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Advanced Vehicle System Dynamics and Control
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Advanced Vehicle System Dynamics and Control

A special issue of World Electric Vehicle Journal (ISSN 2032-6653).

Deadline for manuscript submissions: 30 November 2024 | Viewed by 19830

Special Issue Editors

Dr. Yujie Shen

E-Mail Website
Guest Editor
Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China
Interests: advanced vehicle dynamics simulations and control; vibration control
Dr. Ying Zhang

E-Mail Website
Guest Editor
School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China
Interests: vehicle dynamics and vibration control; inerter network synthesis
Dr. Junjie Chen

E-Mail Website
Guest Editor
School of Mechanical and Electrical Engineering (School of Automotive Engineering), Jiangxi University of Science and Technology, Ganzhou, China
Interests: intelligent air spring and new elastic-damping fusion element; intelligent suspension dynamics and control
Dr. Yuan Li

E-Mail Website
Guest Editor
Department of Mechanical Engineering, Faculty of Engineering, University of Bristol, Bristol, UK
Interests: design synthesis of multidomain vibration absorber; passive and active-passive-combined vibration suppression; nonlinear modelling and experimental verification; dynamics performance analysis of engineering systems

Special Issue Information

Dear Colleagues,

With the development of vehicle electrification, networking, intelligence, and sharing technologies, advanced vehicle system dynamics, and control methods play a more and more important role in vehicle design. These technologies cover mechanical engineering, electronic and electrical engineering, control engineering, signal processing, and artificial intelligence, and will provide some new directions in the area of new energy-intelligent vehicles. This Special Issue focuses on advanced vehicle system design, modelling, dynamic analysis, and control methods. Topics of interest include, but are not limited to:

  • Advanced modelling and dynamic analysis of vehicle systems and their components, including suspension, steering, braking, chassis systems, and power train;
  • Advanced control approaches of motion and forces affecting vehicle behaviour;
  • Computer-aided modelling and simulation, validation, parameter identification and testing, driver modelling;
  • Vehicle interactions with the environment including wheel–rail and tyre–ground behaviour;
  • New energy vehicles, intelligent vehicles, and automated traffic systems related to vehicle dynamics.

Dr. Yujie Shen
Dr. Ying Zhang
Dr. Junjie Chen
Dr. Yuan Li
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. World Electric Vehicle Journal is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (15 papers)

