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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Liu, Ke Wang, Honglin Fu, Yao Liu, Haoran The State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

ISBN: (纸本)9798350340488

Intelligent vehicle trajectory planning is a multi-objective coupling optimization problem with multiple constraints. Rapid generation of collision-free smooth trajectories that meet kinematic and dynamic constraints can improve the safety and comfort of intelligent vehicle lane-changing process. In order to improve the efficiency of trajectory planning, this paper uses the path and speed decoupling method to generate a feasible lane-changing trajectory set. First, the B-spline curve is used to generate a feasible lane-changing path, and then the speed planning is completed based on Dynamic programming (DP) and Quadratic programming (QP). Considering safety, comfort and efficiency, a comprehensive cost function is established, and the trajectory with the smallest cost function is selected as the output target. The safety cost function is based on the theory of driving risk field, and the safety potential energy index is used to evaluate the safety of the trajectory, which can quantify the risk level of the surrounding traffic factors on the whole process of lane-changing. The simulation results show that the proposed method can quickly plan a reasonable trajectory in the lane-changing scene, and can effectively avoid collision with dynamic obstacles while maintaining safety and efficiency. © 2023 IEEE.

关键词： comprehensive cost function intelligent vehicle surrounding risk trajectory planning

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Hybrid Adaptive Event‑Triggered Platoon control with Package Dropout

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automotive Innovation 2022年第4期5卷 347-358页

作者： Jiawei Wang Fangwu Ma Liang Wu Guanpu Wu The State Key Laboratory of Automotive Simulation and Control Jilin University5988 Renmin StreetChangchun 130022China

A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of package *** deal with the disturbance caused by the event-triggered scheme,the parameter space approach is adopted to derive the feasible region from which cooperative adaptive cruise control controller satisfies internal stability,distance accuracy,and string ***,the Bernoulli random distribution process is employed to depict the phenomenon of package drop-out,and the hybrid coefficient is proposed to realize the allocation between the adaptive trigger threshold strategy and the adaptive headway *** simulation of a six-vehicle platoon is carried out to verify the effectiveness of the designed control *** show that about 78.76%of communication resources have been saved by applying the event-triggered scheme,while guaranteeing the desired vehicle-following *** in the non-ideal communication environment with frequent package dropouts,the hybrid adaptive strategy achieves the coordination among communication resource utilization,string stability margin,distance accuracy,and traffic efficiency.

关键词： Cooperative adaptive cruise control Event-triggered scheme Hybrid adaptive strategy Package dropout Parameter space approach

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Real-Time Co-optimization of Gear Shifting and Engine Torque for Predictive Cruise control of Heavy-Duty Trucks

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 294-317页

作者： Hongqing Chu Xiaoxiang Na Huan Liu Yuhai Wang Zhuo Yang Lin Zhang Hong Chen School of Automotive Studies Tongji UniversityShanghaiChina Department of Engineering University of CambridgeCambridgeUK State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchunChina Qingdao Automotive Research Institute Jilin UniversityQingdaoChina Dongfeng Commercial Vehicle Technology Center Dongfeng Motor CorporationWuhanChina

Fuel consumption is one of the main concerns for heavy-duty *** cruise control(PCC)provides an intriguing opportunity to reduce fuel consumption by using the upcoming road *** this study,a real-time implementable PCC,which simultaneously optimizes engine torque and gear shifting,is proposed for heavy-duty *** minimize fuel consumption,the problem of the PCC is formulated as a nonlinear model predictive control(MPC),in which the upcoming road elevation information is *** the solution of the nonlinear MPC is time consuming;thus,a real-time implementable solver is developed based on Pontryagin’s maximum principle and indirect shooting *** programming(DP)algorithm,as a global optimization algorithm,is used as a performance benchmark for the proposed ***,hardware-in-the-loop and real-truck experiments are conducted to verify the performance of the proposed *** results demonstrate that the MPC-based solution performs nearly as well as the DP-based solution,with less than 1%deviation for testing ***,the proposed co-optimization controller is implementable in a real-truck,and the proposed MPC-based PCC algorithm achieves a fuel-saving rate of 7.9%without compromising the truck’s travel time.

关键词： Heavy-duty truck Predictive cruise control Model predictive control Pontryagin’s maximum principle Real-truck implementation

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Research on Testing Platform Based on Electric Driven Digital Twin Model

Research on Testing Platform Based on Electric Driven Digita...

