Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

Enhancing Safety in Autonomous Vehicle Navigation:An Optimized Path Planning Approach Leveraging Model Predictive Control

This paper explores the application of Model Predictive Control(MPC)to enhance safety and efficiency in autonomous vehicle(AV)navigation through optimized path planning.The evolution of AV technology has progressed rapidly,moving from basic driver-assistance systems(Level 1)to fully autonomous capabilities(Level 5).Central to this advancement are two key functionalities:Lane-Change Maneuvers(LCM)and Adaptive Cruise Control(ACC).In this study,a detailed simulation environment is created to replicate the road network between Nantun andWuri on National Freeway No.1 in Taiwan.The MPC controller is deployed to optimize vehicle trajectories,ensuring safe and efficient navigation.Simulated onboard sensors,including vehicle cameras and millimeterwave radar,are used to detect and respond to dynamic changes in the surrounding environment,enabling real-time decision-making for LCM and ACC.The simulation resultshighlight the superiority of the MPC-based approach in maintaining safe distances,executing controlled lane changes,and optimizing fuel efficiency.Specifically,the MPC controller effectively manages collision avoidance,reduces travel time,and contributes to smoother traffic flow compared to traditional path planning methods.These findings underscore the potential of MPC to enhance the reliability and safety of autonomous driving in complex traffic scenarios.Future research will focus on validating these results through real-world testing,addressing computational challenges for real-time implementation,and exploring the adaptability of MPC under various environmental conditions.This study provides a significant step towards achieving safer and more efficient autonomous vehicle navigation,paving the way for broader adoption of MPC in AV systems.

Battery pack capacity estimation for electric vehicles based on enhanced machine learning and field data

Accurate capacity estimation is of great importance for the reliable state monitoring,timely maintenance,and second-life utilization of lithium-ion batteries.Despite numerous works on battery capacity estimation using laboratory datasets,most of them are applied to battery cells and lack satisfactory fidelity when extended to real-world electric vehicle(EV)battery packs.The challenges intensify for large-sized EV battery packs,where unpredictable operating profiles and low-quality data acquisition hinder precise capacity estimation.To fill the gap,this study introduces a novel data-driven battery pack capacity estimation method grounded in field data.The proposed approach begins by determining labeled capacity through an innovative combination of the inverse ampere-hour integral,open circuit voltage-based,and resistance-based correction methods.Then,multiple health features are extracted from incremental capacity curves,voltage curves,equivalent circuit model parameters,and operating temperature to thoroughly characterize battery aging behavior.A feature selection procedure is performed to determine the optimal feature set based on the Pearson correlation coefficient.Moreover,a convolutional neural network and bidirectional gated recurrent unit,enhanced by an attention mechanism,are employed to estimate the battery pack capacity in real-world EV applications.Finally,the proposed method is validated with a field dataset from two EVs,covering approximately 35,000 kilometers.The results demonstrate that the proposed method exhibits better estimation performance with an error of less than 1.1%compared to existing methods.This work shows great potential for accurate large-sized EV battery pack capacity estimation based on field data,which provides significant insights into reliable labeled capacity calculation,effective features extraction,and machine learning-enabled health diagnosis.

A Survey on an Emerging Safety Challenge for Autonomous Vehicles:Safety of the Intended Functionality

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

Deep neural network-enabled battery open-circuit voltage estimation based on partial charging data

Battery management systems(BMSs) play a vital role in ensuring efficient and reliable operations of lithium-ion batteries.The main function of the BMSs is to estimate battery states and diagnose battery health using battery open-circuit voltage(OCV).However,acquiring the complete OCV data online can be a challenging endeavor due to the time-consuming measurement process or the need for specific operating conditions required by OCV estimation models.In addressing these concerns,this study introduces a deep neural network-combined framework for accurate and robust OCV estimation,utilizing partial daily charging data.We incorporate a generative deep learning model to extract aging-related features from data and generate high-fidelity OCV curves.Correlation analysis is employed to identify the optimal partial charging data,optimizing the OCV estimation precision while preserving exceptional flexibility.The validation results,using data from nickel-cobalt-magnesium(NCM) batteries,illustrate the accurate estimation of the complete OCV-capacity curve,with an average root mean square errors(RMSE) of less than 3 mAh.Achieving this level of precision for OCV estimation requires only around 50 s collection of partial charging data.Further validations on diverse battery types operating under various conditions confirm the effectiveness of our proposed method.Additional cases of precise health diagnosis based on OCV highlight the significance of conducting online OCV estimation.Our method provides a flexible approach to achieve complete OCV estimation and holds promise for generalization to other tasks in BMSs.

