scholarly journals Integrated Longitudinal and Lateral Control System Design and Case Study on an Electric Vehicle

2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Jin Zhao ◽  
Haolong Fu ◽  
Dongjie Liu ◽  
Guangwei Wang ◽  
Abdelkader El Kamel
Keyword(s):  
Electric Vehicle ◽  
Longitudinal Design ◽  
Integrated Control ◽  
Autonomous Vehicle ◽  
Field Tests ◽  
Lane Changing ◽  
Experiment Platform ◽  
Lane Tracking ◽  
Upper Level

This paper presents the design of an integrated longitudinal and lateral controller for autonomous vehicle and field tests with an electric vehicle. First, the longitudinal design was studied which includes the spacing policy as the upper level controller and throttle and brake control as the lower level controller. A safety spacing policy was proposed considering both the vehicle states and the vehicle capability. A coordinated throttle and brake controller was also designed to ensure the vehicle pursuing the desired acceleration. Second, a multimodel lateral controller was proposed which can perform the lane tracking and lane changing manoeuvres. Then, an integrated control structure was proposed to manage both the longitudinal and lateral controller. Finally, simulation and visualization works were carried out to validate the proposed solutions. An electric vehicle experiment platform was also built, and field tests showed encouraging results.

scholarly journals Integrated Avoid Collision Control of Autonomous Vehicle Based on Trajectory Re-Planning and V2V Information Interaction

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1079 ◽  
Author(s):  
Fen Lin ◽  
Kaizheng Wang ◽  
Youqun Zhao ◽  
Shaobo Wang
Keyword(s):  
Autonomous Vehicles ◽  
Control Method ◽  
Integrated Control ◽  
Autonomous Vehicle ◽  
Longitudinal Velocity ◽  
Reference Trajectory ◽  
Threshold Method ◽  
Lane Changing ◽  
Information Interaction ◽  
Fitting In

An integrated longitudinal-lateral control method is proposed for autonomous vehicle trajectory tracking and dynamic collision avoidance. A method of obstacle trajectory prediction is proposed, in which the trajectory of the obstacle is predicted and the dynamic solution of the reference trajectory is realized. Aiming at the lane changing scene of autonomous vehicles driving in the same direction and adjacent lanes, a trajectory re-planning motion controller with the penalty function is designed. The reference trajectory parameterized output of local reprogramming is realized by using the method of curve fitting. In the framework of integrated control, Fuzzy adaptive (proportional-integral) PI controller is proposed for longitudinal velocity tracking. The selection and control of controller and velocity are realized by logical threshold method; A model predictive control (MPC) with vehicle-to-vehicle (V2V) information interaction modular and the driver characteristics is proposed for direction control. According to the control target, the objective function and constraints of the controller are designed. The proposed method’s performance in different scenarios is verified by simulation. The results show that the autonomous vehicles can avoid collision and have good stability.

scholarly journals Optimized Strategic Planning of Future Norwegian Low-Voltage Networks with a Genetic Algorithm Applying Empirical Electric Vehicle Charging Data

Electricity ◽  
2021 ◽  
Vol 2 (1) ◽  
pp. 91-109
Author(s):  
Julian Wruk ◽  
Kevin Cibis ◽  
Matthias Resch ◽  
Hanne Sæle ◽  
Markus Zdrallek
Keyword(s):  
Genetic Algorithm ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
Low Voltage ◽  
Network Planning ◽  
Voltage Regulation ◽  
Electric Vehicle Charging ◽  
Vehicle Charging ◽  
The Impact

This article outlines methods to facilitate the assessment of the impact of electric vehicle charging on distribution networks at planning stage and applies them to a case study. As network planning is becoming a more complex task, an approach to automated network planning that yields the optimal reinforcement strategy is outlined. Different reinforcement measures are weighted against each other in terms of technical feasibility and costs by applying a genetic algorithm. Traditional reinforcements as well as novel solutions including voltage regulation are considered. To account for electric vehicle charging, a method to determine the uptake in equivalent load is presented. For this, measured data of households and statistical data of electric vehicles are combined in a stochastic analysis to determine the simultaneity factors of household load including electric vehicle charging. The developed methods are applied to an exemplary case study with Norwegian low-voltage networks. Different penetration rates of electric vehicles on a development path until 2040 are considered.

