The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation. intelligent vehicle, lane changing, trajectory planning, yaw rate-tracking Citation: Ren D B, Zhang J Y, Zhang J M, et al. Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road. Sci

A proper battery management system (BMS) plays a vital role in ensuring the safety and reliability of electric vehicles (EVs) and other electronic products. Accurate State-of-Health (SOH) estimation of Lithium-ion (Li-ion) batteries is a key factor in a BMS. It is difficult to determine SOH because of the complexity of the electrochemical reactions within the battery. To improve the accuracy of SOH estimation, a dynamic spatial-temporal attention-based gated recurrent unit (DSTA-GRU) model is proposed in this paper. First, we extract six features from the battery's charging and discharging processes that can reflect the aging degree of the battery to some extent. Second, this paper proposes a model to combine spatial attention and temporal attention that can not only consider the effects of states at different time step on the results, but also consider the effects of different features in the space domain. Third, the proposed model is trained and tested on NASA battery datasets and compared with other conventional models. Experiments carried on these data sets demonstrate that our model achieves higher accuracy than other conventional models. INDEX TERMS Lithium-ion battery, state of health, dynamic spatial attention, temporal attention, gated recurrent unit

A low power wide area network (LPWAN) is becoming a popular technology since more and more industrial Internet of things (IoT) applications rely on it. It is able to provide long distance wireless communication with great power saving. Given the fact that an LPWAN covers a wide area where all end nodes communicate directly to a few gateways, a large number of devices have to share the gateway. In this situation, chances are many collisions could occur, leading to waste of limited wireless resources. However, many factors affecting the number of collisions that cannot be solved by traditional time series analysis algorithms. Therefore, deep learning methods can be applied here to predict collisions by analyzing these factors in an LPWAN system. In this paper, we propose long short-term memory extended Kalman filter (LSTM-EKF) model for collision prediction in the LPWAN in terms of the temporal correlation which can improve the LSTM performance. The efficacies of our models are demonstrated on the data set simulated by LoRaSim.

An accurate prediction of the State of Charge (SOC) of an Electric Vehicle (EV) battery is important when determining the driving range of an EV. However, the majority of the studies in this field have either been focused on the standard driving cycle (SDC) or the internal parameters of the battery itself to predict the SOC results. Due to the significant difference between the real driving cycle (RDC) and SDC, a proper method of predicting the SOC results with RDCs is required. In this paper, RDCs and deep learning methods are used to accurately estimate the SOC of an EV battery. RDC data for an actual driving route have been directly collected by an On-Board Diagnostics (OBD)-II dongle connected to the author’s vehicle. The Global Positioning System (GPS) data of the traffic lights en route are used to segment each instance of the driving cycles where the Dynamic Time Warping (DTW) algorithm is adopted, to obtain the most similar patterns among the driving cycles. Finally, the acceleration values are predicted from deep learning models, and the SOC trajectory for the next trip will be obtained by a Functional Mock-Up Interface (FMI)-based EV simulation environment where the predicted accelerations are fed into the simulation model by each time step. As a result of the experiments, it was confirmed that the Temporal Attention Long–Short-Term Memory (TA-LSTM) model predicts the SOC more accurately than others.

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