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Society of automotive Engineers - China Congress, SAE-China 2023

作者： Fu, Yu ShouFu, Sun ZhiGuo, Kong Fang, Wang Xin, Huang State Key Laboratory of Automotive Simulation and Control ChangChun China Co. Ltd. TianJin China

ISBN: (纸本)9789819702510

In order to solve the problem that multiple system integration tests cannot be carried out due to the lack of electric drive systems in the early stage of vehicle development, a virtual reality combination test scheme based on the digital twin model of electric drive systems was proposed, and a method for constructing the digital twin model of electric drive systems was presented. The calculated and measured values of the digital twin model of water outlet temperature of electric drive systems under different operating conditions were compared, with a maximum error of only 4.7%. This digital twin model has the characteristics of accuracy, efficiency, and stability. Based on this model, multiple system integration virtual reality integration testing can be completed in the absence of an electric drive system, and vehicle thermal management performance can be evaluated at the early stage of vehicle development. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Virtual reality

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A Mode-Switching Soot Load Observer for automotive Particulate Filters 7

A Mode-Switching Soot Load Observer for Automotive Particula...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Lin, Xiangxue Hu, Yunfeng Jiang, Linlin Gong, Xun Sun, Yao State Key Laboratory of Automotive Simulation and Control College of Telecommunications Engineering Jilin University Changchun China FAW-Volkswagen Technology Center Changchun China State Key Laboratory of Automotive Simulation and Control College of Artificial Intelligence Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control College of Automotive Engineering Jilin University Changchun China

ISBN: (纸本)9798350340488

In automotive particulate filter applications, accurate real-time soot load is critical to filter regeneration, which significantly affects vehicle safety and economics. Based on the modified soot accumulation and filter pressure drop characteristics, equations of state and measurement have been deduced, and a corresponding novel Luenberger observer is developed. Due to the limitations of the differential pressure sensor, the deviation of its measurement value is small at small exhaust flow rates and can not reflect the soot load. To figure out this issue, a mode-switching strategy is proposed to schedule the correction gain according to the exhaust flow rate. A co-simulation platform has been built to validate the observer, which adopts GT-Power as the test vehicle. Compared with the open-loop observer under single and multiple NEDC cycles, the mode-switching observer shows some improvement, and the maximum deviation is reduced from 0.58g/L to 0.1g/L. Thus, by reducing the times of regenerations, fuel consumption can be saved about 8%. Finally, the proposed observer shows better robustness when a disturbance occurs, the maximum deviation still maintain a low level of about 0.25g/L. © 2023 IEEE.

关键词： Luenberger observer Mode-switching Particulate filter Soot accumulation and regeneration soot load Transient cycle validation

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Experimental Study on the Effects of Ammonia Energy Substitution Rate on Combustion and Emission Performance in a Hydrogen Engine

Experimental Study on the Effects of Ammonia Energy Substitu...

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2024 Vehicle Powertrain Diversification Technology Forum, VPD 2024

作者： Wu, Weilong Xie, Fangxi Chen, Hong Du, Jiakun Li, Yong Guangzhou Automobile Group Co Ltd China State Key Laboratory of Automotive Simulation and Control China GAC Automotive Research & Development Center China

To advance the application of zero-carbon ammonia fuel, this paper presents an experimental investigation on the potential of ammonia substitution using a 2.0L ammonia-hydrogen engine, where ammonia is injected into the intake port and hydrogen is directly injected into the cylinder. The study examines the effects of ammonia substitution rate under various load conditions on engine combustion and emission performance. Results indicate that the maximum ammonia energy substitution rate reached 98%, and within the stable combustion boundary, the mass fraction of unburned ammonia was less than 3%. The ammonia energy substitution ratio increased with load, and ammonia addition significantly suppressed pre-ignition and knocking. As ammonia content increased, ignition timing advanced, combustion duration extended, ignition delay prolonged, COV increased, peak cylinder pressure, and pressure rise rate decreased, with a corresponding decrease in peak heat release rate. Compared to a pure hydrogen engine, the ammonia-hydrogen dual-fuel engine significantly improved brake thermal efficiency (BTE), which continued to rise with increasing ammonia energy substitution rate. At BMEP = 0.8 MPa, BTE reached a maximum of 41.1%. With increased ammonia addition, unburned NH3 emissions in the exhaust gradually increased, while NOx emissions decreased overall, but N2O emissions showed an increasing trend. © 2025 SAE International.

关键词： Hydrogen engines

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Spatial-Temporal Feature Extraction and Evaluation Network for Citywide Traffic Condition Prediction

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年第9期9卷 1-16页

作者： Chu, Liang Hou, Zhuoran Jiang, Jingjing Yang, Jun Zhang, Yuanjian State Key Laboratory of Automotive Simulation and Control Jilin University No. 5988 Renmin Street Nanguan District Changchun China Department of Aeronautical and Automotive Engineering Loughborough University Leicestershire UK