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Research

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16 pages, 3406 KiB  
Article
Improvement of Commercial Vehicle Seat Suspension Employing a Mechatronic Inerter Element
by Xiaofeng Yang, Shuilan Bi, Yanling Liu, Yi Yang, Changning Liu and Jiahao Qin
World Electr. Veh. J. 2024, 15(5), 194; https://doi.org/10.3390/wevj15050194 - 30 Apr 2024
Viewed by 490
Abstract
To further improve the ride comfort of commercial vehicles, a seat ISD (Inerter–Spring–Damper) suspension utilizing a mechatronic inerter is proposed in this paper. Firstly, a five-DOF (degree-of-freedom) commercial vehicle seat ISD model was built. Then, the positive real network constraint conditions of a [...] Read more.
To further improve the ride comfort of commercial vehicles, a seat ISD (Inerter–Spring–Damper) suspension utilizing a mechatronic inerter is proposed in this paper. Firstly, a five-DOF (degree-of-freedom) commercial vehicle seat ISD model was built. Then, the positive real network constraint conditions of a biquadratic impedance transfer function were determined, and the meta-heuristic intelligent optimization algorithm was used to solve the parameters. According to the solution, the impedance transfer function was obtained and the specific network structure was realized by network synthesis. Lastly, this study compares the vibration isolation performance of the mechatronic ISD suspension of the vehicle seat with that of a passive suspension. In comparison to passive seat suspension, the seat mechatronic ISD suspension reduces seat vibration transmissibility by 16.33% and vertical acceleration by 16.78%. Results indicate that the new suspension system can be an effective improvement in ride comfort. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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21 pages, 5634 KiB  
Article
Path Tracking and Anti-Roll Control of Unmanned Mining Trucks on Mine Site Roads
by Ruochen Wang, Jianan Wan, Qing Ye and Renkai Ding
World Electr. Veh. J. 2024, 15(4), 167; https://doi.org/10.3390/wevj15040167 - 16 Apr 2024
Viewed by 528
Abstract
Aiming to address the tracking accuracy and anti-rollover problem of the unmanned mining truck path tracking process under the complex unstructured road conditions in mining areas, a coordinated control strategy for path tracking and anti-rollover based on topology theory is proposed. Moreover, optimal [...] Read more.
Aiming to address the tracking accuracy and anti-rollover problem of the unmanned mining truck path tracking process under the complex unstructured road conditions in mining areas, a coordinated control strategy for path tracking and anti-rollover based on topology theory is proposed. Moreover, optimal equilibrium weights are assigned to path tracking control and anti-rollover control to ensure that the path tracking accuracy of the mining vehicle can be effectively improved in a safe and stable driving state. Regarding the path tracking problem, a lateral preview error model is established, and a path tracking controller is designed using LQR (linear quadratic regulator) control theory. In the design of the anti-rollover controller, the effects of understeer and trip-type rollover on the stability of the vehicle are taken into account, and the ideal transverse swing angular velocity and trip-type rollover evaluation index are introduced for controller design, which reduce the effects of the curves and roadway excitation on the mining truck and improve the rollover motion. Based on a joint simulation using Trucksim and Simulink and the construction of a hardware-in-the-loop simulation platform for verification, the single control strategy and coordinated control strategy are compared and analyzed. The final simulation results show that the tracking error, yaw velocity, and center of mass side deviation angle are optimized by 45%, 32.5%, and 20%, respectively. Therefore, the Extension theory-based coordinated controller satisfies the complex road conditions in the mining area and improves the tracking accuracy to the maximum extent while ensuring the safety and smoothness of vehicle driving and exhibiting good adaptability and robustness. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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18 pages, 3244 KiB  
Article
Research on Intelligent Platoon Formation Control Based on Kalman Filtering and Model Predictive Control
by Ning Sun, Jinqiang Liu, Peng Wang and Guangbing Xiao
World Electr. Veh. J. 2024, 15(4), 144; https://doi.org/10.3390/wevj15040144 - 2 Apr 2024
Viewed by 691
Abstract
Recently, the intelligent platoon has attracted a lot of attention in both academic and industrial research. For each intelligent platoon, all vehicles drive sequentially in a line, which helps to improve fuel economy and road capacity. Consider two adjacent vehicles in the intelligent [...] Read more.
