Hybrid vehicle techniques have been widely studied recently because of their potential to significantly improve the fuel economy and drivability future ground vehicles. Due dual-power-source nature these vehicles, control strategies based on engineering intuition frequently fail fully explore advanced In this paper, we present a procedure for design near-optimal power management strategy. The starts by defining cost function, such as minimizing combination consumption selected emission...

A number of strategies for the power management hybrid electric vehicles (HEVs) are proposed in literature. key challenge is to achieve near-optimality while keeping methodology simple. The Pontryagin's minimum principle (PMP) suggested as a viable real-time strategy. In this brief, global optimality under reasonable assumptions described from mathematical viewpoint. Instantaneous optimal control with an appropriate equivalent parameter battery usage shown be possibly solution assumption...

Toyota hybrid system (THS) is used in the current best selling vehicle on market-the Prius. This contains a power-split planetary gear which combines benefits of series and parallel vehicles. In this paper, we developed dynamic model THS powertrain then apply it for model-based control development. Two algorithms are introduced: one based stochastic programming method, other equivalent consumption minimization strategy. Both approaches determine engine power overall efficiency electrical...

This paper presents a preview steering control algorithm and its closed-loop system analysis experimental validation for accurate, smooth, computationally inexpensive path tracking of automated vehicles. The issue is formulated as an optimal problem with dynamic disturbance, i.e., the future road curvature. A discrete-time controller then designed on top linear augmented error system, in which disturbances within finite window are part state vector. obtained law analytic form consists two...

A nonlinear fuel cell system dynamic model that is suitable for control study presented. The transient phenomena captured in the include flow characteristics and inertia dynamics of compressor, manifold filling dynamics, consequently, reactant partial pressures. Characterization polarization curves based on time varying current, oxygen hydrogen pressures, temperature, membrane hydration allows analysis simulation power generation. An observer feedback feedforward controller manages tradeoff...

Connected and automated vehicles (CAVs) show great potential to improve both traffic efficiency safety by sharing information. This paper addresses the problem of coordinating two strings at highway on-ramps efficiently safely in longitudinal direction. A rule-based adjusting algorithm is proposed achieve a near-optimal merging sequence for coming from mainline entering through ramp. Optimality analysis indicates that method performs very well compared with global optimal solutions....

We present Vehicle Energy Dataset (VED), a large-scale dataset of fuel and energy data collected from 383 personal cars in Ann Arbor, Michigan, USA. This open captures GPS trajectories vehicles along with their time-series fuel, energy, speed, auxiliary power usage. A diverse fleet consisting 264 gasoline vehicles, 92 HEVs, 27 PHEV/EVs drove real-world Nov, 2017 to 2018, where the were through onboard OBD-II loggers. Driving scenarios range highways traffic-dense downtown area various...

Delay and lag deteriorate path tracking accuracy system stability. If not properly compensated, they can cause instability or limit the driving speed of autonomous vehicles. This paper presents a preview steering control design considering both communication delay to achieve accurate, smooth, computationally efficient for highly automated Two strategies are adopted delay: forward state predictor augmentation. The is approximated by first-order system. problem with solved theory. resulted...

When current is drawn from a fuel cell, it critical that the reacted oxygen replenished rapidly by air supply system to avoid stack starvation and damage. We first explain in stand-alone there lack of control authority avoiding excessive during high demand. In hybrid configuration introduced A small auxiliary power source significantly extends starvation. To achieve best possible results without violating operational constraints system, well-devised split strategy required. formulate...

Exiting from highways in crowded dynamic traffic is an important path planning task for autonomous vehicles (AVs). This can be challenging because of the uncertain motion surrounding and limited sensing/observing window. Conventional methods usually compute a mandatory lane change (MLC) command, but behavior (e.g., vehicle speed gap acceptance) should also adapt to conditions urgency exiting. In this paper, we propose reinforcement learning-enhanced highway-exit planner. The learning-based...

Reinforcement learning (RL) can be used to design smart driving policies in complex situations where traditional methods cannot. However, they are frequently black-box nature, and the resulting policy may perform poorly, including scenarios few training cases available. In this paper, we propose a method use RL under two conditions: (i) works together with baseline rule-based policy; (ii) intervenes only when seems have difficulty handling confidence of is high. Our motivation not-well...

This paper describes the mathematical modeling, analysis, and simulation results of a novel electrical variable transmission (EVT) for series–parallel hybrid electric vehicle (SPHEV). The proposed EVT uses two-degree-of-freedom (2-DOF) planetary gearset with four clutches to combine an engine two machines vehicle. topology is same as that conventional four-speed automatic transmissions. Therefore, can be mass-produced quite easily packaged. Nine operation modes realized. properly arranged...

