Analysis and Control of Heterogeneous Connected and Autonomous Vehicles using a Spring-Mass-Damper System

2020 ◽  
Vol 2674 (8) ◽  
pp. 309-318
Author(s):  
Sookyuk Bang ◽  
Soyoung Ahn
Keyword(s):  
Equilibrium State ◽  
Autonomous Vehicles ◽  
Control Parameters ◽  
Heavy Vehicles ◽  
Heavy Duty ◽  
Passenger Cars ◽  
Lower Performance ◽  
Mass Damper ◽  
And Control ◽  
Heavy Duty Vehicles

This study analyzes the behavior of heterogeneous connected and autonomous vehicles (CAVs) and proposes the best vehicle sequence for optimal platoon throughput and platoon formation. A spring-mass-damper (SMD) system is adopted for control of CAVs, and the control parameters are formulated in relation to the physical capabilities of vehicles. To gain insight, we consider three types of vehicle: passenger cars, mini-vans, and heavy-duty vehicles. For each type, we investigate the maximum platoon throughput and the clustering time, defined as the time to reach the target equilibrium state. We further investigate different sequences of vehicle types in a platoon to identify the optimal vehicle order that maximizes the throughput and minimizes clustering time. Findings suggest that the highest performance vehicle (in relation to acceleration capability) should be placed as the leader of a platoon and that the number of passenger cars behind heavy vehicles (e.g., semi-trailers) should be minimized in the platoon. In addition, we examine how the proportions of lower performance vehicles affect throughput and clustering times. The result suggests that the higher the proportions, the lower the throughput and the longer the clustering time. The lowest performance vehicle had the greatest effect.

Mixed Traffic of Connected and Autonomous Vehicles and Human-Driven Vehicles: Traffic Evolution and Control using Spring-Mass-Damper System

2019 ◽  
Vol 2673 (7) ◽  
pp. 504-515 ◽  
Author(s):  
Soohyuk Bang ◽  
Soyoung Ahn
Keyword(s):  
Autonomous Vehicles ◽  
Control Method ◽  
Feasible Region ◽  
Control Parameters ◽  
Mixed Traffic ◽  
Traffic Dynamics ◽  
Acceleration Rate ◽  
Mass Damper ◽  
Spring Coefficient ◽  
And Control

This paper sheds light on mixed-traffic dynamics considering the differences in driving characteristics, namely acceleration/deceleration rate, desired speed, and response time, between connected and autonomous vehicles (CAVs) and human-driven vehicles (HDVs). In light traffic, these differences were found to induce platoon formations, headed by vehicles with a lower acceleration rate and propensity not to exceed the desired speed (HDV in this study). Platoon formations lead to large inter-platoon spacing that can be utilized to accommodate cut-in vehicles. In a near-capacity condition, however, the differences in driving characteristics can induce voids and undermine traffic throughput when traffic is disturbed by merging vehicles. Based on these findings, a simple CAV control method is proposed based on the spring-mass-damper (SMD) system approach that directly considers the HDV behavior to mitigate disturbance propagation and throughput reduction. The main principle is to adjust the control parameters (lower spring coefficient and higher damping coefficient in the SMD control model) with an aim to control CAVs to absorb the cut-in impact (i.e., spacing shortage) before it reaches the first upstream HDV. A simulation experiment suggests the feasible region of the control parameters, subject to the recovery time, the number of controllable CAVs, and the cut-in impact.

scholarly journals Analysis and Design of a High-Performance Traction Motor for Heavy-Duty Vehicles

Energies ◽  
2020 ◽  
Vol 13 (12) ◽  
pp. 3150
Author(s):  
Dong-Kyu Lee ◽  
Jong-Suk Ro
Keyword(s):  
Design Process ◽  
High Performance ◽  
Permanent Magnet Synchronous Motor ◽  
Harmonic Distortion ◽  
Heavy Vehicles ◽  
Heavy Duty ◽  
Traction Motor ◽  
Analysis And Design ◽  
Power Characteristics ◽  
Heavy Duty Vehicles

Due to environmental issues and depletion of resources, global attentiveness in electric vehicles (EVs) is growing. In particular, research on high specification motors for driving large EVs has attracted a lot of attention. In this study, an analysis and design process for a motor that can be universally applied in heavy vehicles to reduce environmental pollution was introduced. Motors for driving heavy vehicles require high specifications. Thus, an interior permanent magnet synchronous motor (IPMSM) with a delta-shaped magnet array was used to improve the torque and power characteristics. A step skew rotor structure was also used to dampen vibration and noise by minimizing the high-order harmonics in the cogging torque. The proposed analysis and design approach also reduces the total harmonic distortion (THD) of the back electromotive force (EMF). The effectiveness of the proposed analysis and design process and the usefulness of the resulting high-performance traction motor for heavy-duty vehicles were verified via the finite element method (FEM) and by experiment.

