Search

The high-speed collision issue brought on by railway vehicles' intensive and high-speed operation has become a critical concern for operational safety. Therefore, it is necessary to research the high-speed collision problem of trains. Firstly, a train collision dynamic model suitable for higher collision velocities is established. This model includes a 38-degree-of-freedom (DOF) three-dimensional vehicle model and a three-layered vibrating fixed-track model. Corresponding mathematical models are developed for nonlinear factors such as wheel–rail contact, car–end contact, and coupler overload representation in the model. Then, the Train Collision State Score (TCSS) is proposed, enabling quantitative safety evaluation under different collision conditions. Finally, the influence of the energy-absorbing device's initial attitude and leading car parameters on collisions is studied. The results indicate that initial vertical height difference and pitching angle significantly increase TCSS. As the force level of the energy-absorbing device of the leading car increases, the effects of two intermediate coupler overload states on TCSS show opposite trends. [ABSTRACT FROM AUTHOR]

The choice of freight vehicle type and shipment size are among the most important logistics decisions made by firms. An important aspect is the nature of the choice process i.e., whether the two choices are sequential or joint in nature. In this study, we investigate the factors that influence the two choices and develop sequential and nested logit models with both possible sequence or nesting structures i.e., vehicle type first or at upper level and shipment size second or at lower level and vice-versa. A commercial travel survey for the Greater Toronto and Hamilton Area is used to estimate the models. Characteristics of firms including industry type and employment, and characteristics of shipments including commodity type, destination location, and density value are tested. Shipment size is categorized into four categories and four vehicle types are considered. The results show that both sequences and nesting structures are possible. The nested logit model results show a potential correlation among unobserved components of utility for vehicle types (80%) and shipment sizes (38%) which should be considered. Model performance is assessed using rho-squared and BIC value. The results show that the sequential logit model with shipment size first and vehicle type second sequence has the best model fit. However, based on the strong correlation indicated by the nested logit model for vehicle type nested within shipment size choice (second best model), a model reflecting the joint nature of the choice process might be suitable. [ABSTRACT FROM AUTHOR]

Copyright of Rolling Stock (1002-7602) is the property of Rolling Stock Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Rolling Stock (1002-7602) is the property of Rolling Stock Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In this paper, the authors investigate the issue of constructing and incorporating an accurate vehicle dynamic model for model predictive control (MPC) with an application to autonomous vehicle path following. To achieve the desired performance, MPC employs a precise dynamic model. However, the uncertainty of complex systems and their operating environments presents a challenge to the development of an adequately accurate vehicle dynamic model. This paper proposes a Deep Gaussian Process Regression (DGPR) method to improve model precision. Meanwhile, the learning model is incorporated into a novel MPC framework to enhance closed‐loop performance. High‐fidelity simulations using CarSim‐MATLAB demonstrate the validity of the proposed approach in terms of enhancing the path following performance and lateral stability under the condition of large curvature at medium to high speeds on roads with different friction coefficients when compared to the nominal MPC approach. [ABSTRACT FROM AUTHOR]

During the car production process, diverse production workshops have distinct prerequisites for car body sequencing. This results in the intricate nature of sequencing within multi-stage car workshops. In this study, an optimization method for car body sequencing is proposed that combines a hybrid evolutionary algorithm with heuristic rules. In the welding workshop, a genetic algorithm is employed to optimize the vehicle sequencing. Simultaneously, a differential evolution algorithm is used to optimize the inbound sequence of the buffer zone between the welding and painting workshops, as well as the inbound sequence of the buffer zone between the painting and assembly workshops. Heuristic rules are applied to optimize the outbound sequence of the buffer zone between the welding and painting workshops, as well as the outbound sequence of the buffer zone between the painting and assembly workshops. In addition, in order to improve the quality of the initial population, a heuristic method-based initial population construction method is proposed. The optimization objectives are the number of vehicle model changes in the welding workshop, the number of color changes in the painting workshop, and the total number of overloads in the assembly workshop. The experimental results show that the proposed method performs better than the five outstanding evolutionary algorithms. [ABSTRACT FROM AUTHOR]

