Sensor fusion-based lane detection for LKS+ACC system

This paper discusses the market trends and advantages of a safety system integrating LKS (Lane Keeping System) and ACC (Adaptive Cruise Control), referred to as the LKS+ACC system, and proposes a method utilizing the range data from ACC for the sake of lane detection. The overall structure of lane detection is the same as the conventional method using monocular vision: EDF (Edge Distribution Function)-based initialization, sub-ROI (Region Of Interest) for left/right and distance-based layers, steerable filter-based feature extraction, and model fitting in each sub-ROI. The proposed method adds only the system for confining lane detection ROI to free space that is established by range data. Experimental results indicate that such a simple adaptive ROI can overcome occlusion of lane markings and disturbance of neighboring vehicles.     

Influence of the accelerating operation mechanism on the combustion noise in DI-diesel engines

This paper focuses on the mechanisms of combustion noise during the accelerating operation of multi-cylinder diesel engines using testing technology for the transient conditions of IC engines. Based on impact factors, such as the gas dynamic load and cylinder pressure oscillations, tests and analysis of the combustion noise during transient and steady-state conditions for different loads are made on four-cylinder naturally aspirated engines, turbocharged engines, EGR-introduced engines, and high pressure common rail engines. The laws of combustion noise difference for the same engine speed and load are researched during transient and steady-state conditions. It is found that during transient conditions, the maximum pressure rise rate and the high frequency oscillation amplitude of the cylinder pressure are all higher than those observed during steadystate conditions for the same engine speed and load. With their joint action, the combustion noise during transient conditions is greater than that during steady-state conditions. Turbocharging is useful in reducing the combustion noise during transient conditions. Turbocharging has a better effect on the control over the combustion noise during transient conditions with a constant engine speed and an increasing torque than in conditions with a constant torque and an increasing engine speed. One of the main reasons for different control effects on the combustion noise is that turbocharging causes different wall temperatures inside combustion chambers. The introduction of the appropriate EGR is helpful in the reduction of the combustion noise during transient conditions. The key to the control of combustion noise with EGR during transient conditions is whether a real-time adjustment to the EGR rate can be made to achieve the optimization of the EGR rates for different transient conditions. By means of analyzing the differences in the combustion noise between the transient and steady-state conditions for different pilot injection controls, we obtain a strategy for controlling the combustion noise during transient conditions with a pilot injection. Compared with the steady-state conditions, a larger pilot injection quantity and a longer interval between the main injection and pilot injection should be selected for transient conditions, and this is verified through tests.     

Shifting control of an automated mechanical transmission without using the clutch

The automated mechanical transmission (AMT) is gaining popularity in the automotive industry, due to its combination of the advantages of mechanical transmissions (MT) and automatic transmissions (AT) in terms of fuel consumption, low cost, improved driving comfort and shifting quality. However, the inherent structural characteristics of the AMT lead to disadvantages, including excessive wear of the clutch plates and jerk and traction interruption during the shift process, that severely affect its popularity in the automatic transmission industry. The emerging technology of shifting control without the use of the clutch is a promising way to improve the shifting transients of AMTs. This paper proposes a control algorithm that combines speed and torque control of the AMT vehicle powertrain to achieve shifting control without using the clutch. The key technologies of accurate engine torque and speed control and rapid position control of the shift actuators are described in detail. To realize accurate engine speed control, a combined control algorithm based on feed-forward, bang-bang and PID control is adopted. Additionally, an optimized closed-loop position control algorithm based on LQR is proposed for the shift actuators. The coordinated control algorithm based on engine and shift actuator control is described in detail and validated on a test vehicle equipped with an AMT. The results show that the coordinated control algorithm can achieve shifting control without the use of the clutch to improve driving comfort significantly, reduce shift transients and extend the service life of the clutch.     

Force Control in Electrohydraulic Active Suspensjons

For a simple vehicle active suspension system complete optimality and zero steady state body displacements may be achieved if the axle and body accelerations, and other easily measured quantities, are included in the performance index. Apart from not requiring an observer, this also allows the optimal feedback gains to be determined for an arbitrary body spring rate. In a theoretical example, model parameters matching those of an experimental test rig are employed. The results of computer simulations, with and without an electrohydraulic servovalve and actuator, are compared to demonstrate the effects of inner loop gain on force control. Aspects of the system behaviour including lockup are commented upon.     

Dynasim 3: A Computer Program for Simulation Of Vehicle Riding Motions

The purpose of this paper is to present analytical techniques for evaluating the dynamic riding behaviour of a vehicle. These techniques have been applied to a fairly sophisticated model of a bus, where a three-dimensional structure, elastic frame and non-linear shock-absorbers have been considered.

A computer simulation program (DYNASIM 3) has been set up, which is actually used at FIAT corporation for evaluating vehicle riding qualities and improving the design process.     

The Random Vibration of a Nonuniform Cantilever Beam with Concentrated Mass

The random vibration of a nonuniform cantilever beam with a concentrated mass at its end, is studied as a simple model of the suspension spring of a motor vehicle. The spectral response of the displacement of the concentrated mass is obtained when the beam is subjected to the random motion of the support. The conditions for the validity of the single degree approximation is also discussed.     

A Driver Model Based on the Cerebellar Model Articulation Controller

A model of driver behavior is described which is based on a current theory of neurophysiological processes occurring in the cerebellum. The model learns to control the vehicle through experience, provides discontinuous ramp steer inputs to the vehicle, accepts discontinuous input data, and is applicable to all control situations.

The model is implemented on a simple simulation model of a car and learning is accomplished by the use of an explicit driver model which drives the vehicle along a specified trajectory.     

Characterization of Dynamic Vehicle Stability Using Two Models of the Human Pilot Behaviour

This article deals with a study of the stability of the vehicle/pilot system for two different models of human operator behaviour. These models, are the outcome of various.approximations of the precision model for single loop compensatory situations. The vehicle is represented with two degrees of freedom and the pilot is assumed to respond to the lateral displacement and to the lateral velocity with a time delay. The properties of these resulting systems are presented and it is observed that, for any given forward visibility, a critical velocity defines a domain of controllability from a domain of uncontrollability. Furthermore this critical velocity is shown independant of the vehicle/ pilot parameters and may be considered as a possible vehicle safety criterion.