Platooning Strategy for Connected and Autonomous Vehicles: Transition from Light Traffic

2017 ◽  
Vol 2623 (1) ◽  
pp. 73-81 ◽  
Author(s):  
Soohyuk Bang ◽  
Soyoung Ahn
Keyword(s):  
Autonomous Vehicles ◽  
Spring Constant ◽  
Low Flow ◽  
Control Parameters ◽  
Mass Damper ◽  
Acceleration And Deceleration ◽  
Formation And Evolution ◽  
The Given ◽  
Insight Into ◽  
Flow States

This study presents a strategy for platoon formation and evolution of connected and autonomous vehicles (CAVs) in free-flow traffic. The proposed strategy is based on swarm intelligence, which describes bird flocking, fish schooling, and so on, in natural and artificial systems. In this concept, CAVs behave according to some rules to move together as a platoon without collisions. The rules are expressed by a spring–mass–damper system: CAV platoon formation and evolution are controlled by the spring constant and damping coefficient. Valid domains of these control parameters were derived on the basis of physical vehicle properties (e.g., bounded acceleration and deceleration) for realistic control. Furthermore, various relationships—maximum (in which the spring constant was set at its maximum for the given flow), quadratic, and cubic—between the control parameters and traffic flow were examined with simulations to obtain insight into desirable control parameter settings. The results suggest that the most efficient platooning can be achieved by the maximum relationship between the spring constant and flow with critical damping. However, the cubic relationship coupled with overdamping is more desirable in low-flow states to allow more freedom for vehicles to change lanes.

Systematic Methodology for Analysis and Control of Real Driving Emission for Heavy Duty Vehicles Using Virtual Test Bed

2021 ◽  
Author(s):  
subhanker DEV ◽  
Mohak Samant ◽  
Hitesh B Chaudhari ◽  
Nagesh Harishchandra Walke ◽  
Sukrut S Thipse
Keyword(s):  
Heavy Duty ◽  
Test Bed ◽  
Virtual Test ◽  
Real Driving Emission ◽  
Systematic Methodology ◽  
Virtual Test Bed ◽  
And Control ◽  
Heavy Duty Vehicles

scholarly journals PASSENGER CARS AND HEAVY DUTY VEHICLES EXHAUST EMISSIONS UNDER REAL DRIVING CONDITIONS

2014 ◽  
Vol 31 (3) ◽  
pp. 47-59 ◽  
Author(s):  
Agnieszka Merkisz-Guranowska ◽  
Jacek Pielecha
Keyword(s):  
Research Work ◽  
Exhaust Emissions ◽  
Combustion Engines ◽  
Heavy Duty ◽  
Passenger Cars ◽  
University Of Technology ◽  
Road Testing ◽  
System Project ◽  
Heavy Duty Vehicles

In the assumptions regarding to the transport policy both at the level of country and Europe there is the concept of sustainable development of transport. Warsaw University of Technology in cooperation with Poznan University of Technology performs research work concerning the shaping of environmentally friendly transport system – Project EMITRANSYS. In this project, one of the conditions is to reduce exhaust emissions by means of transport. The paper presents the reasons for the testing of the exhaust emissions under Real Driving Emissions testing (RDE). Research potential of Institute of Combustion Engines and Transport at Poznan University of Technology in the area of road testing of passenger and heavy-duty vehicles has been presented in the paper. Example test results have been shown in the aspect of the emission-related classification of vehicles.

Control of Connected and Autonomous Vehicles with Cut-in Movement using Spring Mass Damper System

2018 ◽  
Vol 2672 (20) ◽  
pp. 133-143 ◽  
Author(s):  
Soohyuk Bang ◽  
Soyoung Ahn
Keyword(s):  
Autonomous Vehicles ◽  
Recovery Time ◽  
Control Method ◽  
Control Model ◽  
Lane Change ◽  
Control Parameters ◽  
Traffic Conditions ◽  
Disturbance Propagation ◽  
Simulation Based ◽  
Mass Damper

This paper proposes a theoretical framework to control a platoon of connected and autonomous vehicles (CAVs) in the presence of cut-in movements. The control method is developed based on the spring–mass–damper (SMD) system concept and aims to improve the platoon efficiency and stability after a cut-in movement (e.g., lane change and merging from on-ramp). The method seeks to resolve a disturbance created by a cut-in vehicle by systematically setting two control parameters, spring constant and damping coefficient, of the SMD-based control model based on the prevailing traffic conditions. The control method is evaluated through a simulation based on the changes in speed and spacing, recovery time to reach the desired speed, disturbance propagation, and platoon flow. The simulation result shows that the control method can effectively reduce the disturbance caused by a cut-in movement and improve platoon flow.

MULTI-CRITERIA ASSESSMENT OF THE EFFICIENCY OF THE OPERATION OF HEAVY-DUTY VEHICLES IN THE TRANSPORTATION OF BULK CARGO UNDER CONDITIONS OF RESTRICTIONS IN THE OPERATION OF ROADS

2021 ◽  
Vol 74 (3) ◽  
pp. 50-56
Author(s):  
B.S. SUBBOTIN ◽  
◽  
A.V. TERENTYEV ◽  
Keyword(s):  
The State ◽  
Heavy Vehicles ◽  
Heavy Duty ◽  
Operating Environment ◽  
The Cost ◽  
Efficiency Indicators ◽  
Cost Of Transportation ◽  
Heavy Duty Vehicles

The article presents a matrix of effective solutions, depending on the state of the operating environment in the «car-environment» system. Different variants of the value of the capacity utili-zation factor (CUF) are a prerequisite for differentiating the assessment of efficiency indicators of heavy vehicles when transporting bulk cargo. These studies make it possible to establish, with the help of a certain analysis, statistical links and build: a graph of the dependence of changes in the characteristics of vehicles during the transportation of bulk cargo depending on the change in CUF, a graph of the dependence of the cost of transportation of goods per 1 km depending on the change in CUF, a graph of the dependence of changes in damage caused by the vehicle when transporting bulk cargo, depending on the change in CUF.

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