The algorithm function designed in this paper can make a car maintain stability during automatic vehicle hold through the model input of multi-level target fluid pressure combined with slope judgment modules of different levels after the automatic vehicle hold software works. At the same time, a complete parking function module is designed, which can monitor the whole parking process in real time. Through the design of this function, the functional diversity of the electro-hydraulic braking system can be increased. When judging that the driver intends to start, the automatic vehicle hold system will automatically release the fluid pressure according to the opening of the accelerator pedal pressed by the driver so that the vehicle does not happen to brake when the vehicle starts in the slippery slope condition. Finally, real vehicle verification proves that the function can effectively meet the parking requirements and start on the flat and on a ramp. Also, it can effectively control the vehicle according to the driver's driving intention. [ABSTRACT FROM AUTHOR]

The problem of the prompt detection of early-stage hollow worn wheels in railway vehicles via on-board random vibration measurements under normal operation and varying speeds is investigated. This is achieved based on two unsupervised statistical time series (STS) methods which are founded on a multiple-model (MM) framework for the representation of healthy vehicle dynamics. The unsupervised MM power spectral density (U-MM-PSD) method employs Welch-based PSD estimates for wheel wear detection and the unsupervised MM autoregressive (U-MM-AR) method for the parameter vectors of multiple AR models. Both methods are assessed via two case studies using thousands of test cases. The first case study includes Monte Carlo simulations using a SIMPACK-based detailed railway vehicle model, while the second is based on field tests with an Athens Metro train. Wheel wear detection is pursued using lateral or vertical vibration signals from the bogie or the carbody of a trailed vehicle traveling with three different speeds (60, 70, 80 km/h) using wheels under healthy conditions or with early stage hollow wear. Both methods exhibit remarkable performance with the U-MM-AR method to achieve the best overall results, reaching correct detection rates of even 100% with false alarm rates below 5 % based on a single accelerometer either on the carbody or bogie. [ABSTRACT FROM AUTHOR]

Summary: Electric vehicles (EVs) are drastically growing, and their emergence is more popular. Moreover, with the constraint driving range, the batteries of these vehicles are rechargeable throughout the routes in various situations. Here, a new problem is formulated with the inclusion of both battery swapping and partial recharging decisions. The energy level and the routing directions are more important, and the investigators intend to handle these issues effectually. However, the major constraint is routing and time window. Here, a heuristic model (LTS‐RSS) is designed to find the best matching solution. A novel Random Sub‐Space (RSS) and local Tabu search (LTS) are modeled to handle these issues. The probabilistic model of RSS is anticipated by integrating the consequences of time windows and distances. The experimentation is done with an online database and used for performance validation. The outcomes show that the newly modeled (LTS‐RSS) approach enhances the significance of the model. The outcomes of all the instances with diverse strategies enhance the model's robustness and stability for resolving these issues. The empirical analysis is done with MATLAB 2020b simulator, and metrics like optimization of routing solution, the best vehicle, best distance, and numbers of vehicles are evaluated, and the outcomes are compared with various other approaches. [ABSTRACT FROM AUTHOR]

Fine-grained image recognition aims to classify fine subcategories belonging to the same parent category, such as vehicle model or bird species classification. This is an inherently challenging task because a classifier must capture subtle interclass differences under large intraclass variances. Most previous approaches are based on supervised learning, which requires a large-scale labeled dataset. However, such large-scale annotated datasets for fine-grained image recognition are difficult to collect because they generally require domain expertise during the labeling process. In this study, we propose a self-supervised transfer learning method based on Vision Transformer (ViT) to learn finer representations without human annotations. Interestingly, it is observed that existing self-supervised learning methods using ViT (e.g., DINO) show poor patch-level semantic consistency, which may be detrimental to learning finer representations. Motivated by this observation, we propose a consistency loss function that encourages patch embeddings of the overlapping area between two augmented views to be similar to each other during self-supervised learning on fine-grained datasets. In addition, we explore effective transfer learning strategies to fully leverage existing self-supervised models trained on large-scale labeled datasets. Contrary to the previous literature, our findings indicate that training only the last block of ViT is effective for self-supervised transfer learning. We demonstrate the effectiveness of our proposed approach through extensive experiments using six fine-grained image classification benchmark datasets, including FGVC Aircraft, CUB-200-2011, Food-101, Oxford 102 Flowers, Stanford Cars, and Stanford Dogs. Under the linear evaluation protocol, our method achieves an average accuracy of 78.5 % , outperforming the existing transfer learning method, which yields 77.2 % . [ABSTRACT FROM AUTHOR]

