab/Simulink, improved linear quadratic regulator (LQR) with weight matrix optimization based on inertia weight cosine-adjustment particle swarm optimization (IWCPSO) is employed to compute the required additional yaw moment in the upper-layer controller, while quadratic programming (QP) is used to allocate four motors' torque with the optimization objective of minimizing the tire utilization rate. Finally, a comparative test with double-lane-change and sinusoidal conditions under a low and high adhesion road surface is conducted on Carsim and Matlab/Simulink joint simulation platform. With IWCPSO-LQR under double-lane-change (DLC) condition on a low adhesion road surface, the yaw rate and sideslip angle of the DDEV exhibits improvements of 95.2%, 96.8% in the integral sum of errors, 94.9%, 95.1% in the root mean squared error, and 78.8%, 98.5% in the peak value compared to those without control. Simulation results indicate the proposed hierarchical control method has a remarkable control effect on the yaw rate and sideslip angle, which effectively strengthens the driving stability of 4W-DDEVs. [ABSTRACT FROM AUTHOR]

At present, there are few studies considering both nonlinear and fractional characteristics of suspension in vehicle systems. In this paper, a fractional nonlinear model of a quarter vehicle with two-degree-of-freedom (2-DOF) is innovatively proposed to describe the suspension system containing the viscoelastic material metal rubber. Given the lack of a general calculation scheme for the multi-degree-of-freedom fractional-order incremental harmonic balance method (IHBM), a general calculation scheme for the 2-DOF incremental harmonic balance method for nonlinear systems with fractional order is derived. The nonlinear dynamical properties of the presented model are acquired using this method. The accuracy of the proposed method is verified through a comparison with the power series expansion method. Afterward, the effects of the various parameters on the dynamic performance are analyzed. The vibration peak value of the fractional-order model is significantly higher than that of the integer-order model (IOM). Therefore, the suspension parameters should be designed with a margin when using IOM. [ABSTRACT FROM AUTHOR]

This paper proposes a preventive maintenance decision model for electric vehicle charging stations based on mutation operators and lifecycle optimization to address the impact of potential faults on maintenance effectiveness. By introducing the particle swarm optimization algorithm with mutation operator, a comprehensive analysis of opportunity service age factor and safety failure probability factor was conducted to establish an indicator system for the operation status of charging piles, and a potential fault identification model was constructed. By optimizing the life cycle, the balance problem between optimal maintenance life and optimal opportunity maintenance life has been solved, thus completing preventive maintenance decisions. The experimental results show that the accuracy of this method in preventive maintenance decision‐making for electric vehicle charging piles can reach 98%, with an average preventive maintenance decision‐making time of 1.6 s for load piles. At the same time, the risk probability value and load loss value are effectively controlled. This study has good application prospects in improving the preventive maintenance effect of electric vehicle charging piles. [ABSTRACT FROM AUTHOR]

Existing vehicle-road models used for road tracking do not take into account the side slip angle, which leads to a reduction in road tracking accuracy in scenarios where the vehicle is at a large side slip angle, such as an emergency lane change. Consequently, this study presents a path-tracking control technique based on the T-S fuzzy model of heading angle vehicle autonomy. In this paper, based on the yaw angle-based vehicle tracking model, a heading angle-based tracking model considering the side slip angle is constructed. Second, since the vehicle speed varies with time, this paper selects the membership function of the vehicle speed to establish the T-S fuzzy model of autonomous vehicle based on the yaw angle and heading angle, respectively, and ensures the robustness and stability over the whole parameter space by the linear parameter variation robust H ∞ controller. Then, cost functions based on the yaw angle and heading angle augmented error systems are created separately to optimize the system's overall performance. Ultimately, simulation and experimentation confirm that the algorithm for control, which is based on the fuzzy model of the heading angle vehicle, has superior autonomous trajectory performance. [ABSTRACT FROM AUTHOR]