Eco-driving through multiple intersections can have significant fuel benefit for road transportation. Many existing studies assume that a vehicle runs at constant speed between intersections, which lead to large error in prediction and trajectory optimization. By directly taking powertrain dynamics into consideration, this paper generic operating rules of fuel-optimal operation connected vehicles traveling arbitrary two red-signalized intersections. An optimal control problem is formulated...

This article presents a model-based motion planning and control system for autonomous vehicles its experimental validation. The consists of four modules: 1) global routing; 2) behavior planner; 3) local trajectory generation; 4) tracking. algorithm software each module are detailed, including planner with unified models to handle typical scenarios in both highway urban driving, deterministic sampling robust responsive generation, dynamics-and-delay-aware preview achieve accurate developed is...

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Control strategies have been developed for hybrid electric vehicles (HEV) that minimize fuel consumption while satisfying a charge sustaining constraint. Since one of the components an HEV is typically ubiquitous internal combustion engine, tailpipe emissions must also be considered. This paper uses shortest-path stochastic dynamic programming (SP-SDP) to address minimization weighted sum and...

In this paper, two different approaches are proposed for simultaneous mass and grade estimation heavy-duty vehicles. the first method, an observer is used which can estimate time-varying given their feasible range. The second approach a recursive least square method with forgetting. Inclusion of multiple forgetting factors makes algorithm suitable constant fast parameter. Accurate good tracking demonstrated in simulations.

A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy not readily available from low-cost global navigation satellite system (GNSS) receivers because of factors such as multipath error and atmospheric bias. Approaches differential GNSS can improve localization accuracy, but usually require investment in expensive base stations. Connected provide an alternative approach improving the accuracy. It will be shown this paper that enhanced using crude...

Power-split hybrid technologies have been transformed from single mode to multimode realize even greater savings in fuel and more powerful output. However, the optimization procedure of shift map for electric vehicles (HEVs) has not formalized. In this paper, types are first classified as direct/indirect conditional/unconditional. The optimal path with minimum energy variation indirect is formulated a shortest problem solved by Dijkstra's algorithm. By taking loss during into consideration,...

Power split hybrid electric vehicles (PS-HEVs) dominate the US and Japanese HEV market because of their superior fuel economy drivability. In recent years, multi-mode PS-HEVs are offered by Toyota GM. With multiple modes, it is possible for to have both good launching/towing performance economy. Multiple modes achieved adding clutches or brakes. However, corresponding design space can be quite large. To expedite process, a hierarchical topological graph theory approach developed...

This paper reports on nonintrusive methods for characterizing the longitudinal performance of vehicles equipped with adaptive cruise control (ACC) systems. It experimental set-up and procedures measuring ACC system performance, followed by modeling simulation measured performance. To further assess interaction human-controlled traffic, microscopic involving both a human-driver model an is discussed.

Lane detection on road segments with complex topologies such as lane merge/split and highway ramps is not yet a solved problem. This paper presents novel graph-embedded solution. It consists of two key parts, learning-based low-level feature extraction algorithm, inference algorithm. The former reduces the over-reliance customized annotated/labeled data. We leveraged several open-source semantic segmentation datasets (e.g., Cityscape, Vistas, Apollo) designed dedicated network that can be...

A highly automated vehicle (HAV) is a safety-critical system. Therefore, verification and validation (V&V) process that rigorously evaluates the safety of HAVs necessary before their release to market. In this paper, we propose an interaction-aware evaluation framework for HAV apply it roundabout entering scenario. Instead assuming primary other vehicles (POVs) take predetermined maneuvers, model POVs as game-theoretic agents. To capture wide variety interactions between under test (VUT),...

In the design of hybrid vehicles, it is important to identify proper component sizes. When search space problem large, exhaustive power management strategy such as dynamic programming (DP) too time-consuming be feasible. Instead, a near-optimal method that orders magnitude faster than DP needed. One developed and presented in this paper. This applied an input-split vehicle utilizing single planetary gear (PG). There are 6 possible input split configurations, each configuration has up 4 modes...

To accelerate self-driving technology developments, testing platforms modified from production passenger cars are widely used nowadays, but the powertrain models and control access to engine/motor often not available, e.g., popular hybrid Lincoln MKZ platform only opens brake/throttle pedal protocol for longitudinal motion. These limitations motivate us model dynamics by experiments design new speed controls, differing conventional cruise that manipulates engine/brake torque directly with...

This paper presents experimental results of a force tracking controller for quarter-car active suspension system. In the authors' previous article (1999), an architecture was presented. The overall system decomposed into two loops. At main loop, desired signal is calculated by using standard LQ design process. adaptive robust control technique then used to such that achieved in manner when actuator or other plant uncertainties are present. Experimental proposed force-tracking algorithm...