Recently, the intelligent platoon has attracted a lot of attention in both academic and industrial research. For each intelligent platoon, all vehicles drive sequentially in a line, which helps to improve fuel economy and road capacity. Consider two adjacent vehicles in the intelligent platoon, and there is no mechanical boundary between them. However, an intelligent platoon may still suffer from the issues of poor vehicle-following performance during the process of vehicle-following, especially when it obtains its own position and other parameters inaccurately. To address this issue, this paper proposes a model predictive control method based on an improved version of Kalman filtering, aiming to enhance the anti-interference capacity of intelligent platoons in scenarios where the following vehicles have acquired inaccurate parameters resulting from environmental disturbances and sensor noise. Firstly, this paper establishes a three-degree-of-freedom single-track model for the following vehicle, conducting dynamic analysis of its lateral, longitudinal, and yaw movements. Then, this paper develops a horizontal and longitudinal formation driving control frame of the intelligent vehicle platoon. Moreover, this paper also has employed Kalman filtering for interference reduction of state parameters and designs an improved model predictive controller. The proposed scheme is verified and evaluated through a joint simulation within Carsim and MATLAB/Simulink, and the results demonstrate that the longitudinal following error is reduced by 37% and the lateral following error is reduced by 51% compared to traditional algorithms, effectively improving the stability of intelligent vehicle platoons during following driving. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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19 pages, 6575 KiB  
Article
Transfer Function-Based Road Classification for Vehicles with Nonlinear Semi-Active Suspension
by Hamed Kouhi, Mehran Ghalami, Amir Norouzzadeh and Amirmasoud Ahmadi
World Electr. Veh. J. 2024, 15(4), 143; https://doi.org/10.3390/wevj15040143 - 1 Apr 2024
Viewed by 770
Abstract
Ride comfort and handling are two important criteria regarding vehicle vibration control. For solving the inconsistency between ride comfort and handling, a semi-active suspension system equipped with a road classification system can be a suitable solution. Because the road condition varies during driving, [...] Read more.
Ride comfort and handling are two important criteria regarding vehicle vibration control. For solving the inconsistency between ride comfort and handling, a semi-active suspension system equipped with a road classification system can be a suitable solution. Because the road condition varies during driving, the control gain of the semi-active suspension system should be adaptively changed according to the road level. In this paper, accelerometer data and a transfer function scheme will be used for road classification, and there is no need to measure the road directly with difficult and often expensive methods. In this approach, a transfer function that makes relevant the Power Spectral Density (PSD) of the road surface and the PSD of car acceleration is used. Road classification is investigated for a vehicle with a nonlinear, semi-active suspension system equipped with Continuous Damping Control (CDC) and nonlinear springs. To show the applicability of the proposed method in scenarios close to real situations, robustness analysis is done by considering vehicle model uncertainties and sensor noise. The simulation results show that the proposed method is robust against typical uncertainties and accelerometer noise and can classify the road level, which is used to tune the parameters of the nonlinear, semi-active suspension system. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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26 pages, 4888 KiB  
Article
Designing a Reverse Logistics Network for End-of-Life Vehicles in an Uncertain Environment
by Meiling He, Qipeng Li, Tianhe Lin, Jiangyang Fan, Xiaohui Wu and Xun Han
World Electr. Veh. J. 2024, 15(4), 140; https://doi.org/10.3390/wevj15040140 - 29 Mar 2024
Viewed by 859
Abstract
The strategic development of reverse logistics networks is crucial for addressing the common challenge of low recovery rates for end-of-life vehicles (ELVs) in China. To minimize the total cost of the reverse logistics network for ELVs, this paper proposes a mixed-integer linear programming [...] Read more.
The strategic development of reverse logistics networks is crucial for addressing the common challenge of low recovery rates for end-of-life vehicles (ELVs) in China. To minimize the total cost of the reverse logistics network for ELVs, this paper proposes a mixed-integer linear programming (MILP) model. The model considers the recycling volume of different vehicle types, facility processing capacity, and the proportions of parts and materials. Building on this foundation, a fuzzy mixed-integer nonlinear programming (FMINLP) model is developed to account for the inherent uncertainty associated with recycling volumes and facility processing capacities. The model was solved using Lingo, and its effectiveness was validated using Jiangsu Province of China as a case study, followed by a sensitivity analysis. The results indicate that dismantling and machining centers incur the highest processing costs. Variations in recycling volume and facility handling capacity significantly impact total costs and site selection, with the former having a more pronounced effect. Increasing facility processing capacity effectively increases the recovery rate. Moreover, a higher confidence level corresponds to higher total costs and a greater demand for facilities. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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16 pages, 7243 KiB  
Article
BI-TST_YOLOv5: Ground Defect Recognition Algorithm Based on Improved YOLOv5 Model
by Jiahao Qin, Xiaofeng Yang, Tianyi Zhang and Shuilan Bi
World Electr. Veh. J. 2024, 15(3), 102; https://doi.org/10.3390/wevj15030102 - 7 Mar 2024
Viewed by 1073
Abstract
Pavement defect detection technology stands as a pivotal component within intelligent driving systems, demanding heightened precision and rapid detection rates. Addressing the complexities arising from diverse defect types and intricate backgrounds in visual sensing, this study introduces an enhanced approach to augment the [...] Read more.
