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Powertrain EV synchronous reluctance motor design with redundant topology with novel control

IET ELECTRIC POWER APPLICATIONS 2019年第11期13卷 1647-1659页

作者： Herrera, Danilo Yillegas, Javier Galvan, Eduardo Manuel Carrasco, Juan Univ Seville Higher Tech Sch Engn ETSI GTE Seville Spain Greenpower Technol Power Elect Dept Seville Spain Univ Seville Elect Dept ETSI Seville Spain

A doubly three-phase fed synchronous reluctance machine (SynRM) is designed for electrical vehicle powertrain application. SynRM aims to deliver instant power and high power density, high torque at low speeds and high power at high speeds, wide speed range, high efficiency throughout its range of operation, ruggedness, high safety at a reasonable cost. Under these requirements, a 60 kW, 9000 rpm and 400 Nm SynRM has been designed. The main objective is to demonstrate the SynRM powertrain operation behaviour and determinate the operation points electrically and thermally. To reach the proposed SynRM goal, a new direct torque control algorithm based on output regulation subspace theory control is presented. The winding motor topology is galvanic isolated, so it is possible to operate with the six phases directly to the load and because of that, the combination with a back-to-back (B2B) converter becomes so profitable. To validate the system, two B2B full-converters and two motors (SynRM and induction machine) were used in a real test bench. Finally, a simulated and real efficiency map is obtained covering different drive cycles range. Some remarks about normal and failure mode of operation are presented.

关键词： machine control torque control reluctance motors power transmission (mechanical) automotive electric vehicles power convertors road traffic control direct torque control algorithm output regulation subspace theory control winding motor topology induction machine powertrain EV synchronous reluctance motor design redundant topology three-phase fed synchronous reluctance machine electrical vehicle powertrain application SynRM powertrain operation behaviour operation points power density back-to-back converter size 400 0 nm power 60 0 kW

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Comprehensive predictive control method for automated vehicles in dynamic traffic circumstances

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IET INTELLIGENT TRANSPORT SYSTEMS 2018年第10期12卷 1455-1463页

作者： Liu, Wei Li, Zhiheng Tsinghua Univ Dept Automat Beijing 100084 Peoples R China Tsinghua Univ Grad Sch Shenzhen Shenzhen 518055 Peoples R China

Motion control problems remain to be fully solved for automated vehicles in dynamic traffic circumstances. Existing approaches usually first make a driving behaviour decision, then design a reference trajectory that may not match the vehicle dynamic constraints explicitly and finally adopt a local feedback control method to track the reference. Important commands may be lost or not well translated in the process of information exchange and transmission. Moreover, multiple methods specifically designed for different tasks may not cooperate well in one system. In this study, the authors propose a comprehensive predictive control method which can directly generate the control commands from the traffic circumstance and the vehicle dynamics, without involving any driving decision-making modules and any predefined reference trajectories. Virtual potential fields are introduced to model the traffic circumstance including the road boundaries, lane markings and moving obstacle vehicles. A model predictive control problem is formulated with the overall potential function and constraints including the vehicle dynamics and the safety distances between the ego vehicle and other vehicles. Lane keeping, lane changing, car following and overtaking driving behaviours are simulated in different scenarios. Results show that this method is capable of controlling the automated vehicle in different traffic circumstances.

关键词： predictive control vehicle dynamics decision making road vehicles motion control feedback road traffic control comprehensive predictive control method automated vehicle dynamic traffic circumstances motion control problems driving behaviour decision vehicle dynamic constraints local feedback control method multiple methods control commands driving decision-making modules lane markings moving obstacle vehicles model predictive control problem ego vehicle reference trajectory design information exchange process information transmission virtual potential fields road boundaries safety distances lane keeping lane changing car following overtaking driving behaviours

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Driving Characteristics and Adaptive Cruise control - A Naturalistic Driving Study

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IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE 2017年第2期9卷 17-24页

作者： Schakel, Wouter J. Gorter, Cornelis M. de Winter, Joost C. F. van Arem, Bart Delft Univ Technol Dept Transport & Planning POB 5048 NL-2600 GA Delft Netherlands Royal HaskoningDHV POB 1132 NL-3800 BC Amersfoort Netherlands Delft Univ Technol Dept BioMech Engn Mekelweg 2 NL-2628 CD Delft Netherlands