In this paper, a system identification methodology based on vehicle response and test track prioritization is presented. The proposed method can be used to perform time-domain parameter estimation by simply driving the vehicle on different road profiles, thus eliminating the necessity of having a special test setup or excitation input feed. The method is based on exploiting the dependence of the identifiability of vehicle parameters on vehicle responses and test tracks. To prioritize the test tracks, the responses and test tracks are weighed based on their capabilities to estimate the vehicle parameters, and these weights are obtained in a preliminary analysis of a seven-degree-of-freedom ride model developed in MATLAB® (R2021b). An optimization framework based on a differential evolution scheme with an optional archive scheme (JADE) is used to estimate the twelve vehicle parameters. The proposed system identification scheme is verified on tests using a high-fidelity vehicle model developed in ADAMS® (29.2)using several tracks with different severities. Experimental validation is performed on a test vehicle, and it is demonstrated that the vehicle suspension system parameters can be identified accurately with fast convergence performance. [ABSTRACT FROM AUTHOR]

The accelerating progress of the Internet of Vehicles (IoV) has put forward a higher demand for distributed model training and data sharing in vehicular networks. Traditional centralized approaches are no longer applicable in the face of drivers' concerns about data privacy, while Decentralized Federated Learning (DFL) provides new possibilities to address this issue. However, DFL still faces challenges regarding the non-IID data of passing vehicles. To tackle this challenge, a novel DFL framework, Hierarchical Decentralized Federated Learning (H-DFL), is proposed to achieve qualified distributed training among vehicles by considering data complementarity. We include vehicles, base stations, and data center servers in this framework. Firstly, a novel vehicle-clustering paradigm is designed to group passing vehicles based on the Bloom-filter-based compact representation of data complementarity. In this way, vehicles train their models based on local data, exchange model parameters in each group, and achieve a qualified local model without the interference of imbalanced data. On a higher level, a local model trained by each group is submitted to the data center to obtain a model covering global features. Base stations maintain the local models of different groups and judge whether the local models need to be updated according to the global model. The experimental results based on real-world data demonstrate that H-DFL dose not only reduces communication latency with different participants but also addresses the challenges of non-IID data in vehicles. [ABSTRACT FROM AUTHOR]

Copyright of Control Theory & Applications / Kongzhi Lilun Yu Yinyong is the property of Editorial Department of Control Theory & Applications and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Operations Research Transactions / Yunchouxue Xuebao is the property of Editorial office of Operations Research Transactions and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

To enhance the control accuracy of lane-keeping assistance systems for trucks encountering crosswind-induced lateral deviations to improve the lateral stability of the vehicle, this study proposes a control strategy based on a linear quadratic regulator (LQR) using a path-tracking preview model. First, the lateral deviation is calculated using the path-tracking preview model. Then, an observer for the vehicle's sideslip angle is designed using a vehicle lateral tracking deviation model and a Kalman filter controller, and this is used to solve the deviation of the sideslip angle. Finally, a feedforward controller is designed based on the LQR controller and a linear two-degrees-of-freedom vehicle model to eliminate steady-state errors arising from LQR optimization, thereby obtaining the steering angle of the vehicle when subjected to crosswind conditions. Comparing the test results of the sideslip angle, yaw rate, and lateral acceleration demonstrates that this strategy effectively improves the control accuracy of lane-keeping under crosswind conditions. The proposed method is validated through hardware-in-the-loop experiments on a test bench, yielding results consistent with simulations. [ABSTRACT FROM AUTHOR]