Pavement defect detection technology stands as a pivotal component within intelligent driving systems, demanding heightened precision and rapid detection rates. Addressing the complexities arising from diverse defect types and intricate backgrounds in visual sensing, this study introduces an enhanced approach to augment the network structure and activation function within the foundational YOLOv5 algorithm. Initially, modifications to the YOLOv5′s architecture incorporate an adjustment to the Leaky ReLU activation function, thereby enhancing regression stability and accuracy. Subsequently, the integration of bi-level routing attention into the network’s head layer optimizes the attention mechanism, notably improving overall efficiency. Additionally, the replacement of the YOLOv5 backbone layer’s C3 module with the C3-TST module enhances initial convergence efficiency in target detection. Comparative analysis against the original YOLOv5s network reveals a 2% enhancement in map50 and a 1.8% improvement in F1, signifying an overall advancement in network performance. The initial convergence rate of the algorithm has been improved, and the accuracy and operational efficiency have also been greatly improved, especially on models with small-scale training sets. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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19 pages, 2500 KiB  
Article
Optimization of Electric Vehicle Routes Considering Multi-Temperature Co-Distribution in Cold Chain Logistics with Soft Time Windows
by Meiling He, Mei Yang, Wenqing Fu, Xiaohui Wu and Kazuhiro Izui
World Electr. Veh. J. 2024, 15(3), 80; https://doi.org/10.3390/wevj15030080 - 22 Feb 2024
Viewed by 1465
Abstract
Inspired by the practice of urban distribution of fresh products, we introduce a new electric vehicle routing problem with soft time windows. In this problem, goods with different temperature layers can be distributed in ordinary electric vehicles simultaneously based on the cold storage [...] Read more.
Inspired by the practice of urban distribution of fresh products, we introduce a new electric vehicle routing problem with soft time windows. In this problem, goods with different temperature layers can be distributed in ordinary electric vehicles simultaneously based on the cold storage insulation box. The primary objective is to devise optimized distribution routes for logistics companies to minimize distribution costs, including transportation, refrigeration, and charging costs. To address this, we present a mathematical model for the problem and propose an improved ant colony optimization algorithm combined with a 2-opt algorithm. Based on Solomon dataset, we conduct numerical experiments to verify the effectiveness of the proposed model and algorithm. The numerical results demonstrate that multi-temperature co-distribution can lead to a reduction in distribution cost and an improvement in distribution efficiency. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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17 pages, 4981 KiB  
Article
Optimizing Hydro-Pneumatic Inerter Suspension for Improved Ride Comfort and Handling Stability in Engineering Vehicles Using Simulated Annealing Algorithm
by Rongnan Huang, Ao Yin, Yujie Shen, Fu Du and Xiaofeng Yang
World Electr. Veh. J. 2024, 15(2), 36; https://doi.org/10.3390/wevj15020036 - 23 Jan 2024
Viewed by 1276
Abstract
This study introduces a novel hydro-pneumatic inerter suspension (HPIS) system for engineering vehicles, aiming at enhancing ride comfort and handling stability. The research focuses on addressing the limitations of conventional suspension systems by incorporating an inerter element into the vehicle suspension. The unique [...] Read more.
This study introduces a novel hydro-pneumatic inerter suspension (HPIS) system for engineering vehicles, aiming at enhancing ride comfort and handling stability. The research focuses on addressing the limitations of conventional suspension systems by incorporating an inerter element into the vehicle suspension. The unique aspects of HPIS, such as nonlinear stiffness and nonlinear damping characteristics of the hydro-pneumatic spring, are explored. Firstly, a half-car dynamic model of the HPIS suspension is established, and an improved simulated annealing algorithm is applied to optimize the suspension parameters. Then, we compare the dynamic performance of different HPIS structures, specifically parallel and series layouts. For practical analysis, a simplified three-element HPIS suspension model is used, and the suspension parameters are optimized by a simulated annealing algorithm at speeds of 10 m/s, 15 m/s, and 20 m/s. Key findings reveal that compared to the traditional suspension system of S0, the front and rear suspension working space of S1 decreased by 40%, 40.1%, 40.2% and 30.7%, 30.8%, 30.9%, while with the body acceleration and pitch acceleration deteriorated by 3.1%, 3.2%, 3.3% and 63.4%, 63.8%, 64.0%. However, the S2 can improve all the dynamic performance and offer better ride comfort and handling stability. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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14 pages, 2741 KiB  
Article
Topology Optimization Design and Dynamic Performance Analysis of Inerter-Spring-Damper Suspension Based on Power-Driven-Damper Control Strategy
by Jinsen Wang, Yujie Shen, Fu Du, Ming Li and Xiaofeng Yang
World Electr. Veh. J. 2024, 15(1), 8; https://doi.org/10.3390/wevj15010008 - 26 Dec 2023
