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

Fuel consumption is one of the main concerns for heavy-duty trucks.Predictive cruise control(PCC)provides an intriguing opportunity to reduce fuel consumption by using the upcoming road information.In this study,a real-time implementable PCC,which simultaneously optimizes engine torque and gear shifting,is proposed for heavy-duty trucks.To 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 used.Finding 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 method.Dynamic programming(DP)algorithm,as a global optimization algorithm,is used as a performance benchmark for the proposed solver.Simulation,hardware-in-the-loop and real-truck experiments are conducted to verify the performance of the proposed controller.The results demonstrate that the MPC-based solution performs nearly as well as the DP-based solution,with less than 1%deviation for testing roads.Moreover,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.

A human-sensitive frequency band vibration isolator for heavy-duty truck seats

In this study,a human-sensitive frequency band vibration isolator(HFBVI)with quasi-zero stiffness(QZS)characteristics for heavy-duty truck seats is designed to improve the comfort of heavy-duty truck drivers on uneven roads.First,the analytical expressions for the force and displacement of the HFBVI are derived with the Lagrange equation and d'Alembert's principle,and are validated through the prototype restoring force testing.Second,the harmonic balance method(HBM)is used to obtain the dynamic responses under harmonic excitation,and further the influence of pre-stretching on the dynamic characteristics and transmissibility is discussed.Finally,the experimental prototype of the HFBVI is fabricated,and vibration experiments are conducted under harmonic excitation to verify the vibration isolation performance(VIP)of the proposed vibration isolator.The experimental results indicate that the HFBVI can effectively suppress the frequency band(4-8 Hz)to which the human body is sensitive to vertical vibration.In addition,under real random road spectrum excitation,the HFBVI can achieve low-frequency vibration isolation close to 2 Hz,providing new prospects for ensuring the health of heavy-duty truck drivers.

Numerical simulation of the aerodynamic characteristics of heavy-duty trucks through viaduct in crosswind

In our numerical simulation the hybrid mesh and the SST k-ω turbulence model are adopted to investigate the variations of the aerodynamic loads and the flow field of heavy-duty trucks while crossing a viaduct with 1.1 m high fences in a crosswind at a velocity of 20 m/s. The results show that, with the protection of a fence, the side force is weakened, and the rolling and yaw moments are strengthened while the truck is crossing the viaduct, which relatively reduces the roll-over safety and the driving stability of the truck. Meanwhile, the direction of the side force changes when the truck enters the viaduct, which makes the roll-over safety and the driving stability the lowest during the process.

A Predictive Energy Management Strategies for Mining Dump Trucks

The plug-in hybrid vehicles(PHEV)technology can effectively address the issues of poor dynamics and higher energy consumption commonly found in traditional mining dump trucks.Meanwhile,plug-in hybrid electric trucks can achieve excellent fuel economy through efficient energy management strategies(EMS).Therefore,a series hybrid system is constructed based on a 100-ton mining dump truck in this paper.And inspired by the dynamic programming(DP)algorithm,a predictive equivalent consumption minimization strategy(P-ECMS)based on the DP optimization result is proposed.Based on the optimal control manifold and the SOC reference trajectory obtained by the DP algorithm,the P-ECMS strategy performs real-time stage parameter optimization to obtain the optimal equivalent factor(EF).Finally,applying the equivalent consumption minimization strategy(ECMS)realizes real-time control.The simulation results show that the equivalent fuel consumption of the P-ECMS strategy under the experimentally collected mining cycle conditions is 150.8 L/100 km,which is 10.9%less than that of the common CDCS strategy(169.3 L/100 km),and achieves 99.47%of the fuel saving effect of the DP strategy(150 L/100 km).

Reducing Electrical Consumption in Stationary Long-Haul Trucks

On average, long-haul trucks in the U.S. use approximately 667 million gallons of fuel each year just for idling. This idling primarily facilitates climate control operations during driver rest periods. To mitigate this, our study explored ways to diminish the electrical consumption of climate control systems in class 8 trucks through innovative load reduction technologies. We utilized the CoolCalc software, developed by the National Renewable Energy Laboratory (NREL), which integrates heat transfer principles with extensive weather data from across the U.S. to mimic the environmental conditions trucks face year-round. The analysis of the CoolCalc simulations was performed using MATLAB. We assessed the impact of various technologies, including white paint, advanced curtains, and Thinsulate insulation on reducing electrical demand compared to standard conditions. Our findings indicate that trucks operating in the eastern U.S. could see electrical load reductions of up to 40%, while those in the western regions could achieve reductions as high as 55%. Such significant decreases in energy consumption mean that a 10 kWh battery system could sufficiently manage the HVAC needs of these trucks throughout the year without idling. Given that many long-haul trucks are equipped with battery systems of around 800 Ah (9.6 kWh), implementing these advanced technologies could substantially curtail the necessity for idling to power air conditioning systems.

