Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.     

License plate extraction method for identification of vehicle violations at a railway level crossing

The primary cause of most railroad accidents is vehicle entry into railway level crossings despite warning messages. To identify drivers who violate railway level crossing regulations, vehicle license plate recognition can be applied at railway level crossings. The purpose of this paper is to present an effective method for extracting the license plate region from vehicle images taken at railway level crossings. The method proposed in this paper uses the variation in the gray-level values across the image of a license plate. For license plate region extraction, the character region is first recognized by identifying the character width and the difference between the background region and the character region. The license plate region is then extracted by finding the inter-character distance in the plate region. In addition, the license plate type is identified by the difference in the gray-level value between the background region and the character region. The proposed method is effective in solving the current challenges in extracting the license plate region from the damaged frames of license plates issued for domestic use, including new types of license plates. According to the experimental results, the proposed method yields a high extraction rate of 99.5% for vehicle license plates.     

Vehicle interior noise model based on a power law

Identifying the components of a vehicle’s interior noise is important in many phases of the noise, vibration, and harshness (NVH) development process. Many test methods that have been widely used in the automobile industry to separate noise sources are based on system identification methods in the frequency domain. However, none of the frequency response function-based methods can directly estimate the wind noise component. In this article, an analytical model for the interior noise level based on a simple power law was developed. It was assumed that the mean squared acoustic pressure for the interior noise could be obtained by summing up those of the wind noise, road noise, and background noise. The wind noise and road noise were further assumed to depend only on wind speed and the vehicle’s driving speed, respectively, and to follow a simple power law. The resulting analytical model includes five parameters that can be optimized for the vehicle and the road. The validity of the model was verified by using data obtained from cruise tests performed on a proving ground for cruise speeds ranging from 40 km/h to 130 km/h. The model is applied to the overall and 1/3-octave bands of interior noise and is shown to describe the data trends fairly well. For the test vehicle used in the present work, the overall mean squared pressures for the wind and road noise components are shown to be proportional to the wind speed to the 5.8 power and to the driving speed to the 3.4 power, respectively.     

Piston-temperature measuring system using electromagnetic induction with verification by a telemetry system

The development of an inner-piston-chamber temperature measurement system is a necessary step in engine development or when solving other fundamental problems related to automotive engines. There are various pre-existing measurement methods available, e.g., the linkage method, piston telemetry, templog, and the electromagnetic induction method. In this study, we first redesigned the coil sensor used in the electromagnetic induction method using PEEK and then used Taguchi methods to reduce the number of experiments in the development process and finally utilized piston telemetry via Bluetooth to verify the precision and accuracy of the redesigned PEEK coil sensor and electromagnetic induction method. The results displayed a reproducibility within 0.5 degrees and an accuracy within 2 degrees Celsius.     

Parameter identification for a LuGre model based on steady-state tire conditions

The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures. In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect of the present study is the improved friction model. A previous friction model, which divided the process into four parts, expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally. We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the rationality of the data.     

Engine performance and toxic gas analysis of biobutanol-blended gasoline as a vehicle fuel

A comprehensive study evaluating the performance of biobutanol-blended gasoline in passenger cars was conducted because biobutanol is considered a better biofuel than bioethanol as it has no water solubility and it has a higher caloric value, giving it a higher energy value. Several kinds of samples—suboctane gasoline, 8 volume percentage and 16 volume percentage biobutanol—blended gasoline, and a 10 volume percentage MTBE-blended market sample (as the oxygencontaining gasoline)-were tested to evaluate the engine performance in terms of the detergency of the intake valves and combustion chambers, power, emissions, and fuel efficiency. Additionally, the toxicity of the emissions from these biobutanolblended samples was tested in order to assess the viability of biobutanol as one of the competitive potential substitutes for MTBE as an oxygenator in the near future. The results show that biobutanol-blended gasoline samples had relatively better detergency, relatively higher power, and similar levels of emissions compared with those of MTBE-blended gasoline. Formaldehyde was emitted from all of the samples at almost the same levels and within the error range, whereas biobutanolblended gasoline samples emitted approximately three times the amount of acetaldehyde than did the suboctane gasoline. This study shows that biobutanol is one of the best alternative bioalcohol fuels for use in the near future.     

Quality evaluation of car window motors using sound quality metrics

In this paper, a method to establish a decision criterion to evaluate the quality of small window motors using sound quality (SQ) metrics is suggested. Although the sound level radiated from the motor is relatively small compared to other sounds in a car, the sound from an abnormal motor gives an uncomfortable feeling and the impression of abnormal operation, which can lead to customer complaints. To construct an objective decision criterion, the correlation between the SQ metrics and the subjective decision on the passing or failure of the motor were investigated. Four representative SQ metrics, viz., loudness, sharpness, roughness, and fluctuation strength, were calculated for the collected samples. It was observed that the loudness and roughness of the motor sample group classified as abnormal was higher than those of the normal motors. For a single figure rating for motor quality, an evaluation index for the motor sound was generated by combining the correlated SQ metrics with proper weightings. Evaluation results on the specimens that were not employed in generating the quality evaluation index showed a reasonable agreement with the subjective test at 73%. The suggested quality check method can replace the current subjective decision procedure to identify the faulty motors.     

Damper modeling for dynamic simulation of a large bus with MR damper

In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test. A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological) damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed improved response of the vehicle with the MR damper.