Traffic condition prediction is crucial for executing traffic control and scheduling tasks within intelligent transportation systems. With diversified data sources, effectively modeling the complex spatial-temporal dependencies in the whole traffic network and predicting nonlinear general traffic condition changes become primary challenges for intelligent transportation systems. In this paper, a double-layer spatial-temporal feature extraction and evaluation (DL-STFEE) model is proposed, aimed at accurately predicting the traffic condition transferring of the whole traffic network. Firstly, a public traffic dataset is processed to extract the spatial and temporal features of vehicles, as well as the clusters of traffic conditions of the entire traffic network. Secondly, a double-layer deep learning traffic condition predictor is proposed. The model incorporates a spatial-temporal feature extraction layer, which leverages the graph convolution network (GCN) and attention mechanism to obtain spatiotemporal features across the whole traffic network. Additionally, a spatial-temporal combination layer employs a high-dimensional self-attention mechanism to integrate features across spatial-temporal combinations, bolstering prediction accuracy. Finally, through rigorous experiments, the contributions of neural network structures on the spatial-temporal feature extraction are comprehensively analyzed and the experiments also validate the effectiveness of traffic condition prediction by the proposed DL-STFEE model. IEEE

关键词： Feature extraction

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Towards Safety: A Dual-Mode Tracking control on Roads for the Flying Automobile with Limited Preview Information 8

Towards Safety: A Dual-Mode Tracking Control on Roads for th...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Liu, Mengke Li, Dan Lv, Ying Guo, Hongyan Cao, Yuntao Liu, Qiuzheng China Faw Group .Ltd National Key Laboratory of Advanced Vehicle Integration and Control Changchun China Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China

ISBN: (纸本)9798331504892

Tracking control on roads of autonomous and connected flying automobiles (ACFA), is critical for safety, particularly in emergencies. In these situations, the ACFA must either generate its trajectory in real-time (for instance, to execute an evasive maneuver if an obstacle is detected) or obtain trajectory data from external sources. Generally, the ACFA receives this trajectory information as GPS time samples. However, the feedback control scheme must compensate for the ACFA's lateral speed data, which is not directly accessible. In this paper, we propose a dual-mode approach to design a tracking control scheme for an ACFA, which is achieved through three steps: (1) Using limited preview information from GPS waypoint samples, we calculate the trajectory's radii of curvature with 'least-square' estimation, (2)we design a linear model predictive control(MPC) with Kalman filter (KF) for high tracking performance, and(3) When high-level control fails, by using errors as the position, heading, and heading rate we design a feedback control strategy with a fixed structure to track the desired trajectory by calculating stabilizing gains. The effectiveness of the proposed methods is demonstrated through virtual simulation results. © 2024 IEEE.

关键词： Feedback control

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Air-Fuel Ratio control of SI Engine Based on Feedback Linearization 7

Air-Fuel Ratio Control of SI Engine Based on Feedback Linear...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Liu, Xin Sun, Shaolong Li, Xinfang Gao, Jinwu State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun China

ISBN: (纸本)9798350340488

Vehicle engines often operate under various operating conditions, and their air fuel ratio (AFR) system has characteristics of nonlinearity, time-varying, and time delay, which can bring difficulties to system modeling and affect the control effect of the air fuel ratio. Therefore, studying control strategies that consider the characteristics of the air fuel ratio system is of great significance. Firstly, the engine air fuel ratio system is modeled, and a feedback linearization control method is used to design an air fuel ratio controller to ensure that the engine's air fuel ratio is stable at the target value. Finally, the effectiveness of the modeling of the air fuel ratio system and the air fuel ratio controller was verified through experiments. © 2023 IEEE.

关键词： AFR control extended State observer feedback linearization control wet wall effect

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Attitude control of Active Suspension All-Terrain Vehicle Based on LQR

Attitude Control of Active Suspension All-Terrain Vehicle Ba...

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2023中国汽车工程学会年会暨展览会

作者： Wu Liang Li Shucheng Xu Guangjian Zhang Weizhou Jia Weiwei The State Key Laboratory of Automotive Simulation and Control Jilin University Jilin University of Finance and Economics

ISBN: (纸本)9789819702510

In order to enhance the attitude control ability of all-terrain vehicles in complex terrain,a dual closed-loop control strategy based on LQR controller is designed with series active suspension all-terrain vehicles as the research ***,considering the kinematic and dynamic relationships between each mechanism of the all-terrain vehicle,a vehicle dynamic model based on the speed control of the actuator is constructed on the basis of the traditional active suspension force ***,a terrain estimation algorithm based on all-terrain vehicle model is studied,and a LQR controller suitable for attitude adjustment is ***,three pavement models are established to simulate real road conditions for verifying the accuracy of the dynamic model with terrain estimation model and the effectiveness of attitude *** results show that the collaborative control strategy proposed in this paper has good adaptability to working conditions,and the peak and Root mean square values of vertical displacement,pitch angle and roll angle of allterrain vehicle body are reduced by 30%-50%,which can greatly improve the ride comfort and attitude stability of all-terrain vehicle.

关键词： active suspension all-terrain vehicle attitude control LQR

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