Cited by 1 | Viewed by 1381
Abstract
In this paper, the problem of broadband vibration suppression of power-driven-damper vehicle “inerter-spring-damper” (ISD) suspension is studied. The suspension can effectively inherit the low-frequency vibration suppression effect of ISD suspension and the high-frequency vibration suppression effect of the power-driven-damper control strategy. Based on [...] Read more.
In this paper, the problem of broadband vibration suppression of power-driven-damper vehicle “inerter-spring-damper” (ISD) suspension is studied. The suspension can effectively inherit the low-frequency vibration suppression effect of ISD suspension and the high-frequency vibration suppression effect of the power-driven-damper control strategy. Based on the structural method, this paper proposes four suspensions with different structures. The optimal structure and parameters are obtained by using pigeon-inspired optimization. The results show that, based on the optimal structure, the Root-Mean-Square (RMS) of body acceleration and the RMS of suspension working space are reduced by 23.1% and 6.6%, respectively, compared to the traditional passive suspension. The influence of the damping coefficient on the dynamic performance of the power-driven-damper vehicle ISD suspension is further studied. The vibration suppression characteristics of the proposed suspension are simulated and analyzed in both the time domain and frequency domain. It is shown that the power-driven-damper vehicle ISD suspension can effectively reduce vibrations across a wide frequency range and significantly improve body acceleration and suspension working space, thereby enhancing the ride comfort. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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14 pages, 16641 KiB  
Article
Layout Optimization and Performance Analysis of Vehicle Suspension System Using an Electromagnetic Inerter
by Chen Luo, Xiaofeng Yang, Zhihong Jia and Changning Liu
World Electr. Veh. J. 2023, 14(12), 318; https://doi.org/10.3390/wevj14120318 - 22 Nov 2023
Cited by 1 | Viewed by 1277
Abstract
The inerter is a vibration isolation device used to replace the mass element in classical vibration isolation theory. The introduction of an inerter into a vehicle suspension system can greatly improve the performance of the system. An electromagnetic inerter is a kind of [...] Read more.
The inerter is a vibration isolation device used to replace the mass element in classical vibration isolation theory. The introduction of an inerter into a vehicle suspension system can greatly improve the performance of the system. An electromagnetic inerter is a kind of device that can realize a complex suspension structure without an additional energy supply and a complicated control system. It not only utilizes hydraulic systems to attain various suspension mechanical structures but also incorporates linear generators to form more intricate electrical networks. In this paper, an approach is proposed to achieve an optimized vehicle suspension layout using an electromagnetic inerter, which promotes the practical application of the device. First, seven suspension layouts are presented based on this device and relevant models are established to optimize the performance of these seven layouts under certain objectives. Then, the influence of three factors of the electrical network, namely linear generator internal resistance, inductance, and linear generator coefficient, on suspension performance is analyzed. At the same time, to ensure the suspension performance of this device is closer to that required for actual engineering applications, the improvement in the vibration isolation performance of the device compared with traditional passive suspension is discussed considering these three factors. The final results show that when considering the real-world situation, the L1 and L4 layouts can achieve excellent performance improvement, with RMS(BA) values of only 85.73% and 84.66% of the traditional passive suspension. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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15 pages, 5217 KiB  
Article
Research on Robust Control of Intelligent Vehicle Adaptive Cruise
by Zhaoxin Zhu, Shaoyi Bei, Bo Li, Guosi Liu, Haoran Tang, Yunhai Zhu and Chencheng Gao
World Electr. Veh. J. 2023, 14(10), 268; https://doi.org/10.3390/wevj14100268 - 25 Sep 2023
Viewed by 1456
Abstract
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower structures, based on the μ control theory. [...] Read more.
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower structures, based on the μ control theory. On the one hand, the upper controller calculates the theoretical safety distance between two automobiles based on the current working conditions, and it calculates the expected acceleration of the vehicle through an optimal control method based on the safety distance and two vehicle speeds. On the other hand, this paper constructs the lower μ integrated controller of an automobile longitudinal dynamics system based on the performance requirements of an adaptive cruise control system and solves it in Matlab. Then, through calculation and simulation, it demonstrates that the designed dual-layer LQR-μ controller has good performance robustness and robust stability, which can significantly improve the anti-interference ability and driving safety performance of the vehicle during the following cruise process. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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16 pages, 2403 KiB  
Article
Slip Ratio Adaptive Control Based on Wheel Angular Velocity for Distributed Drive Electric Vehicles
