3D Road Network Modeling and Road Structure Recognition in Internet of Vehicles

Internet of Vehicles (IoV) is a new system that enables individual vehicles to connect with nearby vehicles,people, transportation infrastructure, and networks, thereby realizing amore intelligent and efficient transportationsystem. The movement of vehicles and the three-dimensional (3D) nature of the road network cause the topologicalstructure of IoV to have the high space and time complexity.Network modeling and structure recognition for 3Droads can benefit the description of topological changes for IoV. This paper proposes a 3Dgeneral roadmodel basedon discrete points of roads obtained from GIS. First, the constraints imposed by 3D roads on moving vehicles areanalyzed. Then the effects of road curvature radius (Ra), longitudinal slope (Slo), and length (Len) on speed andacceleration are studied. Finally, a general 3D road network model based on road section features is established.This paper also presents intersection and road section recognition methods based on the structural features ofthe 3D road network model and the road features. Real GIS data from a specific region of Beijing is adopted tocreate the simulation scenario, and the simulation results validate the general 3D road network model and therecognitionmethod. Therefore, thiswork makes contributions to the field of intelligent transportation by providinga comprehensive approach tomodeling the 3Droad network and its topological changes in achieving efficient trafficflowand improved road safety.

The Effect of Lateral Offset Distance on the Aerodynamics and Fuel Economy of Vehicle Queues

The vehicle industry is always in search of breakthrough energy-saving and emission-reduction technologies.In recent years,vehicle intelligence has progressed considerably,and researchers are currently trying to take advantage of these developments.Here we consider the case of many vehicles forming a queue,i.e.,vehicles traveling at a predetermined speed and distance apart.While the majority of existing studies on this subject have focused on the influence of the longitudinal vehicle spacing,vehicle speed,and the number of vehicles on aerodynamic drag and fuel economy,this study considers the lateral offset distance of the vehicle queue.The group fuel consumption savings rate is calculated and analyzed.As also demonstrated by experimental results,some aerodynamic benefits exist.Moreover,the fuel consumption saving rate of the vehicle queue decreases as the lateral offset distance increases.

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine,the investigations on the mechanical responses of the pipes have attracted considerable attention.The fluid-structure interaction(FSI)between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes,especially when the pipe is highly flexible and usually undergoes large deformations.In this work,the geometrically exact model(GEM)for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton's principle.The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow.Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid,which is often encountered in practical engineering.By constructing bifurcation diagrams,oscillating shapes,phase portraits,time traces,and Poincarémaps,the dynamic responses of the curved pipe under various system parameters are revealed.The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical.The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors,including periodic and quasi-periodic motions.It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode.For a moderate value of the mass ratio,however,a third-mode flutter may occur,which is quite different from that of a straight pipe system.

Development and Validation of a Scaled Electric Combat Vehicle Tire Model

Pneumatic tire modeling and validation have been the topic of several research papers, however, most of these papers only deal with pneumatic passenger and truck tires. In recent years, wheeled-scaled vehicles have gained lots of attention as a feasible testing platform, nonetheless up to the authors’ knowledge there has been no research regarding the use of scaled tires and their effect on the overall vehicle performance characteristics. This paper presents a novel scaled electric combat vehicle tire model and validation technique. The pro-line lockdown tire size 3.00 × 7.35 is modeled using the Finite Element Analysis (FEA) technique and several materials including layered membrane, beam elements, and Mooney-Rivlin for rubber. The tire-rim assembly is then described, and the rigid body analysis is presented. The tire is then validated using an in-house custom-made static tire testing machine. The tire test rig is made specifically to test the pro-line tire model and is designed and manufactured in the laboratory. The tire is validated using vertical stiffness and footprint tests in the static domain at different operating conditions including several vertical loads. Then the tire is used to perform rolling resistance and steering analysis including the rolling resistance coefficient and the cornering stiffness. The analysis is performed at different operating conditions including longitudinal speeds of 5, 10, and 15 km/h. This tire model will be further used to determine the tractive and braking performance of the tire. Furthermore, the tire test rig will also be modified to perform cornering stiffness tests.

Economic Analysis and Research of New Energy Vehicle Promotion Model

New energy vehicles represent the inevitable trend of future development.Compared to traditional fuel vehicles,they are more energy-saving and environmentally friendly,effectively reducing air pollution and mitigating excessive exploitation of oil resources,a stance strongly supported by governments.However,new energy vehicles possess certain drawbacks in terms of price and usability compared to traditional counterparts.Therefore,external support is imperative for their development.This paper delineates four main sections:the background of new energy vehicle promotion and application,a comparative analysis of domestic and foreign promotion models,specific promotion suggestions,and future development prospects.By leveraging insights from economic analysis,the optimal promotion model for new energy vehicles is elucidated.