基于TruckSim的半挂汽车列车转向特性的仿真分析

通过TruckSim软件建立半挂汽车列车整车仿真模型,分别改变半挂汽车列车参数对车辆进行稳态回转仿真试验,以研究不同结构参数对半挂汽车列车转向特性的影响。结果表明:适当的增加牵引车的质量、加长牵引车轴距、加长挂车车轴距牵引车前轴距离、降低挂车质量、缩短牵引车铰接点到前轴的距离,会增加不足转向特性的趋势。

应用TruckSim自卸车操纵稳定性在环仿真平台研究

自卸车良好的操纵稳定性既保证整车正常运行,也保证矿山正常生产运营。根据自卸车整车结构特点和设计参数,基于TruckSim搭建所研究自卸车整车动力学模型,包括电传动系统、悬架系统、转向系统和轮胎等。将悬架系统K&C特性作为整车模型唯一可变输入。基于动力学模型进行操纵稳定性开环仿真,包括方向盘角阶跃、角脉冲和稳态回转仿真。基于TruckSim整车模型,结合PXI实时硬件和Labview搭建整车操纵稳定性驾驶员在环仿真平台,对整车进行双移线工况下闭环试验,对整车操纵稳定性进行分析。分析结果表明:总体上能够很好响应驾驶员操纵并沿着目标路径行驶,且转向轻便;但行驶路径与期望路径存在一定差异,驾驶员需要多次调整转向盘转角才能完成双移线;研究内容和研究结论为进一步实车测试提供参考依据。

基于Trucksim的整车动力性能仿真分析

利用Trucksim软件对某重型商用车进行建模及动力性能仿真,将仿真结果与理论计算值进行比较和分析。结果表明,采用Trucksim建模仿真得到的动力性指标结果均比理论计算结果更加准确。

基于TruckSim矿用汽车转向工况侧倾运动特性分析

车辆发生转向时,由于离心力的作用而产生侧倾运动,空载高速转向时该部分作用将更为明显,进而影响车辆平稳运输。根据悬挂系统的特性差异,对所研究矿用汽车前后悬挂的侧倾中心和侧倾轴进行分析;基于以上分析,对转向时的侧倾运动进行分析,获取关键参数的变化模型;根据理论分析结果,基于Matlab/Simulink建立车辆转向工况表征侧倾运动的分析模型;根据悬挂特性和转向特性,分别建立分析模型,与车辆多体动力学模型联合,基于TruckSim建立整车转向特征分析模型;分析在固定转向盘稳态回转试验时,车辆的行驶轨迹;对空载高速转向工况下,车辆内外轮转角特征曲线,悬挂刚度、位移、侧倾刚度等参数变化进行分析;对比分析考虑转向侧倾与否的转角特征及偏差与理论分析之间的差异,以验证分析的可靠性。结果可知:车辆内外侧悬挂缸出现伸缩跳动,此时出现了附加转向效应叠加在车轮上;车轮需要较大的侧偏角,满足侧向力的需要;此时,整车的转向角关系不单单满足Ackerman定理,还增加了轮胎的侧偏角;未考虑转向侧倾时,转角偏差值随着转角的增加而不断增大,最大偏差达到了0.4223°,而考虑时,转角偏差的目标值为0.3618°。因此表明,所建立的分析模型具有较好的分析结果,能够更精确的反应车辆转向过程中,侧倾运动各部分参数的变化,为此类研究提供参考。

基于Trucksim的半挂汽车列车方向盘角阶跃输入工况仿真试验研究

通过Truck Sim软件建立半挂汽车列车整车仿真模型,进行方向盘角阶跃输入仿真试验,通过改变牵引车及挂车的参数,以研究不同参数对操纵稳定性的影响.试验表明:适当的增加牵引车的质量、加长牵引车轴距、加长挂车车轴距牵引车前轴的距离,降低挂车质量、缩短牵引车铰接点到前轮的距离能有效提高半挂汽车列车操纵稳定性.