Durable K-ion batteries with 100% capacity retention up to 40,000 cycles

Currently,the major challenge in terms of research on K-ion batteries is to ensure that they possess satisfactory cycle stability and specific capacity,especially in terms of the intrinsically sluggish kinetics induced by the large radius of K+ions.Here,we explore high-performance K-ion half/full batteries with high rate capability,high specific capacity,and extremely durable cycle stability based on carbon nanosheets with tailored N dopants,which can alleviate the change of volume,increase electronic conductivity,and enhance the K+ion adsorption.The as-assembled K-ion half-batteries show an excellent rate capability of 468 mA h g^(−1) at 100 mA g^(−1),which is superior to those of most carbon materials reported to date.Moreover,the as-assembled half-cells have an outstanding life span,running 40,000 cycles over 8 months with a specific capacity retention of 100%at a high current density of 2000 mA g^(−1),and the target full cells deliver a high reversible specific capacity of 146 mA h g^(−1) after 2000 cycles over 2 months,with a specific capacity retention of 113%at a high current density of 500 mA g^(−1),both of which are state of the art in the field of K-ion batteries.This study might provide some insights into and potential avenues for exploration of advanced K-ion batteries with durable stability for practical applications.

Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

Pulsed current-assisted twelve-roll precision rolling deformation of SUS304 ultra-thin strips with exceptional mechanical properties

Innovative pulsed current-assisted multi-pass rolling tests were conducted on a 12-roll mill during the rolling deformation processing of SUS304 ultra-thin strips.The results show that in the first rolling pass,the rolling reduction rate of a conventionally rolled sample(at room temperature)is 33.8%,which can be increased to 41.5%by pulsed current-assisted rolling,enabling the formation of an ultra-thin strip with a size of 67.3μm in only one rolling pass.After three passes of pulsed current-assisted rolling,the thickness of the ultra-thin strip can be further reduced to 51.7μm.To clearly compare the effects of a pulsed current on the microstructure and mechanical response of the ultra-thin strip,ultra-thin strips with nearly the same thickness reduction were analyzed.It was found that pulsed current can reduce the degree of work-hardening of the rolled samples by promoting dislocation detachment,reducing the density of stacking faults,inhibiting martensitic phase transformation,and shortening the total length of grain boundaries.As a result,the ductility of ultra-thin strips can be effectively restored to approximately 16.3%while maintaining a high tensile strength of 1118 MPa.Therefore,pulsed current-assisted rolling deformation shows great potential for the formation of ultra-thin strips with a combination of high strength and ductility.

Preparation of MXene-based hybrids and their application in neuromorphic devices

The traditional von Neumann computing architecture has relatively-low information processing speed and high power consumption,making it difficult to meet the computing needs of artificial intelligence(AI).Neuromorphic computing systems,with massively parallel computing capability and low power consumption,have been considered as an ideal option for data storage and AI computing in the future.Memristor,as the fourth basic electronic component besides resistance,capacitance and inductance,is one of the most competitive candidates for neuromorphic computing systems benefiting from the simple structure,continuously adjustable conductivity state,ultra-low power consumption,high switching speed and compatibility with existing CMOS technology.The memristors with applying MXene-based hybrids have attracted significant attention in recent years.Here,we introduce the latest progress in the synthesis of MXene-based hybrids and summarize their potential applications in memristor devices and neuromorphological intelligence.We explore the development trend of memristors constructed by combining MXenes with other functional materials and emphatically discuss the potential mechanism of MXenes-based memristor devices.Finally,the future prospects and directions of MXene-based memristors are briefly described.