Federated learning is an enabling technology for the services in Internet of vehicles because it can effectively alleviate privacy issues in data circulation and diversified intelligent applications. However, existing federated learning methods still confront the problem of low computational efficiency when applied to the scenario of high-dynamic vehicles. In order to address this problem, we present a multistep federated learning architecture including task release, vehicle model training, identity authentication, quality assessment, and weighted aggregation processes, where a novel agile aggregation model is established. Based on the agile aggregation model, an efficient federated learning (EFL) algorithm is proposed, which is specifically applied to the scenario of high-dynamic vehicles during the training model. We theoretically analyze its advantages over the existing traditional federated learning algorithms in terms of efficiency, training accuracy, and security. Simulations are conducted using the MNIST dataset to evaluate the performance of the proposed EFL algorithm. The results show that EFL improves the efficiency of the federated training process with effective accuracy and privacy preservation. [ABSTRACT FROM AUTHOR]

In this study, the resistance characteristics of the amphibious vehicle in the transitional stage are studied. A deformable track wheel is designed and its effect on the amphibious vehicle's resistance is studied. The numerical calculation method based on the RANS solver and the towing test method is used to analyse the hydrodynamic performance of the amphibious vehicle. Based on the comparison of the vehicle model with no wheel, the influence of wheels on additional resistance at the groove fault is studied. The inclination angles of the front and rear deformation wheels are studied respectively. The influence and principle of the track wheel configuration on drag are analysed and expounded in terms of pressure distribution, water climbing and spray on the wheel grooves, and the hull attitude. Finally, an adjustment strategy of the deformable configuration wheel in the transition stage is proposed. [ABSTRACT FROM AUTHOR]

Copyright of Automotive Digest is the property of Automotive Digest Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In this study, the stochastic nonlinear system-based trajectory tracking control problem of an autonomous underwater vehicle (AUV) is studied. We investigate the time-varying gain adaptive control method to find possible approaches to reduce the excessive computational burden. Enhanced adaptive algorithms are devised by considering the dynamic characteristics of AUV motion. By transforming the original controller design problems into parameter selection problems and subsequently solving them using the functional time-varying observer technical theorem, we can achieve optimal control performance. The control system is shown to constrain system state error due to stochastic disturbances within arbitrarily small domains. A coordinate transformation is proposed for all system states to meet boundedness conditions. We show that the closed-loop stability is confirmed, the system is asymptotically probabilistically stable, and contraction limits given in the stability analysis may be used to certify the convergence of the AUV trajectory errors. A large number of simulation studies using an underwater vehicle model have proved the effectiveness and robustness of the proposed approach. A real-time, time-varying gain constructive control strategy is further developed for the hardware-in-the-loop simulation; the effectiveness of the controller design is confirmed by introducing the controller into the AUV actuator model. [ABSTRACT FROM AUTHOR]

Promoting electric vehicles is an important way to achieve a low-carbon transport sector for the carbon peak and neutrality target. A better understanding of future scenarios of EV ownership is fundamental for more policy-relevant results. This study develops a system dynamic model for simulating EV ownership in China by considering the interactions among factors influencing the application of electric vehicles and synthetic scenarios designed. The result shows that under the baseline scenario, China's EV ownership would increase by 36 times, from 4.3 to 157.2 million during 2020–2035, and the new EV sales will account for 60% of total car sales, meaning that it would reach the target of promoting electric vehicles set by the Chinese government. However, according to the scenario analysis, the efficient strategies to accelerate the promotion of EVs in China are speeding up the construction of charging facilities, improving battery lifespan, and reducing daily usage fees, which are estimated to increase the EV ownership in 2035 by 59.6%, 27.3%, and 26.8%, respectively. In comparison, the effect is not so obvious for measures like duty-free and subsidy policy. The developed model can offer policymakers a reliable tool and reference to assess the outcomes of policies to promote EV application ahead of their implementation. [ABSTRACT FROM AUTHOR]