by Sheng Kang, Junjie Chen, Guangqi Qiu and Hangkai Tong
World Electr. Veh. J. 2023, 14(5), 119; https://doi.org/10.3390/wevj14050119 - 1 May 2023
Cited by 1 | Viewed by 2015
Abstract
In order to solve the adaptability problem of acceleration slip regulation for distributed drive electric vehicles, a slip ratio adaptive control strategy based on wheel angular velocity is proposed. The principle of road estimation algorithm based on the Burckhardt tire model is analyzed, [...] Read more.
In order to solve the adaptability problem of acceleration slip regulation for distributed drive electric vehicles, a slip ratio adaptive control strategy based on wheel angular velocity is proposed. The principle of road estimation algorithm based on the Burckhardt tire model is analyzed, and an improved estimation principle for optimal slip ratio is designed to improve the speed and accuracy of optimal slip ratio estimation. A slip ratio control strategy based on a conditional integral sliding mode control is designed, and its stability is proven. To make the slip ratio control strategy have better practicability, the slip ratio control strategy is combined with the road estimation algorithm, and the control variable of the slip ratio adaptive control strategy based on a conditional integral sliding mode control is redesigned to obtain a faster vehicle dynamic response. Finally, the effectiveness of the designed road estimation algorithm and the slip ratio adaptive control strategy is verified by simulation of acceleration on joint road and split road. Results show that the designed road estimator can obtain the road adhesion coefficient and optimal slip ratio quickly and accurately; the slip ratio adaptive controller, based on a conditional integral sliding mode control, can maintain the wheel slip ratio near the optimal slip ratio and reduce the steady-state error of the wheel slip ratio. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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15 pages, 2962 KiB  
Article
A Method for Electric Tractor Molding Based on Terminal Sliding Mode Control Algorithm
by Shanshan Yin, Pengjun Mao and Wenjun Li
World Electr. Veh. J. 2023, 14(4), 93; https://doi.org/10.3390/wevj14040093 - 3 Apr 2023
Viewed by 1416
Abstract
Smart transformation and green development are the core research directions of electric vehicles. An electric tractor is powered by the vehicle battery. The motor converts electric energy into mechanical energy and drives the wheels through the drive train. Therefore, the electric tractor model [...] Read more.
Smart transformation and green development are the core research directions of electric vehicles. An electric tractor is powered by the vehicle battery. The motor converts electric energy into mechanical energy and drives the wheels through the drive train. Therefore, the electric tractor model is a modular mathematical model for the battery, motor, drive train, and drive wheel. A class of high-order terminal sliding mode control strategies is adopted to establish the relative rotational angles of drive wheels, driving angular speeds, and motor angular speeds as input, and driving angular speeds and motor angular speeds as output. This process ensures stable operating speed and good working quality under the operating conditions and achieves small-scale unattended driving. The output is a nonlinear system state equation. An n-order derivative continuous function is introduced to design the terminal sliding surface of the sliding mode. A control function to reduce chattering is also designed to ensure that the output function converges at the finite time and the existing sliding stage achieves zero steady-state error. Simulation results of the whole electric tractor model show that the speed remains stable under the condition of outside interference, and experiments verify the feasibility of the control strategy. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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17 pages, 3926 KiB  
Article
Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory
by Tian Tian, Gang Li, Ning Li and Hongfei Bai
World Electr. Veh. J. 2023, 14(4), 84; https://doi.org/10.3390/wevj14040084 - 25 Mar 2023
Cited by 1 | Viewed by 1415
Abstract
A game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. The general control strategy and the model predictive controller based [...] Read more.
A game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. The general control strategy and the model predictive controller based on the evolutionary game between the two players are designed to optimize their own decisions to achieve the optimal payoff for themselves, and to obtain the optimal solution to the dual-objective optimization problem, by taking the dual objectives of trajectory tracking accuracy and driving stability as the two players in the game. Considering the influence of the dynamic environment, the time-varying interactive game mechanism between two plays is introduced, the game payoff matrix is established, the weights of each subject are determined, and a dynamic replication system is constructed by weight evolution to find the optimal equilibrium strategy for the model prediction controller. The simulated results show that the designed controller can play a significant role in optimizing the trajectory tracking accuracy and driving stability compared to a single model predictive controller under different speed tracking conditions. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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Review

