Road boundary detection and tracking for structured and unstructured roads using a 2D lidar sensor

Road boundaries can give useful information for evaluating safe vehicle paths in intelligent vehicles. Much previous research has studied road boundary detection, using different types of sensors such as vision, radar, and lidar. Lidar sensors, in particular, show advantages for road boundary extraction including high resolution and wide field of view. However, none of the previous studies examined the problem of detecting road boundaries when roads could be either structured or unstructured. In this study, we developed a road boundary detection and tracking algorithm using lidar sensing for both structured and unstructured roads. The algorithm extracts road features as line segments in polar coordinates relative to the lidar sensor. The extracted road features are then tracked with respect to a vehicle’s local coordinates using a nearest neighbor filter. The proposed algorithm accurately detected the road boundaries regardless of the road type.     

Analysis of the shifting behavior of a novel clutchless geared smart transmission

Conventional geared transmissions use some kinds of clutches to control the power flow from an internal combustion engine to the driveline while shifting gears. However, the shifting performance is seriously affected by the clutch engagement and an unavoidable drop in the torque may occur when the clutch is disconnected. Moreover, wear of the clutch, the need for hydraulic equipment, and the load limit may together aggravate the limits of the clutch system. For this reason, as a novel transmission without a clutch, the clutchless geared smart transmission (henceforth CGST) is proposed by our research team. The CGST controls the power flow in a multiple-input gear-train by controlling the electric motor attached to the planetary gear system. However, no CGST has been realized in an actual vehicle thus far, and the performance has been predicted only theoretically. In this research, we analyzed the achievable performance based on a developed CGST dynamic model with a typical CGST structure. In addition, a CGST gear-shifting algorithm is proposed for use with the dynamic model. From the simulation results, the CGST does not show an abrupt drop in its torque or oscillation while shifting gears due to the absence of a discontinuous power flow. The developed dynamic model can serve as a performance reference for the CGST. Moreover, it can be used as a simulation tool for developing a gear-shifting control logic scheme.     

The influence of personality on acceptability of sustainable transport policies

Previous research has shown that fairness, infringement on freedom, and perceived effectiveness are determinants of transport pricing acceptability. In the present study we investigate determinants of acceptability of environmental (carbon) taxation for which trust in government and environmental concern are additional determinants. Carbon taxation is an extension of fuel taxes and may thus be viewed as transport pricing. Our main focus is on the role played by personality traits. Structural equation modeling reveals that acceptability is related to the personality traits extraversion, agreeableness, and conscientiousness. Extraverted individuals have higher levels of trust in government which leads to higher acceptability. Also correlations between agreeableness and conscientiousness as well as environmental problem awareness and personal norm are observed. We discuss strategies for effective marketing of transportation policies considering how acceptability is related to personality traits.     

An experimental study of the effect of low-noise wheels in reducing noise and vibration

Wheel/rail interaction is a major source of railway noise. A low-noise wheel structure is developed and its effect on noise reduction is investigated. This low-noise wheel employs a rubber material inserted into the steel rim or mounted on the wheel surface. The low-noise wheel has low stiffness and a high-damping ratio compared to a solid wheel. Measurement shows that it reduces rolling and squealing. It turns out that a subway line with the proposed wheel could reduce its interior noise level by 4–5 dB(A) and vehicle vibration level by 7–8 dB. While the proposed structure seems promising in noise reduction for railway vehicles, the endurance and cost effectiveness of the low-noise wheel are yet to be verified.     

Analysis of a regenerative braking system for Hybrid Electric Vehicles using an Electro-Mechanical Brake

The regenerative braking system of the Hybrid Electric Vehicle (HEV) is a key technology that can improve fuel efficiency by 20∼50%, depending on motor size. In the regenerative braking system, the electronically controlled brake subsystem that directs the braking forces into four wheels independently is indispensable. This technology is currently found in the Electronic Stability Program (ESP) and in Vehicle Dynamic Control (VDC). As braking technologies progress toward brake-by-wire systems, the development of Electro-Mechanical Brake (EMB) systems will be very important in the improvement of both fuel consumption and vehicle safety. This paper investigates the modeling and simulation of EMB systems for HEVs. The HEV powertrain was modeled to include the internal combustion engine, electric motor, battery and transmission. The performance simulation for the regenerative braking system of the HEV was performed using MATLAB/Simulink. The control performance of the EMB system was evaluated via the simulation of the regenerative braking of the HEV during various driving conditions.     