Copyright of Automotive Engineer (1674-6546) is the property of Auto Engineering Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Automotive Engineer (1674-6546) is the property of Auto Engineering Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The ride comfort provided by a vehicle to the driver and the passengers is an important feature, directly correlated to the technical characteristics of the suspension system of the vehicle. In the literature, several lumped-parameter models simulating the vehicle and the driver are proposed for the computational evaluation of ride comfort. In order to quantify ride comfort, other than the values of acceleration, metrics such as seat effective amplitude transmissibility (SEAT) and seat-to-head transmissibility (STHT) are utilized. In this paper, a quarter car model is coupled with a six-degree-of-freedom lumped-parameter model, consisting of the driver's seat and the driver. A sensitivity analysis is performed on the values of the lumped parameters of the seated human body with regard to ride comfort in order to evaluate the effect of their accuracy relative to the ride comfort evaluation. The results of the sensitivity analysis revealed that the values of the mass, the stiffness and the damping parameters of the seated human model influence the ride-comfort metrics to a different extent. Furthermore, it was depicted that ride-comfort metrics were affected in different manners depending on the characteristics of the excitation of the vehicle, yet less than 10% Finally, the importance of the consideration of single-disturbance excitations in such sensitivity studies emerged. [ABSTRACT FROM AUTHOR]

Automotive control functions are becoming increasingly complex and their development is becoming more and more elaborate, leading to a strong need for automated solutions within the development process. Here, reinforcement learning offers a significant potential for function development to generate optimized control functions in an automated manner. Despite its successful deployment in a variety of control tasks, there is still a lack of standard tooling solutions for function development based on reinforcement learning in the automotive industry. To address this gap, we present a flexible framework that couples the conventional development process with an open-source reinforcement learning library. It features modular, physical models for relevant vehicle components, a co-simulation with a microscopic traffic simulation to generate realistic scenarios, and enables distributed and parallelized training. We demonstrate the effectiveness of our proposed method in a feasibility study to learn a control function for automated longitudinal control of an electric vehicle in an urban traffic scenario. The evolved control strategy produces a smooth trajectory with energy savings of up to 14%. The results highlight the great potential of reinforcement learning for automated control function development and prove the effectiveness of the proposed framework. [ABSTRACT FROM AUTHOR]

Computer vehicle simulators are used to model real-world situations to overcome time and cost limitations. The vehicle simulators provide virtual scenarios for real-world driving. Although the existing simulators precisely observe movement on the basis of good-quality graphics, they focus on a few driving vehicles instead of accident simulation. In addition, it is difficult to represent vehicle collisions. We propose a vehicle crash simulator with simulation and animation components. The proposed simulator synthesizes and simulates models of vehicles and environments. The simulator animates corresponding to the simulation through the execution results. The simulation results validate that the proposed simulator provides collision and non-collision results according to the speed of two vehicles at an intersection. [ABSTRACT FROM AUTHOR]

Since large articulated vehicles have uncertainties in trailer articulation angle as well as dynamic complexity, it is not easy to accurately establish a reliable motion plan. In this paper, two geometric path plans constructed based on the empirical rules of driving experts are presented so that articulated vehicles can automatically perform perpendicular parking on a reverse path. By analyzing the empirical parking methods of professional drivers, these path plans were constructed by appropriately combining several standardized simple basic motions to facilitate implementation in real vehicles. In addition, the path plans included appropriate complementary motions to effectively respond to uncertainties arising from articulation angles, etc. The complementary motions developed in this study are based on the results of qualitative analysis on the behavior of articulated vehicles. The usefulness of the proposed articulated vehicle parking method has been proven through hundreds of experimental tests using a scaled model automated vehicle. [ABSTRACT FROM AUTHOR]

Copyright of Journal of Ordnance Equipment Engineering is the property of Chongqing University of Technology and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The driving smoothness of vehicles is heavily influenced by their suspension system, and implementing active suspension control can effectively minimize the vibration movement of the vehicle and ensure a comfortable driving experience. An 8-DoF active suspension model of the full vehicle is established, and a fuzzy-PID controller is designed to autonomously regulate the parameters of the PID controller. Using the MATLAB/Simulink environment, a simulation model for suspension is created, and the vibration characteristics of passive, PID control, and fuzzy-PID control suspensions are compared with the help of the continuous crossing road hump model and C-level road model as road inputs. The results show that the utilization of fuzzy-PID control considerably diminishes the vertical, pitch, and roll oscillations of the suspension body and modifies the suspension dynamic deflection and tire dynamic load in contrast to the other two scenarios, thus enhancing ride comfort. Fuzzy-PID control led to a decrease of approximately 40% in acceleration, 25% in suspension workspace, and 30% in tire deflection compared to passive suspension. In addition, the reduction in acceleration is about 20%, the reduction in suspension workspace is approximately 10%, and the reduction in tire deflection is about 15% compared to the PID control suspension system. [ABSTRACT FROM AUTHOR]