With the increasing number of vehicles equipped with Adaptive Cruise control (ACC), it becomes important to assess its impact on traffic flow efficiency, in particular with respect to capacity and queue discharge rate. Simulation studies and surveys suggest that ACC has both positive and negative effects on traffic flow, but empirical evidence on this topic is scarce. A naturalistic driving study has been conducted with 8 participants who drove their own ACC-equipped vehicle during their regular trips on freeways for a period of 4 to 5 weeks. We measured spacing, headway, speed, acceleration, lane use, and the number of lane changes, and compared these between ACC On and ACC Off in different traffic states, for a total of 48 hours of driving data. Results show that with ACC On, average spacing and headways were larger, whereas standard deviations were smaller. Larger headways can be assumed to reduce capacity, whereas more constant spacing, headway, speed, and acceleration indicate more stable traffic. With ACC On, drivers performed 36% fewer lane changes in saturated traffic, resulting in increased use of either the faster or the slower lane, depending on the driver. Furthermore we found that headways were smaller with ACC On than ACC Off when only selecting accelerations below -0.5m/s(2) and above 0.5m/s(2), which is the opposite of the overall finding. The latter result suggests that ACC has an important limitation: a lack of anticipation. On the other hand, the smaller headways with ACC On during acceleration indicate an increased queue discharge rate.

关键词： Cameras Cruise control Discharges (electric) Intelligent vehicles Adaptation models Stability analysis road traffic control Navigation

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A distributed model predictive control method combined with delay compensator for multiple vehicle platoons

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IET INTELLIGENT TRANSPORT SYSTEMS 2023年第2期17卷 357-372页

作者： Xu, Mingchang Luo, Yugong Kong, Weiwei Li, Keqiang Tsinghua Univ Sch Vehicle & Mobil Beijing 100084 Peoples R China China Agr Univ Coll Engn Beijing Peoples R China

With an increasing number of vehicles on the road, multiple-vehicle platoons have become a new solution under communication constraints. However, the existing studies seldom consider the effect of the tail vehicle on the information transfer and platoon control over long distances, and thus the control performance under time-varying delays is unacceptable. In this study, a hierarchical multi-platoon control architecture considering the backbone platoon and sub-platoons is proposed under non-ideal communication conditions, where the backbone platoon layer communication topology is designed to achieve backbone platoon control and appropriate coordination among sub-platoons. Distributed model predictive controllers (DMPCs) for backbone- and sub-platoons that integrate delay compensation have been proposed. Buffers and delay compensators in the proposed DMPC are designed to reduce the interference caused by non-ideal communications. The asymptotic stability is analyzed at the sub- and multi-platoon levels. The results show that compared with traditional DMPC without a compensator, the proposed DMPC can eliminate the velocity lag and steady-state spacing errors and maintain the maximum velocity and spacing errors within 0.11 m/s and 0.17 m, respectively, under certain operating conditions. Thus, the proposed method guarantees the stability of multiple platoons under both the constant and time-varying delay conditions.

关键词： multiplatoon control architecture nonideal communication conditions nonideal communications delay compensator asymptotic stability multiplatoon levels communication constraints control performance distributed model predictive control method distributed model predictive controllers backbone platoon control Time-varying control systems constant time-varying delay conditions distributed control road traffic control backbone platoon layer communication topology information transfer tail vehicle Distributed parameter control systems multiple-vehicle platoons road-traffic system control delays subplatoons time-varying delays Multivariable control systems predictive control Stability in control theory time-varying systems Optimal control

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Integration of auto-steering with adaptive cruise control for improved cornering behaviour

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IET INTELLIGENT TRANSPORT SYSTEMS 2017年第10期11卷 667-675页

作者： Idriz, Adem F. Rachman, Arya S. Abdul Baldi, Simone Delft Univ Technol Delft Ctr Syst & Control Mekelweg 2 Delft Netherlands

Several works have proposed longitudinal control strategies enabling a vehicle to operate adaptive cruise control and collision avoidance functions. However, no integration with lateral control has been proposed in the current state of the art, which motivates the developments of this work. This study presents an integrated control strategy for adaptive cruise control with auto-steering for highway driving. An appropriate logic-based control strategy is used to create synergies and safe interaction between longitudinal and lateral controllers to obtain both lateral stability and advanced adaptive cruise control functionalities. In particular, an index is proposed to evaluate lateral motion of the vehicle based on previously published experimental studies on human driving. In order to handle unstable lateral motion of the vehicle, the desired acceleration is determined based on physical limitation in braking with cornering situations. Simulation results show that the proposed integrated controller satisfies the performance in terms of autonomous driving, path tracking and collision avoidance for various driving situations.