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

Relation of the infrasound characteristics and the continuous steel bridge vibration modes generated by the vibration of moving heavy trucks

As heavy trucks pass over highway bridges, bridge vibration occurs and generates infrasound. General trucks in Japan with rear leaf suspension have whole body vibration （suspension spring vibration） frequencies of about 3 Hz. Also, the frequencies of the wheel vibration （tire spring vibration） are about 10-20 Hz. The continuous steel highway bridges with middle span length have vibration modes with the same phase in each span at the frequencies of about 3 Hz and also have those with the secondary mode shape at the frequencies of about 10-20 Hz. Truck vibrations and bridge vibrations are closely related. In this work, vibration tests are conducted using a heavy test truck for two cases of infrasound complaints in order to investigate the relation between the continuous steel bridge vibration modes generated by the vibration of moving heavy trucks and its infrasound characteristics. As a result of the examination, two types of bridge vibration modes are caused by the vibrations of a moving heavy truck. Moreover, the bending vi- bration modes with the same phase in each span have the most powerful infrasound pressure, since each span vibrates with the same phase. Two countermeasures, including viscoelastic damper at the end of the girders and extended deck method, are proposed to reduce the amplitude of bridge vibration and its infrasound.

Investigation on Drag Reduction of Trucks

A study of the mechanism of fences was given to reduce drag by means of theoretical analysis, numerical simulation and experimental research.A 3D mathematical model has been developed based on com- putational fluid dynamics software Phoenics that was capable of handling steady state,3D flow to simulate the flow field around the truck.The experiment made in a low speed wind tunnel is used as references for validation.By analyzing the results of calculation and experiment,the flowing mechanism of the flow field around the container truck and the drag-reducing mechanism of #-shaped fences on the truck are unveiled, which provides theoretical guidance to the aerodynamic formation designing and amelioration.

Performance evaluation of near real-time condition monitoring in haul trucks

Strategic maintenance plays a key role in ensuring high availability and utilization of the haul trucks,and as equipment began to grow more complex towards the end of the 20th century,there was a need for a proactive maintenance strategy,which led to the development of condition-based maintenance.Realtime condition monitoring(RTCM)is the ability to perform condition monitoring in real-time and has the ability to alert maintenance and operations of abnormal conditions.These alarms can be used as an indication leading to a problem,and if a suitable corrective action is initiated in time,it could result in significant savings of equipment downtime and repair costs.This study aims to compare some maintenance performance indicators prior to and after implementation of RTCM strategy at a mine site using some tests of statistical significance.The study also indicated the presence of seasonality in the data,and thus the data was deseasonalized and detrended prior to being subjected to the statistical tests.Finally,the results indicated that RTCM strategy has proven to be successful in improving the availability for some of the failure categories chosen in this study.

Development of a multi-layer perceptron artificial neural network model to determine haul trucks energy consumption

The mining industry annually consumes trillions of British thermal units of energy,a large part of which is saveable.Diesel fuel is a significant source of energy in surface mining operations and haul trucks are the major users of this energy source.Cross vehicle weight,truck velocity and total resistance have been recognised as the key parameters affecting the fuel consumption.In this paper,an artificial neural network model was developed to predict the fuel consumption of haul trucks in surface mines based on the gross vehicle weight,truck velocity and total resistance.The network was trained and tested using real data collected from a surface mining operation.The results indicate that the artificial neural network modelling can accurately predict haul truck fuel consumption based on the values of the haulage parameters considered in this study.

