Design and Evaluation of Robust Cooperative Adaptive Cruise Control Systems in Parameter Space

This paper is on the design of cooperative adaptive cruise control systems for automated driving of platoons of vehicles in the longitudinal direction. Longitudinal models of vehicles with simple dynamics, an uncertain first order time constant and vehicle to vehicle communication with a communication delay are used in the vehicle modeling. A robust parameter space approach is developed and applied to the design of the cooperative adaptive cruise control system. D-stability is chosen as the robust performance goal and the feedback PD controller is designed in controller parameter space to achieve this D-stability goal for a range of possible longitudinal dynamics time constants and different values of time gap. Preceding vehicle acceleration is sent to the ego vehicle using vehicle to vehicle communication and a feedforward controller is used in this inter-vehicle loop to improve performance. Simulation results of an eight vehicle platoon of heterogeneous vehicles are presented and evaluated to demonstrate the efficiency of the proposed design method. Also, the proposed method is compared with a benchmark controller and the feedback only controller. Time gap regulation and string stability are used to assess performance and the effect of the vehicle to vehicle communication frequency on control system performance is also investigated.     

Instantaneous 2-D visualization of spray combustion and flame luminosity of GTL and GTL-biodiesel fuel blend under quiescent ambient conditions

An experimental study has been performed on spray combustion and two-dimensional soot concentration in diesel (ULSD), GTL and GTL-biodiesel fuel jets under high-pressure, high-temperature quiescent conditions. Instantaneous images of the fuel jets were obtained with a high-speed camera. It was confirmed that by blending GTL with 20% rapeseed biodiesel, certain fuel properties such as kinematic viscosity, density, surface tension, volatility, lower heating value and others may be designed and improved to be more like those of conventional diesel fuel but with considerable decrease in the amount of sulfur, PAH, cold filter plugging point, etc. The results showed that the spray tip penetration increased and the spray cone angle decreased when 20% biodiesel fuel was added to GTL fuel. Autoignition of the GTL-biodiesel blend occurred slightly earlier than that of diesel fuel. Experiments under high-pressure, high-temperature conditions showed that higher injection pressure induced a lower soot formation rate. The integrated flame luminosity, which serves as an indicator of soot concentration in the fuel jet, was slightly higher for the GTL-biodiesel blend than for pure GTL fuel due to the slightly higher sulfur content of pure biodiesel fuel.     

Virtual product development for an automotive universal joint

Constant velocity universal joints play a very important role in automotive drivelines. The traditional development method, based on a physical prototype and experimenting, is time consuming and costly. This test-based method does not easily identify rational design clues. Therefore, a virtual product development method, which is based on dynamics modeling and simulation, is necessary. Virtual prototyping for a universal joint has been developed using the simulation software package MSC.ADAMS. Dynamics simulation has been performed to predict and evaluate joint behaviors. This virtual product development method has been implemented by the WanXiang Group Co., which is one of the most famous Chinese automotive component manufacturers.     

Isrss: Integrated side/rear safety system

As driver assistant systems (DAS) and active safety vehicles (ASV) with various functions become popular, it is not uncommon for multiple systems to be installed on a vehicle. If each function uses its own sensors and processing unit, it will make installation difficult and raise the cost of the vehicle. As a countermeasure, research integrating multiple functions into a single system has been pursued and is expected to make installation easier, decrease power consumption, and reduce vehicle pricing. This paper proposes a novel side/rear safety system using only one scanning laser radar, which is installed in the rear corner of the driver’s side. Our proposed system, ISRSS (integrated side/rear safety system), integrates and implements four system functions: BSD (blind spot detection), RCWS (rear collision warning system), semi-automatic perpendicular parking, and semi-automatic parallel parking. BSD and RCWS, which operate while the vehicle is running, share a common signal processing result. The target position designation for perpendicular parking and parallel parking situations is based on the same signal processing. Furthermore, as system functions during running and those during automatic parking operate in exclusive situations, they can share common sensors and processing units efficiently. BSD and RCWS system functions were proved with 13025 and 2319 frames, respectively. The target position designation for perpendicular and parallel parking situations was evaluated with 112 and 52 situations and shows a success rate of 98.2% and 92.3%, respectively.     

