Abstract: Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.
Abstract: On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be used for constructing the 2D vehicle environmental map and available parking type judgment. Finally, the auto-parking controller executes the on-line optimal parking trajectory planning based on this 2D environmental map, and monitors the real-time vehicle parking trajectory tracking control. This low cost auto-parking system was tested on a model car.
Abstract: Hybrid electric vehicles can reduce pollution and
improve fuel economy. Power-split hybrid electric vehicles (HEVs)
provide two power paths between the internal combustion engine
(ICE) and energy storage system (ESS) through the gears of an
electrically variable transmission (EVT). EVT allows ICE to operate
independently from vehicle speed all the time. Therefore, the ICE can
operate in the efficient region of its characteristic brake specific fuel
consumption (BSFC) map. The two-mode powertrain can operate in
input-split or compound-split EVT modes and in four different fixed
gear configurations. Power-split architecture is advantageous because
it combines conventional series and parallel power paths. This
research focuses on input-split and compound-split modes in the
two-mode power-split powertrain. Fuzzy Logic Control (FLC) for an
internal combustion engine (ICE) and PI control for electric machines
(EMs) are derived for the urban driving cycle simulation. These
control algorithms reduce vehicle fuel consumption and improve ICE
efficiency while maintaining the state of charge (SOC) of the energy
storage system in an efficient range.
Abstract: Speed and traffic volume data are collected on different sections of four lane and six lane roads in three metropolitan cities in India. Speed data are analyzed to fit the statistical distribution to individual vehicle speed data and all vehicles speed data. It is noted that speed data of individual vehicle generally follows a normal distribution but speed data of all vehicle combined at a section of urban road may or may not follow the normal distribution depending upon the composition of traffic stream. A new term Speed Spread Ratio (SSR) is introduced in this paper which is the ratio of difference in 85th and 50th percentile speed to the difference in 50th and 15th percentile speed. If SSR is unity then speed data are truly normally distributed. It is noted that on six lane urban roads, speed data follow a normal distribution only when SSR is in the range of 0.86 – 1.11. The range of SSR is validated on four lane roads also.
Abstract: Ultra-light overhead conveyor systems are rope-based conveying systems with individually driven vehicles. The vehicles can move automatically on the rope and this can be realized by energy and signals. The ultra-light overhead conveyor systems always must be integrated with a logistical process by finding a best way for a cheaper material flow in order to guarantee precise and fast workflows. This paper analyzes the process of an ultra-light overhead conveyor system using necessary assumptions. The analysis consists of three scenarios. These scenarios are based on raising the vehicle speeds with equal increments at each case. The correlation between the vehicle speed and system throughput is investigated. A discrete-event simulation model of an ultra-light overhead conveyor system is constructed using DOSIMIS-3 software to implement three scenarios. According to simulation results; the optimal scenario, hence the optimal vehicle speed, is found out among three scenarios. This simulation model demonstrates the effect of increased speed on the system throughput.
Abstract: In this paper the influence of heterogeneous traffic on
the temporal variation of ambient PM10, PM2.5 and PM1
concentrations at a busy arterial route (Sardar Patel Road) in the
Chennai city has been analyzed. The hourly PM concentration, traffic
counts and average speed of the vehicles have been monitored at the
study site for one week (19th-25th January 2009). Results indicated
that the concentrations of coarse (PM10) and fine PM (PM2.5 and
PM1) concentrations at SP road are having similar trend during peak
and non-peak hours, irrespective of the days. The PM concentrations
showed daily two peaks corresponding to morning (8 to 10 am) and
evening (7 to 9 pm) peak hour traffic flow. The PM10 concentration is
dominated by fine particles (53% of PM2.5 and 45% of PM1). The
high PM2.5/PM10 ratio indicates that the majority of PM10 particles
originate from re-suspension of road dust. The analysis of traffic flow
at the study site showed that 2W, 3W and 4W are having similar
diurnal trend as PM concentrations. This confirms that the 2W, 3W
and 4W are the main emission source contributing to ambient PM
concentration at SP road. The speed measurement at SP road showed
that the average speed of 2W, 3W, 4W, LCV and HCV are 38, 40,
38, 40 and 38 km/hr and 43, 41, 42, 40 and 41 km/hr respectively for
the weekdays and weekdays.
Abstract: The radius-of-curvature (ROC) defines the degree of
curvature along the centerline of a roadway whereby a travelling
vehicle must follow. Roadway designs must encompass ROC in
mitigating the cost of earthwork associated with construction while
also allowing vehicles to travel at maximum allowable design speeds.