scholarly journals Cooperative Control Mechanism of Long Flexible Bolts and Blasting Pressure Relief in Hard Roof Roadways of Extra-Thick Coal Seams: A Case Study

2021 ◽  
Vol 11 (9) ◽  
pp. 4125
Author(s):  
Zhe Xiang ◽  
Nong Zhang ◽  
Zhengzheng Xie ◽  
Feng Guo ◽  
Chenghao Zhang
Keyword(s):  
Coal Seam ◽  
Cooperative Control ◽  
Field Tests ◽  
Surrounding Rock ◽  
Deep Hole ◽  
Coal Seams ◽  
Thick Coal Seam ◽  
Structure Damage ◽  
Hard Roof

The higher strength of a hard roof leads to higher coal pressure during coal mining, especially under extra-thick coal seam conditions. This study addresses the hard roof control problem for extra-thick coal seams using the air return roadway 4106 (AR 4106) of the Wenjiapo Coal Mine as a case study. A new surrounding rock control strategy is proposed, which mainly includes 44 m deep-hole pre-splitting blasting for stress releasing and flexible 4-m-long bolt for roof supporting. Based on the new support scheme, field tests were performed. The results show that roadway support failure in traditional scenarios is caused by insufficient bolt length and extensive rotary subsidence of the long cantilever beam of the hard roof. In the new proposed scheme, flexible 4-m-long bolts are shown to effectively restrain the initial expansion deformation of the top coal. The deflection of the rock beam anchored by the roof foundation are improved. Deep-hole pre-splitting blasting effectively reduces the cantilever distance of the “block B” of the voussoir beam structure. The stress environment of the roadway surrounding rock is optimized and anchorage structure damage is inhibited. The results provide insights regarding the safe control of roadway roofs under extra-thick coal seam conditions.

scholarly journals Vehicle Energy Consumption in Python (VencoPy): Presenting and Demonstrating an Open-Source Tool to Calculate Electric Vehicle Charging Flexibility

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4349
Author(s):  
Niklas Wulff ◽  
Fabia Miorelli ◽  
Hans Christian Gils ◽  
Patrick Jochem
Keyword(s):  
Open Source ◽  
Electric Vehicle ◽  
Full Range ◽  
Mobility Patterns ◽  
Electric Vehicle Charging ◽  
Survey Results ◽  
Vehicle Demand ◽  
Vehicle Fleet ◽  
Electric Loads

As electric vehicle fleets grow, rising electric loads necessitate energy systems models to incorporate their respective demand and potential flexibility. Recently, a small number of tools for electric vehicle demand and flexibility modeling have been released under open source licenses. These usually sample discrete trips based on aggregate mobility statistics. However, the full range of variables of travel surveys cannot be accessed in this way and sub-national mobility patterns cannot be modeled. Therefore, a tool is proposed to estimate future electric vehicle fleet charging flexibility while being able to directly access detailed survey results. The framework is applied in a case study involving two recent German national travel surveys (from the years 2008 and 2017) to exemplify the implications of different mobility patterns of motorized individual vehicles on load shifting potential of electric vehicle fleets. The results show that different mobility patterns, have a significant impact on the resulting load flexibilites. Most obviously, an increased daily mileage results in higher electricty demand. A reduced number of trips per day, on the other hand, leads to correspondingly higher grid connectivity of the vehicle fleet. VencoPy is an open source, well-documented and maintained tool, capable of assessing electric vehicle fleet scenarios based on national travel surveys. To scrutinize the tool, a validation of the simulated charging by empirically observed electric vehicle fleet charging is advised.

