Road and off-road vehicle system dynamics. Understanding the future from the past

A detailed analysis of scientific research directions and methods in ground vehicle dynamics and vehicle system dynamics during the past century is presented in this article. What started as peculiarities of vehicle motion, dynamics of vehicles went through extensive research and engineering work and was established as an applied science – vehicle dynamics. Steady motion and transient manoeuvres, multi-flexible-body dynamics, nonlinear and stochastic dynamics, terramechanics, vehicle operational properties and their multi-criterion optimisation, computer modelling and simulation, analysis and optimal synthesis, various controls, inverse vehicle dynamics, open architecture-type, and multi-domain vehicle systems – these are the milestones of developments over the past century. This article considers the subject-matter and the substance of vehicle dynamics in general, and new research directions of modern vehicle dynamics in particular. It is shown that modern vehicle dynamics is acquiring principally new features including agile dynamics of multi-physics mechatronic systems (including cyber-type systems), coupled and interactive vehicle system dynamics.     

Policy challenges of increasing automation in driving

The convergence of information and communication technologies (ICT) with automotive technologies has already resulted in automation features in road vehicles and this trend is expected to continue in the future owing to consumer demand, dropping costs of components, and improved reliability. While the automation features that have taken place so far are mainly in the form of information and driver warning technologies (classified as level I pre-2010), future developments in the medium term (level II 2010–2025) are expected to exhibit connected cognitive vehicle features and encompass increasing degree of automation in the form of advanced driver assistance systems. Although autonomous vehicles have been developed for research purposes and are being tested in controlled driving missions, the autonomous driving case is only a long term (level III 2025 +) scenario. This paper contributes knowledge on technological forecasts regarding automation, policy challenges for each level of technology development and application context, and the essential instrument of cost-effectiveness for policy analysis which enables policy decisions on the automation systems to be assessed in a consistent and balanced manner. The cost of a system per vehicle is viewed against its effectiveness in meeting policy objectives of improving safety, efficiency, mobility, convenience and reducing environmental effects. Example applications are provided that illustrate the contribution of the methodology in providing information for supporting policy decisions. Given the uncertainties in system costs as well as effectiveness, the tool for assessing policies for future generation features probabilistic and utility-theoretic analysis capability. The policy issues defined and the assessment framework enable the resolution of policy challenges while allowing worthy innovative automation in driving to enhance future road transportation.     

Active roll control for rollover prevention of heavy articulated vehicles with multiple-rollover-index minimisation

This paper presents the application of a nominal control design algorithm for rollover prevention of heavy articulated vehicles with active anti-roll-bar control. This proposed methodology is based on an extension of linear quadratic regulator control for ‘state derivative-induced (control coupled) output regulation’ problems. For heavy articulated vehicles with multiple axles, a performance index with multiple rollover indices is proposed. The proposed methodology allows us to compare the usefulness of various control configurations (i.e. actuators at different axles of the vehicle) based on the interaction of this control configuration with vehicle dynamics. Application of this methodology to a specific heavy articulated vehicle with a tractor semi-trailer shows that a single active anti-roll-bar system at the trailer unit gives better performance than multiple-axle actuators at tractor and trailer together with the single lane change manoeuvre as the external disturbance. Thus, the proposed methodology of this paper not only highlights the importance of the interactions between control and vehicle dynamics in rollover prevention problems but, in fact, proposes a novel technique to exploit the benefits of these interactions judiciously.     

智能网联汽车信息安全关键技术

随着我国科学技术和网络技术的不断发展,汽车产业主要将智能化和网络化联合起来,形成智能网联汽车产业,是目前我国汽车产业发展的重要构成.不管是以往汽车产业,还是现阶段的新兴产业,都在不断的对产业布局进行调整,促进商业化发展.对于智能网联汽车来说,是汽车产业发展的一项机遇,同时也面临着一些信息安全问题.对此,本文主要对智能网...     

Validation of vehicle dynamics simulation models – a review

In this work, a literature survey on the validation of vehicle dynamics simulation models is presented. Estimating the dynamic responses of existing or proposed vehicles has a wide array of applications in the development of vehicle technologies, e.g. active suspensions, controller design, driver assistance systems, etc. Although simulation environments, measurement tools and mathematical theories on vehicle dynamics are well established, the methodical link between the experimental test data and validity analysis of the simulation model is still lacking. This report presents different views on the definition of validation, and its usage in vehicle dynamics simulation models.     