Thus, a road will tend to follow natural topography where possible,
but curvature must also be optimized to permit fast, but safe vehicle
speeds. The more severe the curvature of the road, the slower the
permissible vehicle speed. For route planning, whether for urban
settings, emergency operations, or even parcel delivery, ROC is a
necessary attribute of road arcs for computing travel time.
It is extremely rare for a geo-spatial database to contain ROC. This
paper will present a procedure and mathematical algorithm to
calculate and assign ROC to a segment pair and/or polyline.
Abstract: This paper presents a remote on-line diagnostic system
for vehicles via the use of On-Board Diagnostic (OBD), GPS, and 3G
techniques. The main parts of the proposed system are on-board
computer, vehicle monitor server, and vehicle status browser. First,
the on-board computer can obtain the location of deriver and vehicle
status from GPS receiver and OBD interface, respectively. Then
on-board computer will connect with the vehicle monitor server
through 3G network to transmit the real time vehicle system status.
Finally, vehicle status browser could show the remote vehicle status
including vehicle speed, engine rpm, battery voltage, engine coolant
temperature, and diagnostic trouble codes. According to the
experimental results, the proposed system can help fleet managers and
car knockers to understand the remote vehicle status. Therefore this
system can decrease the time of fleet management and vehicle repair
due to the fleet managers and car knockers who find the diagnostic
trouble messages in time.
Abstract: Three dimensional simulations are carried out to estimate the effect of wind direction, wind speed and geometry on the flow and dispersion of vehicular pollutant in a street canyon. The pollutant sources are motor vehicles passing between the two buildings. Suitable emission factors for petrol and diesel vehicles at varying vehicle speed are used for the estimation of the rate of emission from the streets. The dispersion of automobile pollutant released from the street is simulated by introducing vehicular emission source term as a fixed-flux boundary condition at the ground level over the road. The emission source term is suitably calculated by adopting emission factors from literature for varying conditions of street traffic. It is observed that increase in wind angle disturbs the symmetric pattern of pollution distribution along the street length. The concentration increases in the far end of the street as compared to the near end.
Abstract: Road signs are the elements of roads with a lot of
influence in driver-s behavior. So that signals can fulfill its function,
they must overcome visibility and durability requirements,
particularly needed at night, when the coefficient of retroreflection
becomes a decisive factor in ensuring road safety. Accepting that the
visibility of the signage has implications for people-s safety, we
understand the importance to fulfill its function: to foster the highest
standards of service and safety in drivers. The usual conditions of
perception of any sign are determined by: age of the driver, reflective
material, luminosity, vehicle speed and emplacement. In this way,
this paper evaluates the different signals to increase the safety road.
Abstract: This paper introduces an intelligent system, which can be applied in the monitoring of vehicle speed using a single camera. The ability of motion tracking is extremely useful in many automation problems and the solution to this problem will open up many future applications. One of the most common problems in our daily life is the speed detection of vehicles on a highway. In this paper, a novel technique is developed to track multiple moving objects with their speeds being estimated using a sequence of video frames. Field test has been conducted to capture real-life data and the processed results were presented. Multiple object problems and noisy in data are also considered. Implementing this system in real-time is straightforward. The proposal can accurately evaluate the position and the orientation of moving objects in real-time. The transformations and calibration between the 2D image and the actual road are also considered.
Abstract: This paper develops driver reaction-time models for
car-following analysis based on human factors. The reaction time
was classified as brake-reaction time (BRT) and
acceleration/deceleration reaction time (ADRT). The BRT occurs
when the lead vehicle is barking and its brake light is on, while the
ADRT occurs when the driver reacts to adjust his/her speed using the
gas pedal only. The study evaluates the effect of driver
characteristics and traffic kinematic conditions on the driver reaction
time in a car-following environment. The kinematic conditions
introduced urgency and expectancy based on the braking behaviour
of the lead vehicle at different speeds and spacing. The kinematic
conditions were used for evaluating the BRT and are classified as
normal, surprised, and stationary. Data were collected on a driving
simulator integrated into a real car and included the BRT and ADRT
(as dependent variables) and driver-s age, gender, driving experience,
driving intensity (driving hours per week), vehicle speed, and
spacing (as independent variables). The results showed that there was
a significant difference in the BRT at normal, surprised, and
stationary scenarios and supported the hypothesis that both urgency
and expectancy had significant effects on BRT. Driver-s age, gender,
speed, and spacing were found to be significant variables for the
BRT in all scenarios. The results also showed that driver-s age and
gender were significant variables for the ADRT. The research
presented in this paper is part of a larger project to develop a driversensitive
in-vehicle rear-end collision warning system.