World Electric Vehicle Journal

Research

12 pages, 1184 KiB

Open AccessArticle

Incremental Learning for LiDAR Attack Recognition Framework in Intelligent Driving Using Gaussian Processes

by Zujia Miao, Cuiping Shao, Huiyun Li and Yunduan Cui

World Electr. Veh. J. 2024, 15(8), 362; https://doi.org/10.3390/wevj15080362 - 12 Aug 2024

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The perception system plays a crucial role by integrating LiDAR and various sensors to perform localization and object detection, which ensures the security of intelligent driving. However, existing research indicates that LiDAR is vulnerable to sensor attacks, which lead to inappropriate driving strategies [...] Read more.

The perception system plays a crucial role by integrating LiDAR and various sensors to perform localization and object detection, which ensures the security of intelligent driving. However, existing research indicates that LiDAR is vulnerable to sensor attacks, which lead to inappropriate driving strategies and need effective attack recognition methods. Previous LiDAR attack recognition methods rely on fixed anomaly thresholds obtained from depth map data distributions in specific scenarios as static anomaly boundaries, which lead to reduced accuracy, increased false alarm rates, and a lack of performance stability. To address these problems, we propose an adaptive LiDAR attack recognition framework capable of adjusting to different driving scenarios. This framework initially models the perception system by integrating the vehicle dynamics model and object tracking algorithms to extract data features, subsequently employing Gaussian Processes for the probabilistic modeling of these features. Finally, the framework employs sparsification computing techniques and a sliding window strategy to continuously update the Gaussian Process model with window data, which achieves incremental learning that generates uncertainty estimates as dynamic anomaly boundaries to recognize attacks. The performance of the proposed framework has been evaluated extensively using the real-world KITTI dataset covering four driving scenarios. Compared to previous methods, our framework achieves a 100% accuracy rate and a 0% false positive rate in the localization system, and an average increase of 3.43% in detection accuracy in the detection system across the four scenarios, which demonstrates superior adaptive capabilities. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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24 pages, 2934 KiB

Open AccessArticle

A Multidisciplinary Approach for the Sustainable Technical Design of a Connected, Automated, Shared and Electric Vehicle Fleet for Inner Cities

by Paul Rieger, Paul Heckelmann, Tobias Peichl, Sarah Schwindt-Drews, Nina Theobald, Arturo Crespo, Andreas Oetting, Stephan Rinderknecht and Bettina Abendroth

World Electr. Veh. J. 2024, 15(8), 360; https://doi.org/10.3390/wevj15080360 - 9 Aug 2024

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Abstract

The increasing volume of personal motorized vehicles (PMVs) in cities has become a serious issue leading to congestion, noise, air pollution and high land consumption. To ensure the sustainability of urban transportation, it is imperative to transition the current transportation paradigm toward a [...] Read more.

The increasing volume of personal motorized vehicles (PMVs) in cities has become a serious issue leading to congestion, noise, air pollution and high land consumption. To ensure the sustainability of urban transportation, it is imperative to transition the current transportation paradigm toward a more sustainable state. Transitions within socio-technical systems often arise from niche innovation. Therefore, this paper pursues the technical optimization of such a niche innovation by applying a technical sustainability perspective on an innovative mobility and logistics concept within a case study. This case study is based on a centrally managed connected, automated, shared and electric (CASE) vehicle fleet which might replace PMV use in urban city centers of the future. The key technical system components of the envisioned mobility and logistics concept are analyzed and optimized with regard to economic, ecological and social sustainability dimensions to maximize the overall sustainability of the ecosystem. Specifically, this paper identifies key challenges and proposes possible solutions across the vehicle components as well as the orchestration of the vehicles’ operations within the envisioned mobility and logistics concept. Thereby, the case study gives an example of how different engineering disciplines can contribute to different sustainability dimensions, highlighting the interdependences. Finally, the discussion concludes that the early integration of sustainability considerations in the technical optimization efforts of innovative transportation systems can provide an important building block for the transition of the current transportation paradigm to a more sustainable state. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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18 pages, 2392 KiB

Open AccessArticle

Robot Motion Planning Based on an Adaptive Slime Mold Algorithm and Motion Constraints

by Rong Chen, Huashan Song, Ling Zheng and Bo Wang

World Electr. Veh. J. 2024, 15(7), 296; https://doi.org/10.3390/wevj15070296 - 3 Jul 2024

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Abstract

The rapid advancement of artificial intelligence technology has significantly enhanced the intelligence of mobile robots, facilitating their widespread utilization in unmanned driving, smart home systems, and various other domains. As the scope, scale, and complexity of robot deployment continue to expand, there arises [...] Read more.