Simulating Coupled Longitudinal, Pitch and Bounce Dynamics of Trucks with Flexible Frames

Simulating the dynamic response of trucks requires that a model be constructed and subjected to road inputs. Inclusion or omission of flexible frame effects is often based on intuition or assumption. If frame vibration is assumed to be significant, it is typically incorporated in one of two ways. Either a complex finite element model of the frame is used, or a simplified linear modal expansion model (which assumes small motions) is employed. The typical low-order modal expansion model, while computationally efficient and easier to use, is limited by the fact that 1) large rigid body motions and road grade changes are not supported, and 2) longitudinal dynamics are not coupled to vertical and bounce dynamics. In this paper, a bond graph model is presented which includes coupled pitch and bounce motions, longitudinal dynamics, and transverse frame vibration. Large rigid body motions are allowed, onto which small flexible vibrations are superimposed. Frame flexibility is incorporated using modal expansion of a free-free beam. The model allows for a complete pitch-plane representation in which motive forces can propel the truck forward over varying terrain, including hills. The effect of frame flexibility on vehicle dynamics can then be studied. This is an extension of the typical half-car model in which suspension motion is assumed vertical, pitch angles are small, and longitudinal dynamics are completely decoupled or omitted. Model output shows the effect of frame flexibility on vehicle responses such as forward velocity, pitch angle, and payload acceleration. Participation of individual modes can be seen to increase as road input approaches their natural frequency. The bond graph formalism allows for any or all flexible frame modes to be easily removed from the model if their effects are negligible, and for inclusion of more complex submodels for components such as suspension and engine if desired.

Evaluation of the Impact of Queue Trucks with Navigation Alerts Using Connected Vehicle Data

Back of queue crashes on Interstates are a major concern for all state transportation departments. In 2020, Indiana DOT begin deploying queue warning trucks with message boards, flashers and digital alerts that could be transmitted to navigation systems such as Waze. This study reports on the deployment and impact evaluation of digital alerts on motorist’s assistance patrols and 19 Queue trucks in Indiana. The motorist assistance patrol evaluation is provided qualitatively. A novel analysis of queue warning trucks equipped with digital alerts was conducted during the months of May-July in 2021 using connected vehicle data. This new data set reports locations of anonymous hard-braking events from connected vehicles on the Interstate. Hard-braking events were tabulated for when queueing occurred with and without the presence of a queue warning truck. Approximately 370 hours of queueing with queue trucks present and 58 hours of queueing without queue trucks present were evaluated. Hard-braking events were found to decrease approximately 80% when queue warning trucks were used to alert motorists of impending queues.

Vertical Tire Forces Estimation of Multi-Axle Trucks Based on an Adaptive Treble Extend Kalman Filter

Vertical tire forces are essential for vehicle modelling and dynamic control.However,an evaluation of the vertical tire forces on a multi-axle truck is difficult to accomplish.The current methods require a large amount of experimental data and many sensors owing to the wide variation of the parameters and the over-constraint.To simplify the design process and reduce the demand of the sensors,this paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control.The estimation system is based on a novel vertical force model and a proposed adaptive treble extend Kalman filter(ATEKF).To adapt to the widely varying parameters,a sliding mode update is designed to make the ATEKF adaptive,and together with the use of an initial setting update and a vertical tire force adjustment,the overall system becomes more robust.In particular,the model aims to eliminate the effects of the over-constraint and the uneven weight distribution.The results show that the ATEKF method achieves an excellent performance in a vertical force evaluation,and its performance is better than that of the treble extend Kalman filter.

Trucks at Roundabouts: A Synthesis Study

Roundabouts in United States and other countries have been proved to be very successful, effective, and a safe traffic control treatment. Roundabouts in the context of regularly expected truck configuration have also been successful for effective roundabout designs;however, there are always some site specific issues for trucks accommodation at roundabouts. Therefore, there is a great need for an informational guide in the form of synthesis report for roundabout designs specific to unique trucking traffic activity. While there are not significant literatures and studies in this subject, there are few studies/reports spread out which address various issues in this subject area. This study attempts to synthesize the research and knowledge of truck accommodation at roundabouts by synthesizing various research studies, reports, and articles;various subject areas such as roundabout designs for trucking activity, roundabout designs and accommodation strategies for specialized trucking activity such as oversized trucks, truck safety at roundabouts, and motor carrier perspective of trucking at roundabouts have been analyzed and relevant knowledge has been synthesized. This synthesis can be useful o researchers, designers, planners, and decision makers to determine effective ways to address specific trucking related issues at a roundabout.

Dynamic Tradeoff of Forced Steering Motor Trucks

In this paper, the dynamic tradeoff of forced steering motor trucks is analyzed in detail. Some dynamic models are developed to analyze the nonlinear curving, lateral stability and stick slip vibration stability. The computed results show that forced steering motor trucks successfully solve the tradeoff problem among traction, steering and stability. Its comprehensive dynamic performance is excellent.