Data-driven prediction of dimensionless quantities for semi-infinite target penetration by integrating machine-learning and feature selection methods

This study employs a data-driven methodology that embeds the principle of dimensional invariance into an artificial neural network to automatically identify dominant dimensionless quantities in the penetration of rod projectiles into semi-infinite metal targets from experimental measurements.The derived mathematical expressions of dimensionless quantities are simplified by the examination of the exponent matrix and coupling relationships between feature variables.As a physics-based dimension reduction methodology,this way reduces high-dimensional parameter spaces to descriptions involving only a few physically interpretable dimensionless quantities in penetrating cases.Then the relative importance of various dimensionless feature variables on the penetration efficiencies for four impacting conditions is evaluated through feature selection engineering.The results indicate that the selected critical dimensionless feature variables by this synergistic method,without referring to the complex theoretical equations and aiding in the detailed knowledge of penetration mechanics,are in accordance with those reported in the reference.Lastly,the determined dimensionless quantities can be efficiently applied to conduct semi-empirical analysis for the specific penetrating case,and the reliability of regression functions is validated.

Numerical Analysis of Steady Smoldering of Biomass Rods

Understanding the steady mechanism of biomass smoldering plays a great role in the utilization of smoldering technology.In this study numerical analysis of steady smoldering of biomass rods was performed.A two-dimensional(2D)steady model taking into account both char oxidation and pyrolysis was developed on the basis of a calculated propagation velocity according to empirical correlation.The model was validated against the smoldering experiment of biomass rods under natural conditions,and the maximum error was smaller than 31%.Parameter sensitivity analysis found that propagation velocity decreases significantly while oxidation area and pyrolysis zone increase significantly with the increasing diameter of rod fuel.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Subpicosecond laser ablation behavior of a magnesium target and crater evolution:Molecular dynamics study and experimental validation

The micro-ablation processes and morphological evolution of ablative craters on single-crystal magnesium under subpicosecond laser irradiation are investigated using molecular dynamics(MD) simulations and experiments.The simulation results exhibit that the main failure mode of single-crystal Mg film irradiated by a low fluence and long pulse width laser is the ejection of surface atoms,which has laser-induced high stress.However,under high fluence and short pulse width laser irradiation,the main damage mechanism is nucleation fracture caused by stress wave reflection and superposition at the bottom of the film.In addition,Mg[0001] has higher pressure sensitivity and is more prone to ablation than Mg[0001].The evolution equation of crater depth is established using multi-pulse laser ablation simulation and verified by experiments.The results show that,under multiple pulsed laser irradiation,not only does the crater depth increase linearly with the pulse number,but also the quadratic term and constant term of the fitted crater profile curve increase linearly.

Research on the Generation Mechanism and Suppression Method of Aerodynamic Noise in Expansion Cavity Based on Hybrid Method

The expansion chamber serves as the primary silencing structure within the exhaust pipeline.However,it can also act as a sound-emitting structure when subjected to airflow.This article presents a hybrid method for numerically simulating and analyzing the unsteady flow and aerodynamic noise in an expansion chamber under the influence of airflow.A fluid simulation model is established,utilizing the Large Eddy Simulation(LES)method to calculate the unsteady flow within the expansion chamber.The simulation results effectively capture the development and changes of the unsteady flow and vorticity inside the cavity,exhibiting a high level of consistency with experimental observations.To calculate the aerodynamic noise sources within the cavity,the flow field results are integrated using the method of integral interpolation and inserted into the acoustic grid.The acoustic analogy method is then employed to determine the aerodynamic noise sources.An acoustic simulation model is established,and the flow noise source is imported into the sound field grid to calculate the sound pressure at the far-field response point.The calculated sound pressure levels and resonance frequencies show good agreement with the experimental results.To address the issue of airflow regeneration noise within the cavity,perforated tubes are selected as a means of noise suppression.An experimental platformfor airflow regeneration noise is constructed,and experimental samples are processed to analyze and verify the noise suppression effect of perforated tube expansion cavities under different airflow velocities.The research findings indicate that the perforated tube expansion cavity can effectively suppress low-frequency aerodynamic noise within the cavity by impeding the formation of strong shear layers.Moreover,the semi-perforated tube expansion cavity demonstrates the most effective suppression of aerodynamic noise.