When an intelligent vehicle changes lanes, the state of other vehicles may change, which increases the risk of collision. Therefore, real-time local path replanning is needed at this time. Based on model predictive control (MPC), a lane-change trajectory replanning strategy was proposed, which was divided into a lane-change trajectory correction strategy, a lane-change switchback strategy and forward active collision avoidance strategy according to collision risk. Based on the collision risk function of the rectangular safety neighborhood, the objective functions were designed according to the specific requirements of different strategies. The vehicle lateral controller based on MPC and the vehicle longitudinal motion controller were established. The longitudinal velocity was taken as the joint point to establish the lateral and longitudinal integrated controller. The trajectory planning module, trajectory replanning module and trajectory tracking module were integrated in layers, and the three trajectory replanning strategies of lane-change trajectory correction, lane-change switchback and forward active collision avoidance were respectively simulated and verified. The simulation results showed the trajectory replanning strategy achieves collision avoidance under different scenarios and ensures the vehicle's driving stability. The trajectory tracking layer achieves accurate tracking of the conventional lane-change trajectory and has good driving stability and comfort. [ABSTRACT FROM AUTHOR]

This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation controller connected in cascade with a P-PI attitude controller. Three different control approaches (classical PID, Super Twisting, and Adaptive Sliding Mode) are compared for the translation control. The parameters of such controllers are hard to tune by using a trial-and-error procedure, so we use an automated tuning procedure based on the Particle Swarm Optimization (PSO) method. The controllers were simulated in scenarios with wind gust disturbances, and a performance comparison was made between the different controllers with and without optimized gains. The results show a significant improvement in the performance of the PSO-tuned controllers. [ABSTRACT FROM AUTHOR]

Generating realistic vehicle speed trajectories is a crucial component in evaluating vehicle fuel economy and in predictive control of self‐driving cars. Traditional generative models rely on Markov chain methods and can produce accurate synthetic trajectories but are subject to the curse of dimensionality. They do not allow to include conditional input variables into the generation process. In this paper, we show how extensions to deep generative models allow accurate and scalable generation. Proposed architectures involve recurrent and feed‐forward layers and are trained using adversarial techniques. Our models are shown to perform well on generating vehicle trajectories using a model trained on GPS data from Chicago metropolitan area. [ABSTRACT FROM AUTHOR]

Fatigue vehicle load is essential for fatigue analysis, whose accuracy is directly associated with fatigue design. With the development of society, traditional fatigue vehicle load may fail to reflect modern traffic conditions, especially for transportation hubs in developed areas. Based on traffic flow data of a long-span steel box girder bridge, statistical analysis is performed and the two types of standard vehicle load are equivalent. Further, fatigue characteristics and fatigue life of two types of welded connection are compared based on the equivalent structural stress method. As a result, 2-axle vehicle takes the largest proportion, and the overload ratio of a 6-axle vehicle is the highest. Compared with fatigue vehicle load III, there should be a correction coefficient 1.89 and 2.30 for equivalent vehicle load based on average traffic flow and heavy lane traffic flow, respectively. For a single-side welded connection and a double-side welded connection, the equivalent structural stress will increase by 81.0%–131.2% for positions of concern when considering heavy lane traffic flow, which is about 21% higher than results considering average traffic flow. In addition, the fatigue life of these concerned positions will encounter a dramatic decrease. Fatigue life of the most unfavorable position is 492.4 years and cracks will occur in 90.0 years based on fatigue vehicle load III. However, it will decrease to 42.3 years and 7.7 years, respectively, when considering the traffic flow of the heavy lane. [ABSTRACT FROM AUTHOR]