The rapid advancement of artificial intelligence technology has significantly enhanced the intelligence of mobile robots, facilitating their widespread utilization in unmanned driving, smart home systems, and various other domains. As the scope, scale, and complexity of robot deployment continue to expand, there arises a heightened demand for enhanced computational power and real-time performance, with path planning emerging as a prominent research focus. In this study, we present an adaptive Lévy flight–rotation slime mold algorithm (LRSMA) for global robot motion planning, which incorporates LRSMA with the cubic Hermite interpolation. Unlike traditional methods, the algorithm eliminates the need for a priori knowledge of appropriate interpolation points. Instead, it autonomously detects the convergence status of LRSMA, dynamically increasing interpolation points to enhance the curvature of the motion curve when it surpasses the predefined threshold. Subsequently, it compares path lengths resulting from two different objective functions to determine the optimal number of interpolation points and the best path. Compared to LRSMA, this algorithm reduced the minimum path length and average processing time by (2.52%, 3.56%) and (38.89%, 62.46%), respectively, along with minimum processing times. Our findings demonstrate that this method effectively generates collision-free, smooth, and curvature-constrained motion curves with the least processing time. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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14 pages, 4607 KiB

Open AccessArticle

Conceptual Design of an Unmanned Electrical Amphibious Vehicle for Ocean and Land Surveillance

by Hugo Policarpo, João P. B. Lourenço, António M. Anastácio, Rui Parente, Francisco Rego, Daniel Silvestre, Frederico Afonso and Nuno M. M. Maia

World Electr. Veh. J. 2024, 15(7), 279; https://doi.org/10.3390/wevj15070279 - 22 Jun 2024

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Abstract

Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV) that can be easily adapted for different types of land and/or water [...] Read more.

Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV) that can be easily adapted for different types of land and/or water missions with low monetary cost (EUR < 5 k, without sensors). Basing the design on the needs highlighted in the 2021 review of the Strategic Directive of the Portuguese Navy, the necessary specifications and requirements are established for two mission scenarios. Then, a market research analysis focused on vehicles currently available and their technological advances is conducted to identify existing UV solutions and respective characteristics/capabilities of interest to the current work. To study and define the geometry of the hull and the configuration of the A-UGV itself, preliminary computational structural and fluid analyses are carried out to ensure it complies with the specifications initially established. As a result, one obtains a fully electric vehicle with approximate dimensions of 1050 × 670 × 450 mm (length–width–height), enabled with 6 × 6 traction capable of reaching 20 km/h on land, which possesses amphibious capabilities of independent propulsion in water up to 8 kts and an estimated autonomy of over 60 min. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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17 pages, 4772 KiB

Open AccessArticle

Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning

by Guangbing Xiao, Zhicheng Li, Ning Sun and Yong Zhang

World Electr. Veh. J. 2024, 15(4), 169; https://doi.org/10.3390/wevj15040169 - 18 Apr 2024

Viewed by 789

Abstract

Based on an investigation of how vehicle structural characteristics and system parameters influence the motion stability of high-speed steering intelligent vehicle platooning, a control strategy for ensuring motion stability is proposed. This strategy is based on a virtual articulated concept and is validated [...] Read more.

Based on an investigation of how vehicle structural characteristics and system parameters influence the motion stability of high-speed steering intelligent vehicle platooning, a control strategy for ensuring motion stability is proposed. This strategy is based on a virtual articulated concept and is validated using both characteristic equation analysis and time domain analysis methods. To create a system, any two adjacent front and rear vehicles in the intelligent vehicle platooning are connected using a virtual articulated model constructed through the virtual structure method. A ten-degrees-of-freedom model of the intelligent vehicle platooning system is established, taking into account the nonlinearities of the tire and steering systems, utilizing the principles of the second Lagrange equation theory. The system damping ratio is determined through characteristic equation analysis, and the system’s dynamic critical speed is assessed by examining the relationship between the damping ratio and the motion stability of the intelligent vehicle platooning, serving as an indicator of system stability. By applying sensitivity analysis, control variable analysis, and time domain analysis methods, the influence of vehicle structural characteristics and system parameters on the system’s dynamic critical speed and motion stability under lateral disturbances within the intelligent vehicle platooning is thoroughly investigated, thereby validating the soundness of the proposed control strategy. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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15 pages, 7215 KiB

Open AccessArticle

Numerical Simulation of Aerodynamic Characteristics of Electric Vehicles with Battery Packs Mounted on Chassis

by Yaoji Deng, Keyu Lu, Tao Liu, Xufei Wang, Hui Shen and Junjie Gong

World Electr. Veh. J. 2023, 14(8), 216; https://doi.org/10.3390/wevj14080216 - 13 Aug 2023

Cited by 2 | Viewed by 1867

Abstract

Aerodynamic characteristics are of great significance to the fuel economy and handling the stability of electric vehicles. The battery pack of electric vehicles has a huge structure and is usually arranged in the chassis area of the vehicle, which inevitably occupies the space [...] Read more.