Advancing high-speed train gearbox durability:enhanced bearing load and contact stress through transition from helical to herringbone gears

High-speed trains typically utilize helical gear transmissions,which significantly impact the bearing load capacity and fatigue service performance of the gearbox bearings.This paper focuses on the gearbox bearings,establishing dynamic models for both helical gear and herringbone gear transmissions in high-speed trains.The modeling particularly emphasizes the precision of the bearings at the gearbox's pinion and gear wheels.Using this model,a comparative analysis is conducted on the bearing loads and contact stresses of the gearbox bearings under uniform-speed operation between the two gear transmissions.The findings reveal that the helical gear transmission generates axial forces leading to severe load imbalance on the bearings at both sides of the large gear,and this imbalance intensifies with the increase in train speed.Consequently,this results in a significant increase in contact stress on the bearings on one side.The adoption of herringbone gear transmission effectively suppresses axial forces,resolving the load imbalance issue and substantially reducing the contact stress on the originally biased side of the bearings.The study demonstrates that employing herringbone gear transmission can significantly enhance the service performance of high-speed train gearbox bearings,thereby extending their service life.

Path Tracking Controller Design of Automated Parking Systems via NMPC with an Instructible Solution

Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

Effect of Nozzle Inclination Angle on Fuel-Air Mixing and Combustion in a Heavy Fuel Engine

Heavy-fuel engines are widely used in UAVs(Unmanned Autonomous Vehicles)because of their reliability and high-power density.In this study,a combustion model for an in-cylinder direct injection engine has been imple-mented using the AVL FIRE software.The effects of the angle of nozzle inclination on fuel evaporation,mixture distribution,and combustion in the engine cylinder have been systematically studied at 5500 r/min and consider-ing full load cruise conditions.According to the results,as the angle of nozzle inclination increases,the maximum combustion explosion pressure in the cylinderfirst increases and then it decreases.When the angle of nozzle incli-nation is less than 45°,the quality of the mixture in the cylinder and the combustion performance can be improved by increasing the angle.When the angle of nozzle inclination is greater than 45°,however,the mixture unevenness increases slightly with the angle,leading to a deterioration of the combustion performances.When the angle of nozzle inclination is between 35°and 55°,the overall combustion performance of the engine is rela-tively good.When the angle of nozzle inclination is 45°,the combustion chamber’s geometry and the cylinder’s airflow are well matched with the fuel spray,and the mixture quality is the best.Compared with 25°,the peak heat release rate increases by 20%,and the maximum combustion burst pressure increases by 5.5%.

Synergistically biomimetic platform that enables droplets to be self-propelled

Droplet transport still faces numerous challenges,such as a limited transport distance,large volume loss,and liquid contamination.Inspired by the principle of‘synergistic biomimetics’,we propose a design for a platform that enables droplets to be self-propelled.The orchid leaf-like three-dimensional driving structure provides driving forces for the liquid droplets,whereas the lotus leaf-like superhydrophobic surface prevents liquid adhesion,and the bamboo-like nodes enable long-distance transport.During droplet transport,no external energy input is required,no fluid adhesion or residue is induced,and no contamination or mass loss of the fluid is caused.We explore the influence of various types and parameters of wedge structures on droplet transportation,the deceleration of droplet speed at nodal points,and the distribution of internal pressure.The results indicate that the transport platform exhibits insensitivity to pH value and temperature.It allows droplets to be transported with varying curvatures in a spatial environment,making it applicable in tasks like target collection,as well as load,fused,anti-gravity,and long-distance transport.The maximum droplet transport speed reached(58±5)mm·s^(−1),whereas the transport distance extended to(136±4)mm.The developed platform holds significant application prospects in the fields of biomedicine and chemistry,such as high-throughput screening of drugs,genomic bioanalysis,microfluidic chip technology for drug delivery,and analysis of biological samples.

Modeling and analysis of gradient metamaterials for broad fusion bandgaps

A gradient metamaterial with varying-stiffness local resonators is proposed to open the multiple bandgaps and further form a broad fusion bandgap.First,three local resonators with linearly increasing stiffness are periodically attached to the spring-mass chain to construct the gradient metamaterial.The dispersion relation is then derived based on Bloch's theorem to reveal the fusion bandgap theoretically.The dynamic characteristic of the finite spring-mass chain is investigated to validate the fusion of multiple bandgaps.Finally,the effects of the design parameters on multiple bandgaps are discussed.The results show that the metamaterial with a non-uniform stiffness gradient pattern is capable of opening a broad fusion bandgap and effectively attenuating the longitudinal waves within a broad frequency region.