Accurate prediction of vehicle acceleration has significant practical applications. Deep learning, as one of the methods for acceleration prediction, has shown promising applications in acceleration prediction. However, due to the influence of multiple factors on acceleration, a single data model may not be suitable for various driving scenarios. Therefore, this paper proposes a hybrid approach for vehicle acceleration prediction by combining clustering and deep learning techniques. Based on historical data of vehicle speed, acceleration, and distance to the preceding vehicle, the proposed method first clusters the acceleration patterns of vehicles. Subsequently, different prediction models and parameters are applied to each cluster, aiming to improve the prediction accuracy. By considering the unique characteristics of each cluster, the proposed method can effectively capture the diverse acceleration patterns. Experimental results demonstrate the superiority of the proposed approach in terms of prediction accuracy compared to benchmarks. This paper contributes to the advancement of sensor data processing and artificial intelligence techniques in the field of vehicle acceleration prediction. The proposed hybrid method has the potential to enhance the accuracy and reliability of acceleration prediction, enabling applications in various domains, such as autonomous driving, traffic management, and vehicle control. [ABSTRACT FROM AUTHOR]

This paper addresses the problem of path following and dynamic obstacle avoidance for an underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematic and dynamic models of underwater vehicles are presented; then, a nonlinear model predictive control (NMPC) scheme is employed to track a reference path and collision avoidance simultaneously. Moreover, to minimize the tracking error and for a higher degree of robustness, improved extended state observers are used to estimate model uncertainties and disturbances to be fed into the NMPC prediction model. On top of this, the proposed method also considers the uncertainty of the state estimator, while combining a priori estimation of the Kalman filter to reasonably predict the position of dynamic obstacles during short periods. Finally, simulations and experimental results are carried out to assess the validity of the proposed method in case of disturbances and constraints. [ABSTRACT FROM AUTHOR]

In this paper, we study the role of disruptions in the multi-period vehicle routing problem (VRP), which naturally arises in humanitarian logistics and military applications. We assume that at any time during the delivery phase, each vehicle could have chance to be disrupted. When a disruption happens, vehicles will be unable to continue their journeys and supplies will be unable to be delivered. We model the occurrence of disruption as a given probability and consider the multi-period expected delivery. Our objective is to either minimize the total travel cost or maximize the demand fulfillment, depending on the supply quantity. This problem is denoted as the multi-period vehicle routing problem with disruption (VRPMD). VRPMD does not deal with disruptions in real-time and is more focused on the long-term performance of a single routing plan. We first prove that the proposed VRPMD problems are NP-hard. We then present some analytical properties related to the optimal solutions to these problems. We show that Dror and Trudeau's property does not apply in our problem setting. Nevertheless, a generalization of Dror and Trudeau's property holds. Finally, we present efficient heuristic algorithms to solve these problems and show the effectiveness of the proposed models and algorithms through numerical studies. [ABSTRACT FROM AUTHOR]

In this paper, a model predictive control (MPC) approach for controlling automated vehicle steering during path tracking is presented. A (linear parameter-varying) LPV vehicle plant model including steering dynamics is proposed to determine the system evolution matrices. The steering dynamics are modeled in two different ways by using first-order lag and a second-order lag; the application of the first-order system resulted in a slightly more accurate path-following. Additionally, a cascade MPC structure is applied in which two MPCs are used; the second-order steering dynamics are separated from the path-following controller in a second MPC. Both steering system models and the cascade MPC are evaluated in simulation and on a test vehicle. The reference trajectory is calculated based on a fixed predefined path by transforming the necessary path segment to the vehicle ego coordinate system, thereby describing the reference for the path-following task in a novel way. The MPC method computes the optimal steering angle vector at each time step for following the path. The longitudinal dynamics is controlled separately by a PI controller. After simulation evaluation, experimental tests were conducted on a test vehicle on an asphalt surface. Both simulation and experimental results prove the effectiveness of the proposed reference definition method. The effect of the applied steering system models is evaluated. The inclusion of the steering dynamics in the prediction model resulted in a significant increase in controller performance. Finally, the computational requirements of the proposed control and modeling methods are also discussed. [ABSTRACT FROM AUTHOR]