电动汽车电磁辐射对人体健康影响的评估研究

电动汽车行业迅速发展,车内电磁辐射的剂量评估存在诸多问题亟待解决。阐述了电动汽车电磁辐射研究进 展,依据国内外电动汽车辐射研究现状以及国内外电磁辐射暴露限值相关标准,对现行电动汽车电磁辐射标准的异同作 了比较,并介绍了电动汽车电磁辐射模拟计算方法,采用模拟计算和实际测量对车内人体电磁辐射暴露剂量进行了评 估。对电动汽车电磁辐射的模拟评估、测量评价以及对人体的辐射影响等问题,仍需不断探索和研究。     

电动汽车底盘分析与调校研究

作为汽车的核心部分,电动汽车底盘直接影响整车表现,底盘系统的研发对汽车综合性能提升带来的影响极为深远,这使得近年来相关研究大量涌现。基于此,本文以某电动汽车为例,针对性开展了整车动力学建模与仿真,依托工装车性能试验,深入探讨了底盘性能优化改进路径,希望研究内容能够给相关从业人员以启发。     

A new flatness-based control of lateral vehicle dynamics

This paper presents a new concept for vehicle dynamics control (VDC). The control of the longitudinal vehicle dynamics is not discussed, since we are assuming that it is much slower and weakly coupled to the lateral and yawing dynamics. The actuators are considered to be the traction and the braking torques of the individual wheels and only the standard sensors of the common VDC system are used. A modular interface to the subordinate wheel control system is provided by choosing the yaw torque as a fictitious control input. The VDC system is designed by means of a two degrees-of-freedom control scheme. It comprises a flatness-based feedforward part and a stabilising feedback part. The reference trajectory generation is introduced for the flat output which is given by the lateral velocity of the vehicle. Thus an advantageous kind of body side-slip angle control is provided with the standard VDC system hardware. Extensive simulation studies show excellent performance of the designed control concept.     

让科学发挥作用

在制药行业同生物、化学及药理学学术研究之间，有许多相互作用和相互结合点。在过去20年中，技术转让过程已经成为一个小行业，利用科学、合同法、专利法及商业等多种技巧。如今，西方主要学术机构积极保护它们的知识产权并将其授权给工业行业：这使研究所及科学家们在财政上获益，在技术开发领域创造经济发展，为大多公司渴望的新发明提供保护。     

电动汽车—未来的先进交通工具

介绍了电动汽车的发展史，电动汽车的技术发展状况及电动汽车关键设备的结构特点，指出找国汽车行业应加速电动汽车技术的开发，迎接未来无污染汽车法规的挑战。     

图像处理技术在机动车检测行业中的应用

数字图像处理技术是当前计算机信息技术应用领域的热门,被广泛地应用到现代机动车检测行业当中,本文主要研究分析了图像处理技术在机动车前照灯检测中的应用,包括采用CCD和CAD技术,分析了机动车前照灯的光学性质和生物学作用。本文还研究了图像处理技术在机动车车牌自动识别系统中的应用、图像处理技术在机动车零件检测中的应用、在轮速检测中的应用以及在机动车类型自动识别当中的作用,充分体现了数字图像处理技术的可靠性和灵活性。     

Application of observer-based fault detection in vehicle roll control

This paper describes how observer-based techniques for intelligent fault detection were applied to monitoring an active suspension control system in an experimental articulated heavy vehicle. The aim was to define a practical method for detecting faults, taking into account the nonlinearities of the vehicle. The experimental vehicle was divided conceptually into subsystems, namely the passive dynamics of the trailer, the dynamics of the hydraulic actuators, and the expected response of the closed-loop system. A linear dynamic model was designed for each subsystem. A fault detection observer was then designed for each dynamic model. The observer feedback gains were chosen to optimise estimation by the observer residual of specified errors on the output measurements. The observer residuals were then normalised and combined logically to provide a fault diagnosis. The performance of the fault detection scheme is demonstrated in the case of sensor faults and changes in the operation of the active control system.     

Combined emergency braking and turning of articulated heavy vehicles

‘Slip control’ braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle’s directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, ‘attenuated slip demand’ (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.     

An approach for the validation of railway vehicle models based on on-track measurements

This paper proposes an approach for the validation of railway vehicle models based on on-track measurements. The validation of simulation models has gained importance with the introduction of new applications of multi-body simulation in railway vehicle dynamics as the assessment of track geometry defects, the investigation of derailments and the analysis of gauging. These applications are not only interested in qualitative predictions of the vehicle behaviour but also in precise quantitative results of the safety and comfort relevant vehicle responses. The validation process aims at guaranteeing that the simulation model represents the dynamic behaviour of the real vehicle with a sufficient good precision. A misfit function is defined which quantifies the distance between the simulated and the measured vehicle response allowing to evaluate different models at different running conditions. The obtained modelling errors are compared to the measurement uncertainty estimated for one vehicle using repeatability analysis.     