Functional Sustainability of a Flight Dynamics Control System for Stable Hovering Flight of an Unmanned Aerial Vehicle(UAV),such as in Agricultural Applications:Mathematical Modeling and Simulation

The simulation of a control system for the longitudinal axis of the rotary or fixed-wing unmanned aerial vehicles(UAVs)is demonstrated in this study.The control unit includes design considerations of two controllers to provide robust stability,tracking of the proposed linear dynamics,an adequate set of proportional-integral-derivative(PID)controller gains,and a minimal cost function.The PID control and linear quadratic regulator(LQR)with or without full-state-observer were evaluated.An optimal control system is assumed to provide fast rise and settling time,minimize overshoot,and eliminate the steady-state error.The effectiveness of this approach was verified by a linear model of the UAV aircraft in the semi-dynamic simulation platform of Matlab/Simulink,in which the open-loop system was assessed in terms of flight robustness and reference tracking.The experimental results show that the proposed controllers effectively improve the configuration of the control system of the plant,maintain the sustainability of the dynamic flight model stability,and diminish the flight controller errors.The LQR provides robust stability,but it is not optimal in the transient phase of particular plant output.The PID control system can adjust the controller’s gains for optimal hovering(or stable slow flight)and is especially useful for the tracking system.Finally,comparing aircraft stability using PID and LQR controllers shows that the latter has less overshoot and a shorter settling time;in addition,all proposed controllers can be practically deployed as one UAV’s system,which can be handled as an exemplary model of the UAV flight management system.

Model fitting of the seasonal population dynamics of the soybean aphid, Aphis glycines Matsumura, in the field

The soybean aphid, Aphis glycines Matsumura(Hemiptera: Aphididae), is one of the greatest threats to soybean production, and both trend analysis and periodic analysis of its population dynamics are important for integrated pest management(IPM). Based on systematically investigating soybean aphid populations in the field from 2018 to 2020, this study adopted the inverse logistic model for the first time, and combined it with the classical logistic model to describe the changes in seasonal population abundance from colonization to extinction in the field. Then, the increasing and decreasing phases of the population fluctuation were divided by calculating the inflection points of the models, which exhibited distinct seasonal trends of the soybean aphid populations in each year. In addition, multifactor logistic models were then established for the first time, in which the abundance of soybean aphids in the field changed with time and relevant environmental conditions. This model enabled the prediction of instantaneous aphid abundance at a given time based on relevant meteorological data. Taken as a whole, the successful approaches implemented in this study could be used to build a theoretical framework for practical IPM strategies for controlling soybean aphids.

MPC-based Torque Distribution for Planar Motion of Four-wheel Independently Driven Electric Vehicles:Considering Motor Models and Iron Losses

The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.

Vehicle Dynamics Modeling and Simulation for ACC

A 7 degree-of-freedom (DOF) 4 wheels vehicle dynamics model based on Matlab-Simulink is established,and 7 DOF vehicle dynamics equations in the form of nonlinear state-space standards are given.The characters of the electronic throttle and the active braking system have been analyzed.And the electronic throttle model and the active braking system model are built according to the test results respectively.Off-line simulation results indicate that the model is suitable for the vehicle adaptive cruise control system,and both of the electronic throttle and the active braking system work in a reasonable way.An adaptive cruise control (ACC) example illustrates that the model has a good performance in cruise and distance keeping.

A Combined Reinforcement Learning and Model Predictive Control for Car-Following Maneuver of Autonomous Vehicles

Model predictive control is widely used in the design of autonomous driving algorithms.However,its parameters are sensitive to dynamically varying driving conditions,making it difficult to be implemented into practice.As a result,this study presents a self-learning algorithm based on reinforcement learning to tune a model predictive controller.Specifically,the proposed algorithm is used to extract features of dynamic traffic scenes and adjust the weight coefficients of the model predictive controller.In this method,a risk threshold model is proposed to classify the risk level of the scenes based on the scene features,and aid in the design of the reinforcement learning reward function and ultimately improve the adaptability of the model predictive controller to real-world scenarios.The proposed algorithm is compared to a pure model predictive controller in car-following case.According to the results,the proposed method enables autonomous vehicles to adjust the priority of performance indices reasonably in different scenarios according to risk variations,showing a good scenario adaptability with safety guaranteed.