关键词： adaptive control driver information systems automobiles collision avoidance stability braking road traffic control velocity control auto-steering cornering behaviour longitudinal control strategies integrated control strategy highway driving logic-based control strategy lateral controllers lateral stability vehicle lateral motion human driving braking autonomous driving path tracking adaptive cruise control collision avoidance

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Cooperative control of connected hybrid electric vehicles and traffic signals at isolated intersections

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第13期14卷 1903-1912页

作者： Chen, Jian Qian, Li-Jun Xuan, Liang Hefei Univ Technol Dept Vehicle Engn Hefei 230009 Peoples R China

The development of connected and automated vehicle technologies allows for cooperative control of vehicles and traffic signals at intersections. This study aims at exploring the cooperation between traffic signal control and eco-driving control for a connected hybrid electric vehicle (HEV) system. A two-level cooperative control method for integrating traffic signal control, vehicle speed control, and energy management is proposed with the objective of improving both traffic and fuel efficiency for HEVs at isolated intersections. In view of the energy management and recuperation system of HEV, the vehicle energy consumption characteristic is considered in the proposed method. More specifically, at the traffic level, a traffic signal control strategy is designed to minimise the total travel time and fuel consumption of all HEVs using dynamic programming, which explicitly considers the arrival time and recuperation information of vehicles. At the vehicle level, a hierarchical control architecture is applied to optimise the speed trajectories and powertrain of each HEV using model predictive control and adaptive equivalent consumption minimisation strategy. Simulation results show that compared with the fixed-time and cycle-based signal control strategies with eco-driving, the proposed method can significantly reduce the travel time and fuel consumption by up to 27 and 24%, respectively.

关键词： energy consumption velocity control hybrid electric vehicles optimisation power transmission (mechanical) road traffic dynamic programming predictive control fuel economy road traffic control connected hybrid electric vehicles traffic signals isolated intersections connected automated vehicle technologies eco-driving control connected hybrid electric vehicle system vehicle speed control energy management fuel efficiency vehicle energy consumption characteristic traffic level traffic signal control strategy fuel consumption vehicle level hierarchical control architecture model predictive control fixed-time cycle-based signal control strategies

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Human-machine shared control for vehicle lane keeping systems: a Lyapunov-based approach

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IET INTELLIGENT TRANSPORT SYSTEMS 2019年第1期13卷 63-71页

作者： Sentouh, Chouki Anh-Tu Nguyen Rath, Jagat Jyoti Floris, Jerome Popieul, Jean-Christophe CNRS UMR 8201 LAMIH Campus Mont Houy F-59313 Valenciennes France

In this work, a human-centred steering assist controller based on dynamic allocation of control authority between driver and automatic e-copilot has been proposed for lane keeping systems. Cooperative control between driver and steering assist controller is addressed taking into consideration human driving behaviour. The vehicle steering controller for lane keeping is designed using a driver model for representation of the conflict between the driver and the controller. The steering controller is designed employing the integrated driver-vehicle model using Takagi-Sugeno control technique coupled with Lyapunov stability tools. The proposed design is robust to longitudinal speed variations and involves a trade-off between the lane following performance and ratio of negative system interference. The proposed approach was implemented on dynamic vehicle simulator SHERPA and the results presented in this study demonstrate the effectiveness of the proposed structure for cooperative control action between human driver and the steering assistance system. Based on indices such as energies spent by driver, driver satisfaction level and contradiction level between driver and autonomous controller the proposed optimal approach shows 93.48% and 89.30% reductions in expended driver energy and contradiction levels. Further, the satisfaction level of driver increased by 67.80% while performing a lane change manoeuvre.

关键词： control system synthesis robust control steering systems stability road safety fuzzy control road vehicles Lyapunov methods road traffic control man-machine systems Lyapunov-based approach human-centred steering control authority lane keeping systems steering assist controller human driver vehicle steering controller driver model integrated driver-vehicle model Takagi-Sugeno control technique e-copilot steering assistance system driver satisfaction level autonomous controller expended driver energy human-machine shared control vehicle lane keeping systems SHERPA dynamic vehicle simulator

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Quantifying the impact of probe vehicle localisation data errors on signalised junction control

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IET INTELLIGENT TRANSPORT SYSTEMS 2012年第2期6卷 197-203页

作者： Waterson, B. Box, S. Univ Southampton Transportat Res Grp Southampton SO17 1BJ Hants England

This study investigates theoretical signal control algorithms based solely on probe vehicle data. Through development of a simulation system that can model urban signalised junction control using localisation probe data from all vehicles in the local area, improvements in junction operational efficiency that result from the improved input data are demonstrated for both isolated and coordinated junctions. Results from the isolated junction scenario show that the richness of the information contained within probe vehicle data means that control algorithms based just on positions and velocities of vehicles can produce 25% reductions in average delay compared to the current standard control algorithm MOVA. Results from the twin junction scenario confirm the importance of using high-level synchronisation to coordinate closely connected junctions, achieving reductions in average delays (compared to independent control approaches) of up to 40% through a process of weighting the probe vehicle data to reflect prior stage decisions of other parts of the junction. Critical to achieving these benefits, however, is the availability of high localisation accuracy probe data, with results indicating that the levels of accuracy necessary are representative of the typical performance of current in-vehicle global positioning system units, except when those vehicles are operating in urban canyon environments.