智能网联混合交通流交叉口控制：研究进展与前沿

交叉口是城市道路交通运行的瓶颈点，是造成交通拥堵的问题所在。交通控制是调控交通流、预防和缓解交通拥堵的关键策略，在效费比上具有较大优势。智能网联、自动驾驶技术的发展催生了常规车辆(Regular Vehicle, RV)、网联车辆(Connected Vehicle, CV)和智能网联车辆(Connected and Automated Vehicle, CAV)组成的智能网联新型混合交通流，推动着城市道路交通控制对象、数据环境和控制手段的变革，为交通控制提出巨大挑战的同时，也为交通控制理论方法的创新发展创造了新的条件。智能网联混合交通流交叉口控制已成为国内外研究热点，尚处于研究起步阶段。根据路权特征，先从单点交叉口、干线交叉口和路网多交叉口3个层面梳理智能网联混合交通流环境下的共用设施交叉口控制研究，包括交通信号配时、车辆轨迹/路径规划以及车辆轨迹-信号配时协同控制。然后介绍自动驾驶专用设施交叉口控制研究，包括CAV专用车道、CAV专用路段、CAV专用区域和快速公交-CAV混合专用车道。通过对现有成果的梳理发现：虽然新型混合交通流交叉口控制研究取得了部分进展，但RV驾驶行为的随机性、...     

中国城市公交和车辆技术的创新发展

本文对中国城市公交和车辆技术的创新发展最新成果进行了介绍，论述了中国城市公交和车辆技术的发展方向及发展前景。     

Optimisation of active suspension control inputs for improved vehicle handling performance

Active suspension is commonly considered under the framework of vertical vehicle dynamics control aimed at improvements in ride comfort. This paper uses a collocation-type control variable optimisation tool to investigate to which extent the fully active suspension (FAS) application can be broaden to the task of vehicle handling/cornering control. The optimisation approach is firstly applied to solely FAS actuator configurations and three types of double lane-change manoeuvres. The obtained optimisation results are used to gain insights into different control mechanisms that are used by FAS to improve the handling performance in terms of path following error reduction. For the same manoeuvres the FAS performance is compared with the performance of different active steering and active differential actuators. The optimisation study is finally extended to combined FAS and active front- and/or rear-steering configurations to investigate if they can use their complementary control authorities (over the vertical and lateral vehicle dynamics, respectively) to further improve the handling performance.     

Nonlinear optimal integrated vehicle control using individual braking torque and steering angle with on-line control allocation by using state-dependent Riccati equation technique

This paper proposes the solution of state-dependent Riccati equation as a nonlinear optimal regulator to stabilise the motion dynamics of the vehicle model subjected to sudden disturbance inputs in the lateral direction. The proposed nonlinear regulator coordinates individually actuated wheel braking torque and steering wheel angle simultaneously in an optimal manner. Performance criteria are satisfied by solving the Riccati equation based on the given cost function subjected to the nonlinear vehicle dynamics. On-line control allocation in terms of optimal brake torque distribution enhanced by optimal wheel steering angle input is achieved. Furthermore, the proposed optimal nonlinear regulator is an active fault-tolerant control system against partial by-wire actuator failures while guaranteeing stability with good performance due to its capability to allocate the individual control inputs in an optimal way. The main aim is to stabilise the motion dynamics of the vehicle model during short-term emergency situations along the desired straight trajectory manageable by average drivers and to provide vehicle stability and handling predictability through the interaction of individual wheel braking and steering actuators. Simulation results are used to illustrate the effectiveness of the proposed methodology.     

An efficient recursive least square-based condition monitoring approach for a rail vehicle suspension system

A model-based condition monitoring strategy for the railway vehicle suspension is proposed in this paper. This approach is based on recursive least square (RLS) algorithm focusing on the deterministic ‘input–output’ model. RLS has Kalman filtering feature and is able to identify the unknown parameters from a noisy dynamic system by memorising the correlation properties of variables. The identification of suspension parameter is achieved by machine learning of the relationship between excitation and response in a vehicle dynamic system. A fault detection method for the vertical primary suspension is illustrated as an instance of this condition monitoring scheme. Simulation results from the rail vehicle dynamics software ‘ADTreS’ are utilised as ‘virtual measurements’ considering a trailer car of Italian ETR500 high-speed train. The field test data from an E464 locomotive are also employed to validate the feasibility of this strategy for the real application. Results of the parameter identification performed indicate that estimated suspension parameters are consistent or approximate with the reference values. These results provide the supporting evidence that this fault diagnosis technique is capable of paving the way for the future vehicle condition monitoring system.