scholarly journals Design Framework Based on TEC21 Educational Model and Education 4.0 Implemented in a Capstone Project: A Case Study of an Electric Vehicle Suspension System

2021 ◽  
Vol 13 (11) ◽  
pp. 5768
Author(s):  
Hugo A López ◽  
Pedro Ponce ◽  
Arturo Molina ◽  
María Soledad Ramírez-Montoya ◽  
Edgar Lopez-Caudana
Keyword(s):  
Electric Vehicle ◽  
Industry 4.0 ◽  
Engineering Students ◽  
Traditional Education ◽  
Educational Model ◽  
Capstone Project ◽  
Future Challenges ◽  
Vehicle Suspension System ◽  
Competencies Development

Nowadays, engineering students have to improve specific competencies to tackle the challenges of 21st-century-industry, referred to as Industry 4.0. Hence, this article describes the integration and implementation of Education 4.0 strategies with the new educational model of our university to respond to the needs of Industry 4.0 and society. The TEC21 Educational Model implemented at Tecnologico de Monterrey in Mexico aims to develop disciplinary and transversal competencies for creative and strategic problem-solving of present and future challenges. Education 4.0, as opposed to traditional education, seeks to provide solutions to these challenges through innovative pedagogies supported by emerging technologies. This article presents a case study of a Capstone project developed with undergraduate engineering students. The proposed structure integrates the TEC21 model and Education 4.0 through new strategies and laboratories, all linked to industry. The results of a multidisciplinary project focused on an electric vehicle racing team are presented, composed of Education 4.0 elements and competencies development in leadership, innovation, and entrepreneurship. The project was a collaboration between academia and the productive sector. The results verified the students’ success in acquiring the necessary competencies and skills to become technological leaders in today’s modern industry. One of the main contributions shown is a suitable education framework for bringing together the characteristics established by Education 4.0 and achieved by our educational experience based on Education 4.0.

scholarly journals A Game Theory-Based Approach for Modeling Autonomous Vehicle Behavior in Congested, Urban Lane-Changing Scenarios

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1523
Author(s):  
Nikita Smirnov ◽  
Yuzhou Liu ◽  
Aso Validi ◽  
Walter Morales-Alvarez ◽  
Cristina Olaverri-Monreal
Keyword(s):  
Game Theory ◽  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Urban Traffic ◽  
Road User ◽  
Lane Change ◽  
Traffic Light ◽  
User Interactions ◽  
Lane Changing

Autonomous vehicles are expected to display human-like behavior, at least to the extent that their decisions can be intuitively understood by other road users. If this is not the case, the coexistence of manual and autonomous vehicles in a mixed environment might affect road user interactions negatively and might jeopardize road safety. To this end, it is highly important to design algorithms that are capable of analyzing human decision-making processes and of reproducing them. In this context, lane-change maneuvers have been studied extensively. However, not all potential scenarios have been considered, since most works have focused on highway rather than urban scenarios. We contribute to the field of research by investigating a particular urban traffic scenario in which an autonomous vehicle needs to determine the level of cooperation of the vehicles in the adjacent lane in order to proceed with a lane change. To this end, we present a game theory-based decision-making model for lane changing in congested urban intersections. The model takes as input driving-related parameters related to vehicles in the intersection before they come to a complete stop. We validated the model by relying on the Co-AutoSim simulator. We compared the prediction model outcomes with actual participant decisions, i.e., whether they allowed the autonomous vehicle to drive in front of them. The results are promising, with the prediction accuracy being 100% in all of the cases in which the participants allowed the lane change and 83.3% in the other cases. The false predictions were due to delays in resuming driving after the traffic light turned green.

Simulation, controller design and field tests for a hydropower plant—A case study

Automatica ◽  
1990 ◽  
Vol 26 (3) ◽  
pp. 475-485 ◽  
Author(s):  
Karl Heinz Fasol ◽  
Georg Michael Pohl
Keyword(s):  
Controller Design ◽  
Field Tests ◽  
Hydropower Plant
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