Aerodynamic characteristics are of great significance to the fuel economy and handling the stability of electric vehicles. The battery pack of electric vehicles has a huge structure and is usually arranged in the chassis area of the vehicle, which inevitably occupies the space at the bottom of the vehicle and affects the aerodynamic characteristics of the vehicle. To study the effect of the power battery pack installed in the chassis on the aerodynamics characteristics of the electric vehicle, the Computational Fluid Dynamics (CFD) method is used to study the flow and pressure fields of the SAE (Society of Automotive Engineers) hierarchical car model with battery packs mounted on chassis. The influence of the structure parameters of the battery pack on the automobile’s aerodynamics are also analyzed in detail. Based on the simulation results, it can be seen that the battery pack installed on the chassis has a great impact on the flow and pressure field at the bottom and tail of the vehicle, causing the drag coefficient and lift coefficient to increase. The structural parameters of the battery pack have contradictory effects on the drag and lift coefficients. As the length of the battery pack increases, the drag coefficient decreases, and the lift coefficient increases. As the battery pack width and height increase, the drag coefficient increases, and the lift coefficient decreases. The research results provide a reference for the optimization of the aerodynamic characteristics of electric vehicles with battery packs mounted on chassis. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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22 pages, 8972 KiB

Open AccessArticle

Personalized Collision Avoidance Control for Intelligent Vehicles Based on Driving Characteristics

by Haiqing Li, Lina Gao, Xiaoyu Cai and Taixiong Zheng

World Electr. Veh. J. 2023, 14(6), 158; https://doi.org/10.3390/wevj14060158 - 14 Jun 2023

Cited by 2 | Viewed by 1337

Abstract

Collision avoidance has been widely researched in the field of intelligent vehicles (IV). However, the majority of research neglects the individual driver differences. This paper introduced a novel personalized collision avoidance control (PCAC) strategy for IV based on driving characteristics (DC), which can [...] Read more.

Collision avoidance has been widely researched in the field of intelligent vehicles (IV). However, the majority of research neglects the individual driver differences. This paper introduced a novel personalized collision avoidance control (PCAC) strategy for IV based on driving characteristics (DC), which can better satisfy various scenarios and improve drivers’ acceptance. First, the driver’s DC is initially classified into four types using K-means clustering, followed by the application of the analytic hierarchy process (AHP) method to construct the DC identification model for the PCAC design. Then, a novel PCAC is integrated with a preview-follower control (PFC) module, an active rear steering (ARS) module, and a forward collision control (FCC) module to ensure individual requirements and driving stability. Moreover, simulations verified the validity of the developed PCAC in terms of path tracking, lateral acceleration, and yaw rate. The research results indicate that DC can be identified effectively through APH, and PCAC based on DC can facilitate the development of intelligent driving vehicles with superior human acceptance performance. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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19 pages, 3188 KiB

Open AccessArticle

Research on Collision Avoidance Systems for Intelligent Vehicles Considering Driver Collision Avoidance Behaviour

by Guosi Liu, Shaoyi Bei, Bo Li, Tao Liu, Walid Daoud, Haoran Tang, Jinfei Guo and Zhaoxin Zhu

World Electr. Veh. J. 2023, 14(6), 150; https://doi.org/10.3390/wevj14060150 - 6 Jun 2023

Cited by 1 | Viewed by 2641

Abstract

In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability of intelligent vehicles under different collision avoidance operating conditions. To ensure the rationality of the collision avoidance switching strategy for intelligent vehicles, the NGSIM road dataset [...] Read more.

In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability of intelligent vehicles under different collision avoidance operating conditions. To ensure the rationality of the collision avoidance switching strategy for intelligent vehicles, the NGSIM road dataset is introduced to analyse the driver’s collision avoidance behaviour, and a two-layer fuzzy controller considering the overlap rate is established to design the collision avoidance switching strategy. In order to achieve real-time collision avoidance system activation, a lane change collision avoidance model based on MPC control is also developed. Finally, a simulation environment was created using Matlab/CarSim for simulation verification. The simulation results show that the collision avoidance switching system is more responsive and has a shorter start-up distance and is more adaptable to different driving conditions. Full article

(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)

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