For rapid and exact reconstruction of dynamic loads on unconstrained structures with unknown initial conditions, a dynamic load reconstruction method was proposed based on the sparse Bayesian learning algorithm. With the idea of the function fitting technique, the control equations were built. The noise was assumed to obey the Gaussian distribution, and the fast algorithm was used in the sparse Bayesian learning model. An improved piecewise fitting method was formulated to rationally express the initial conditions in the piece- wise fitting, the end state response of the previous segment was used as the possible initial condition, and thelow-order vibration modes were applied as the supplement to the initial displacements and initial velocities. The numerical simulations of simplified launch vehicle models prove the accuracy and efficiency of the proposed method, under the effects of different noise levels and different expressions of initial conditions. [ABSTRACT FROM AUTHOR]

This paper proposes a novel prioritisation model predictive control for improving the handling and stability of all-wheel-drive vehicles configured with an electric motor and an open differential per axle with differential braking capability. The configuration of the powertrain provides a significant handling improvement by optimising front/rear torque distribution. The controller gives a high priority to front/rear torque distribution and, if needed, activates the differential braking. A coupled force prediction model of the vehicle handling dynamics is developed to capture the interaction of longitudinal and lateral tyre forces. Since differential braking causes speed drop, energy waste, and noise, two control actuations are prioritised: (1) front/rear torque shifting, (2) differential braking. Appropriate stability constraints are defined for the vehicle yaw rate and sideslip, dividing the sideslip-yaw rate phase plane into three regions – stable, marginal, unstable – based on which three control objectives are defined. Then, the priorities of the control actuations and the control objectives are combined, and a model predictive control structure is developed for this multi-objective multi-actuation control problem. The predictive controller prioritises the objectives and actuations through the prediction horizon. The performance of the proposed controller is thoroughly evaluated through numerical and full vehicle experimental studies. [ABSTRACT FROM AUTHOR]

Step increase of electric motor torque results in wheel slip during the acceleration of battery electric vehicle (BEV), making vehicle body instability paramount. This is particularly challenging for regulating the torque of electric motor to keep stability in the process of acceleration, for which regulating the wheel slip to an ideal set-point is difficult for the central driving powertrain that adopts one electric motor to drive both left and right wheels by a differential. While much of the research on acceleration slip regulation has focused on solving the wheel anti-slip of internal combustion powertrain by electronic stability programme, comparatively little is known about the wheel slip control by electric motor torque of the central driving powertrain that is the most common style of driveline in the market of BEV currently. Here we discuss a series of studies on the acceleration slip regulation by electric motor torque that, collectively, design an approach of how the nonlinear model predictive controller based on a novel driving dynamics model regulates the wheel slip to an ideal set-point from the ideal slip ratio curve. Testing and validating this approach embedded into vehicle control unit are carried out in a BEV to fully realise the wheel slip control by electric motor torque during the acceleration. [ABSTRACT FROM AUTHOR]

As racing vehicles become more complex, optimising the interaction between subsystems becomes critical for racing performance. In this work, we incorporate two such subsystems into a vehicle model. We investigate the performance benefits of a four-wheel-drive vehicle with independent control over its in-hub motors and active control on the rear wing flap rotation. The performance is evaluated by solving minimum lap time optimal control problems (OCP) for various vehicle configurations. The OCP is transformed into a nonlinear programming problem through direct collocation and is solved by an interior point method. The four-wheel-drive configuration performs better than rear-wheel drive in terms of lap time, finishing the Barcelona circuit 4 % faster. The benefits come mainly from higher longitudinal accelerations. Active aerodynamic control improves performance regardless of the propulsion configuration, leading to another 1 % of lap time improvement on the Barcelona circuit. The optimal aerodynamic control strategy is different between propulsion configurations, particularly on corner exits. This model enables the exploration of optimal torque vectoring controls and their interaction with a vehicle's active aerodynamics. This is needed to guide the design of the increasingly complex racing vehicle controllers of the future. [ABSTRACT FROM AUTHOR]