Belt routing and safety assessment through computer simulation

Most of the research on safety belt systems has involved crash simulation that only considered a dynamic human model. However, belt routing analysis, usually known as comfort level estimation, is also an important factor in safety belt design, considering that serious injuries of the abdominal region result from the infiltration of a belt into the neck or the chest. Thus, safety belt evaluations using kinematic human models are also needed. In this paper, a belt fit simulation method is suggested. Using the proposed process, both comfort and safety analyses can be performed under the same conditions continuously, and thus the safety belt design parameters, such as the location of anchor points, dummy posture and etc., can be evaluated. In conclusion, this computer process enables a belt system design to reduce injuries.     

迈向可持续的公共交通之路——首尔公交改革的经验与成就(续)

2004年7月1日,首尔市政府在全市开展了深刻的针对公交系统的整合性改革,这一举措成为迈向可持续性城市交通的重要一步。这次公交改革成功实施的关键在于它将管理机构、创新技术、基础设施的建设以及公交的组织和运营融为一体。经过一系列改革之后,首尔的交通面貌焕然一新:通过进一步协调交通运输容量和需求之间的矛盾,提高了运营效率,增加了乘客人数,使公交运营商的收入自启动集成收费系统之后得到增加。     

Investigation on evaluation of yaw stability for medium commercial vehicles

This paper proposes test scenarios for evaluation of yaw stability for medium commercial vehicles. Maneuvering, speed, longitudinal tire force, tire-road friction coefficient, road slope, and load condition are considerable factors that have effect on the medium commercial vehicle yaw stability. After conducting an analysis on these six factors, effective test scenarios were developed. A sine with dwell test is well known as a test scenario for evaluation of performance of electronic stability control (ESC) on passenger vehicles and heavy commercial vehicles. The SWD test was modified considering medium commercial vehicle dynamics, and the ramp steer maneuver with maximum acceleration test was proposed. Simulation validation has been conducted using field test data. From simulation study, it was shown that the ESC system for medium commercial vehicle is effectively evaluated by the proposed test scenarios.     

Development of algorithms for commercial vehicle mass and road grade estimation

Estimation algorithms for road slope angle and vehicle mass are presented for commercial vehicles. It is well known that vehicle weight and road grade significantly affect the longitudinal motion of a commercial vehicle. However, it is very difficult to measure the weight and road slope angle in real time because of lack of sensor technology. In addition, the total weight of a commercial vehicles varies depending on the freight. In this study, the road grade and vehicle mass estimation algorithms are proposed using the RLS (Recursive Least Square) method and only the in-vehicle sensors. The proposed algorithms are verified in experiments using a commercial vehicle under various conditions.     

Neural network-based fuel consumption estimation for container ships in Korea

ABSTRACT

Due to the outstanding strength of advanced machine-learning techniques, they have become increasingly common in predictive studies in recent years, particularly in predicting ship energy performance. In constructing predictive models, prior studies have mostly employed vessels’ technical parameters to establish machine-learning algorithms. To bridge this research gap and enable wider applications, this paper presents the design of a multilayer perceptron artificial neural network (MLP ANN) as a machine-learning technique to estimate ship fuel consumption. We utilized the real operational data from 100–143 container ships to estimate fuel consumption for five different container ships grouped by size. We compared the performance of two ANN models and two multiple-regression models. Four input parameters (sailing time, speed, cargo weight, and capacity) were included in the first ANN and the first regression model, while the other two models only consider two inputs from physical function. The mean absolute percentage error of the ANN models with four inputs was the smallest and less than those in extended statistical models, demonstrating the MLP’s superiority over the statistical model. The MLP ANN model can thus be applied to confirm the effectiveness of the slow-steaming method for achieving energy efficiency.