关键词： signalised junction control Global Positioning System Spatial variables control reliability urban canyon environments vehicle velocity control algorithms standard control algorithm probe vehicle localisation data errors MOVA junction operational efficiency road traffic control simulation system delays synchronisation high-level synchronisation coordinated junctions twin junction scenario velocity control theoretical signal control algorithms road-traffic system control vehicle position control algorithms Velocity, acceleration and rotation control road vehicles control engineering computing position control in-vehicle global positioning system

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Cooperative distributed predictive control for collision-free vehicle platoons

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IET INTELLIGENT TRANSPORT SYSTEMS 2019年第5期13卷 816-824页

作者： Zheng, Huarong Wu, Jun Wu, Weimin Negenborn, Rudy R. Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Zheda Rd 38 Hangzhou 310027 Zhejiang Peoples R China Delft Univ Technol Dept Maritime & Transport Technol Mekelweg 2 NL-2628 CD Delft Netherlands

The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and to respond to speed changes in a collision-free, stable and cooperative way. The platoon is modelled as a cascaded network with linear longitudinal vehicle dynamics, independent physical constraints, and coupling safety constraints. In the case of global information sharing, the authors first propose a centralised collision-free solution on the basis of model predictive control that guarantees asymptotic platoon tracking of speed changes and satisfaction of system constraints during the transient process. A cooperative distributed approach is then further proposed on the basis of the alternating direction method of multipliers resulting in a scheme involving communication only with the roadside infrastructure, e.g. the speed manager. Vehicles in a platoon conduct parallel computation while still achieving global optimal performance and coordination with respect to the collision avoidance constraints. Convergence properties of the distributed solutions are established for the concerned vehicle platoon problem. Simulation results show satisfactory platoon performance and demonstrate the effectiveness of the proposed algorithms.

关键词： collision avoidance road safety predictive control vehicle dynamics road traffic control decentralised control distributed control vehicles optimisation road vehicles distributed predictive control collision-free vehicle platoons rapidly developing computing individual vehicles dynamic speed management intelligent vehicles desired inter-vehicle spaces speed changes cooperative way cascaded network linear longitudinal vehicle dynamics independent physical constraints coupling safety constraints global information sharing centralised collision-free solution model predictive control asymptotic platoon tracking system constraints distributed approach speed manager platoon conduct parallel computation collision avoidance constraints distributed solutions concerned vehicle platoon problem satisfactory platoon performance

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Safety impact of cooperative adaptive cruise control vehicles' degradation under spatial continuous communication interruption

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IET INTELLIGENT TRANSPORT SYSTEMS 2022年第3期16卷 309-331页

作者： Yu, Weijie Hua, Xuedong Zhao, De Wang, Wei Xiang, Yun Southeast Univ Sch Transportat Nanjing Peoples R China Southeast Univ Jiangsu Prov Collaborat Innovat Ctr Modern Urban Nanjing Peoples R China Jiangxi Normal Univ Coll City Construct Nanchang Jiangxi Peoples R China

Cooperative adaptive cruise control is recognised as an effective means to reduce the rear-end collision caused by the delayed reaction and improper driving behaviours of manually driven vehicles. However, vehicle-to-vehicle communication, as the key to collect information for the cooperative adaptive cruise control system, is likely to be interrupted by malicious attacks and equipment failures. When communication interruption occurs, sensors of the adaptive cruise control system will replace vehicle-to-vehicle communication for information collection, that is, cooperative adaptive cruise control vehicles degrade to adaptive cruise control vehicles automatically, causing an increased rear-end collision risk. This study aims to investigate the safety impact of cooperative adaptive cruise control vehicles' degradation under spatial continuous communication interruption. A mixed platoon, consisting of cooperative adaptive cruise control vehicles, adaptive cruise control vehicles, manually driven vehicles, and improved manually driven vehicles with information-sending devices, is simulated with the realistic cooperative adaptive cruise control and adaptive cruise control model, and the intelligent driver model. Different platoon forms are discussed by adjusting the quantity and position of manually driven vehicles in the mixed platoon. The results show that manually driven vehicles can effectively block the backward extension of speed fluctuation and reduce the rear-end collision risk under the spatial continuous communication interruption. Nevertheless, equipping manually driven vehicles with information-sending devices weakens the ability to defend against communication interruption.

关键词： backward extension cooperative adaptive cruise control vehicles degradation intelligent driver model road vehicles intelligent transportation systems safety impact spatial continuous communication interruption vehicle-to-vehicle communication speed fluctuation rear-end collision risk adaptive cruise control system adaptive control mixed platoon road safety road traffic control vehicular ad hoc networks collision avoidance velocity control information-sending devices manually driven vehicles

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