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20 pages, 971 KiB  
Review
Review of Intelligent Vehicle Driving Risk Assessment in Multi-Vehicle Interaction Scenarios
by Xiaoxia Xiong, Shiya Zhang and Yuexia Chen
World Electr. Veh. J. 2023, 14(12), 348; https://doi.org/10.3390/wevj14120348 - 14 Dec 2023
Cited by 1 | Viewed by 2048
Abstract
With the rapid breakthroughs in artificial intelligence technology and intelligent manufacturing technology, automotive intelligence has become a research hotspot, and much progress has been made. However, a skeptical attitude is still held towards intelligent vehicles, especially when driving in a complex multi-vehicle interaction [...] Read more.
With the rapid breakthroughs in artificial intelligence technology and intelligent manufacturing technology, automotive intelligence has become a research hotspot, and much progress has been made. However, a skeptical attitude is still held towards intelligent vehicles, especially when driving in a complex multi-vehicle interaction environment. The interaction among multi-vehicles generally involves more uncertainties in vehicle motion and entails higher driving risk, and thus deserves more research concerns and efforts. Targeting the safety assessment issue of complex multi-vehicle interaction scenarios, this article summarizes the existing literature on the relevant data collection methodologies, vehicle interaction mechanisms, and driving risk evaluation methods for intelligent vehicles. The limitations of the existing assessment methods and the prospects for their future development are analyzed. The results of this article can provide a reference for intelligent vehicles in terms of timely and accurate driving risk assessment in real-world multi-vehicle scenarios and help improve the safe driving technologies of intelligent vehicles. Full article
(This article belongs to the Special Issue Advanced Vehicle System Dynamics and Control)
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