A Realistic 3D Non-Stationary Channel Model for UAV-to-Vehicle Communications Incorporating Fuselage Posture

Considering the unmanned aerial vehicle(UAV) three-dimensional(3D) posture, a novel 3D non-stationary geometry-based stochastic model(GBSM) is proposed for multiple-input multipleoutput(MIMO) UAV-to-vehicle(U2V) channels. It consists of a line-of-sight(Lo S) and non-line-of-sight(NLo S) components. The factor of fuselage posture is considered by introducing a time-variant 3D posture matrix. Some important statistical properties, i.e.the temporal autocorrelation function(ACF) and spatial cross correlation function(CCF), are derived and investigated. Simulation results show that the fuselage posture has significant impact on the U2V channel characteristic and aggravate the non-stationarity. The agreements between analytical, simulated, and measured results verify the correctness of proposed model and derivations. Moreover, it is demonstrated that the proposed model is also compatible to the existing GBSM without considering fuselage posture.

A stochastic two-dimensional intelligent driver car-following model with vehicular dynamics

The law of vehicle movement has long been studied under the umbrella of microscopic traffic flow models,especially the car-following(CF)models.These models of the movement of vehicles serve as the backbone of traffic flow analysis,simulation,autonomous vehicle development,etc.Two-dimensional(2D)vehicular movement is basically stochastic and is the result of interactions between a driver's behavior and a vehicle's characteristics.Current microscopic models either neglect 2D noise,or overlook vehicle dynamics.The modeling capabilities,thus,are limited,so that stochastic lateral movement cannot be reproduced.The present research extends an intelligent driver model(IDM)by explicitly considering both vehicle dynamics and 2D noises to formulate a stochastic 2D IDM model,with vehicle dynamics based on the stochastic differential equation(SDE)theory.Control inputs from the vehicle include the steer rate and longitudinal acceleration,both of which are developed based on an idea from a traditional intelligent driver model.The stochastic stability condition is analyzed on the basis of Lyapunov theory.Numerical analysis is used to assess the two cases:(i)when a vehicle accelerates from a standstill and(ii)when a platoon of vehicles follow a leader with a stop-and-go speed profile,the formation of congestion and subsequent dispersion are simulated.The results show that the model can reproduce the stochastic 2D trajectories of the vehicle and the marginal distribution of lateral movement.The proposed model can be used in both a simulation platform and a behavioral analysis of a human driver in traffic flow.

Simulation Analysis of New Energy Vehicle Engine Cooling System Based on K-E Turbulent Flow Mathematical Model

New energy vehicles have better clean and environmental protection characteristics than traditional fuel vehicles.The new energy engine cooling technology is critical in the design of new energy vehicles.This paper used oneand three-way joint simulation methods to simulate the refrigeration system of new energy vehicles.Firstly,a k-εturbulent flow model for the cooling pump flow field is established based on the principle of computational fluid dynamics.Then,the CFD commercial fluid analysis software FLUENT is used to simulate the flow field of the cooling pump under different inlet flow conditions.This paper proposes an optimization scheme for new energy vehicle engines’“boiling”phenomenon under high temperatures and long-time climbing conditions.The simulation results show that changing the radiator’s structure and adjusting the thermostat’s parameters can solve the problem of a“boiling pot.”The optimized new energy vehicle engine can maintain a better operating temperature range.The algorithm model can reference each cryogenic system component hardware selection and control strategy in the new energy vehicle’s engine.

Object-Oriented Modeling of the Variation of Acceleration and Deceleration Characteristics in Relation to Speed Bands for Railway Vehicles

Automated operation and artificial intelligence technology have become essential for ensuring the safety, efficiency, and punctuality of railways, with applications such as ATO (Automatic Train Operation). In this study, the authors propose a method to efficiently simulate the kinematic characteristics of railroad vehicles depending on their speed zone. They utilized the function overloading function supported by a programming language and applied the fourth-order Lunge-Kutta method for dynamic simulation. By constructing an object model, the authors calculated vehicle characteristics and TPS and compared them with actual values, verifying that the developed model represents the real-life vehicle characteristics accurately. The study highlights potential improvements in automated driving and energy consumption optimization in the railway industry.

Towards a Modeling of the Impacts of Road Verge Management on the Pollination Service Using System Dynamics: A Case Study in France

Several research studies have proven that eliciting and predicting the impact of human activity on ecosystem services will be crucial to support stakeholders’ awareness and to decide how to interact with the environment in a more sustainable manner. In this sense, the ecosystems known as road verges are particularly important because of their length and surface at an international scale, and their role in mitigating the damage done by roads. Plant pollination by insects is one of the most important ecosystem services. Because of its nature and the fact that they extend across a variety of landscapes, roadside can contribute to the maintenance of healthy ecosystems, under the condition of adapted management practices. This research is the first attempt to develop a System Dynamics-based aiming to estimate the ecological and economic impact of maintenance on the road verge pollination service in France. Maintenance strategies of road verges are simulated to compare their performance. The results show that there are ways to improve current maintenance strategies in terms of pollination value, but also that the model needs to consider other ecosystem services and synergistic effects that could further affect pollination to obtain more accurate estimations.