Development of the Inner Spherical CVT for a motorcycle

An Inner Spherical CVT (ISCVT) transfers engine power by utilizing the traction force of the lubricant fluid film on the contact point between concave and convex spherical rolling bodies. Since the concave and the convex contact surfaces of the ISCVT are exactly spherical parts, they have a large circular (not elliptic) contact area, and the ISCVT mechanism has a larger torque capacity, less spin loss, and better stability than other traction drive mechanisms. The IVT (Infinitely Variable Transmission) performances also can easily be embodied in the ISCVT. In this work, we developed a prototype of the ISCVT for a motorcycle with a 125cc single cylinder engine having a maximum torque of 13.73 Nm at 8,000 rpm. The design parameters were determined, and the transmission performances were evaluated by optimal design procedure. The transmission efficiency, the life time, the maximum severe stresses on each part of the ISCVT, and the work needed for varying speed ratio were theoretically investigated, and the efficiency performances were experimentally measured. The manufactured prototype was installed in an actual motorcycle, which was fixed on the test-bench equipped with a dynamometer. The parasitic loss of the prototype and the cross-sectional road load performance were tested. The power efficiency of the simulated prototype was between 87∼92%, and the life span was more than 50,000 hours. The tested overall power efficiency was around 70∼92% under frequent driving conditions, which is an impressive performance in a motorcycle transmission despite the small difference from the simulation.     

Multi-objective signal control of urban junctions – Framework and a London case study

This paper presents an approach to multi-objective signal control using fuzzy logic. The signal control uses fuzzy logic where the membership functions are optimised according to the Bellman–Zadeh principle of fuzzy decision-making. This approach is both practical for the decision-maker and efficient, as it leads directly to a Pareto-optimal solution. Signal control priorities are ultimately a political decision. Therefore the tool developed in this research allows the traffic engineer to balance the objectives easily by setting acceptability and unacceptability thresholds for each objective. Particular attention is given in the example to pedestrian delays. The membership functions of the fuzzy logic are optimised by a genetic algorithm coupled to the VISSIM microscopic traffic simulator. The concept is illustrated with a case study of the Marylebone Road–Baker Street intersection in London at which pedestrians as well as vehicle flows are high. The results prove the feasibility of the framework and show the vehicle delays for a more pedestrian friendly signal control strategy.     

Estimating multimodal transit ridership with a varying fare structure

This paper studies public transport demand by estimating a system of equations for multimodal transit systems where different modes may act competitively or cooperatively. Using data from Athens, Greece, we explicitly correct for higher-order serial correlation in the error terms and investigate two, largely overlooked, questions in the transit literature; first, whether a varying fare structure in a multimodal transit system affects demand and, second, what the determinants of ticket versus travelcard sales may be. Model estimation results suggest that the effect of fare type on ridership levels in a multimodal system varies by mode and by relative ticket to travelcard prices. Further, regardless of competition or cooperation between modes, fare increases will have limited effects on ridership, but the magnitude of these effects does depend on the relative ticket to travelcard prices. Finally, incorrectly assuming serial independence for the error terms during model estimation could yield upward or downward biased parameters and hence result in incorrect inferences and policy recommendations.     

“I can do perfectly well without a car!”

This article presents the results of a study exploring travellers’ preferences for middle-distance travel using Q-methodology. Respondents rank-ordered 42 opinion statements regarding travel choice and motivations for travel in general and for car and public transport as alternative travel modes. By-person factor analysis revealed four distinct preference segments for middle-distance travel: (1) choice travellers with a preference for public transport, (2) deliberate-choice travellers, (3) choice travellers with car as dominant alternative, and (4) car-dependent travellers. These preference segments differ in terms of the levels of involvement and cognitive effort in travel decision making, the travel consideration-set and underlying motivations. The study showed that for most people there is more to travel than getting from point A to point B, and that there is considerable heterogeneity in middle-distance travel preferences. Policy implications for reducing the need for travel and promoting a modal shift from car to other travel modes are discussed.     

Dealing with the efficient allocation of scarce resources at congested airports

The existing slot allocation mechanism, based on the International Air Transport Association (IATA) system and its complementary version of the European Union (EU) regulation, produces rather poor capacity allocation outcomes for congested EU airports since it fails to properly match slots requested with slots allocated to airlines. Inefficiencies during the initial allocation are mainly due to the problem complexity in conjunction to limited decision support available to slot coordinators. On the other hand, substantial inefficiencies give rise to severe slot misuse and unreasonably low utilisation of airport resources running already into scarcity. The objective of this paper is to develop an optimisation-based model implementing the existing EU/IATA rules, operational constraints, and coordination procedures with the ultimate objective to better accommodate airlines’ preferences at coordinated airports through the minimisation of the difference between the requested and the allocated slot times to airlines. The results of the model are assessed and compared vis-à-vis the allocation outcome produced according to current slot coordination practice in three regional Greek airports. The proposed model produces very promising results and demonstrates that there is large room for improvement of the efficiency of the current allocation outcome in a range between 14% and 95%. The discussion of the model results is complemented by a sensitivity analysis highlighting the importance of declared capacity and the magnitude of its influence on slot allocation efficiency.