Wheel-rail contact model for railway vehicle-structure interaction applications:development and validation

An enhancement in the wheel-rail contact model used in a nonlinear vehicle-structure interaction(VSI)methodology for railway applications is presented,in which the detection of the contact points between wheel and rail in the concave region of the thread-flange transition is implemented in a simplified way.After presenting the enhanced formulation,the model is validated with two numerical applications(namely,the Manchester Benchmarks and a hunting stability problem of a sus-pended wheelset),and one experimental test performed in a test rig from the Railway Technical Research Institute(RTRI)in Japan.Given its finite element(FE)nature,and contrary to most of the vehicle multibody dynamic commercial software that cannot account for the infrastructure flexibility,the proposed VSI model can be easily used in the study of train-bridge systems with any degree of complexity.The validation presented in this work proves the accuracy of the proposed model,making it a suitable tool for dealing with different railway dynamic applications,such as the study of bridge dynamics,train running safety under different scenarios(namely,earthquakes and crosswinds,among others),and passenger riding comfort.

Dynamic Cell Modeling for Accurate SOC Estimation in Autonomous Electric Vehicles

This paper presents findings on dynamic cell modeling for state-of-charge (SOC) estimation in an autonomous electric vehicle (AEV). The studied cells are Lithium-Ion Polymer-based with a nominal capacity of around 8 Ah, optimized for power-needy applications. The AEV operates in a harsh environment with rate requirements up to ±25C and highly dynamic rate profiles, unlike portable-electronic applications with constant power output and fractional C rates. SOC estimation methods effective in portable electronics may not suffice for the AEV. Accurate SOC estimation necessitates a precise cell model. The proposed SOC estimation method utilizes a detailed Kalman-filtering approach. The cell model must include SOC as a state in the model state vector. Multiple cell models are presented, starting with a simple one employing “Coulomb counting” as the state equation and Shepherd’s rule as the output equation, lacking prediction of cell relaxation dynamics. An improved model incorporates filter states to account for relaxation and other dynamics in closed-circuit cell voltage, yielding better performance. The best overall results are achieved with a method combining nonlinear autoregressive filtering and dynamic radial basis function networks. The paper includes lab test results comparing physical cells with model predictions. The most accurate models obtained have an RMS estimation error lower than the quantization noise floor expected in the battery-management-system design. Importantly, these models enable precise SOC estimation, allowing the vehicle controller to utilize the battery pack’s full operating range without overcharging or undercharging concerns.

Dynamics Modeling and Stability Analysis of Tilt Wing Unmanned Aerial Vehicle During Transition

In the transition mode of quad tilt wing-unmanned aerial vehicle(QTW-UAV),the system stability of UAV will change with the tilt angle changes,which will cause serious head drop down.Meanwhile,with the complex air flow and other disturbances,the system is prone to side bias,frying,stall and other kinetic stability problems,hence the system stability analysis has become an urgent problem to be solved.To solve the stability problem,we need the quantitative criteria of system stability and effective tool of stability analysis,and can improve the stability of the motion control by optimizing the structural parameters of the aircraft.Therefore,based on the design of the mechanical structure,the quantitative relationship between the structure parameters of the aerial vehicle and kinetic stability of the system transition mode is established by the Lyapunov exponent method.In this paper,the dynamic modeling of the position and attitude angle is carried out and the stability of the system is analyzed by Lyapunov exponent,the results show that changing the mechanical structure of the system can improve the flight stability for the system transition mode and lay a theoretical foundation for the system stability analysis.Compared with the Lyapunov direct method,this method can be construct easily,has a simple calculation process and so on.We improve the flight stability by optimizing the structure and the experiment confirms that expanding area can enhance flight stability within limits.

Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages

为设计并且调试提供一个模拟系统平台一小自治在水下车辆(AUV ) 运动控制器，一自由(6-DOF ) 六度为推进器和鳍与附器控制的 AUV 的动态模型被检查。基于动态模型，为 AUV 运动的一个模拟系统被建立。典型运动的不同类型被模仿分析运动表演和 AUV 的可操作性。以便在 AUV 的运动表演上评估附器的影响，有或没有附器的 AUV 的模拟被执行并且比较。结果证明 AUV 有或没有附器有好可操作性。

Research on Hydrodynamics Model Test for Deepsea Open-Framed Remotely Operated Vehicle

This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions.