Autonomous Vehicles: Autodriver Algorithm and Vehicle Dynamics

This paper investigates the energy management system (EMS) of a conventional autonomous vehicle, with a view to enhance its powertrain efficiency. The designed EMS includes two neuro-fuzzy (NF) systems to produce the optimal torque of the engine. This control system uses the dynamic road power demand of the autonomous vehicle as an input, and a PID controller to regulate the air mass flow rate into the cylinder by changing the throttle angle. Two NF systems were trained by the Grid Partition (GP) and the Subtractive Clustering (SC) methods. The simulation results show that the proposed EMS can reduce the fuel consumption of the vehicle by 6.69 and 6.35 l/100 km using the SC and the GP, respectively. In addition, the EMS based on NF trained by GP and NF trained by SC can reduce the fuel consumption of the vehicle by 11.8% and 7.08% compared with the case without the controller, respectively.

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“…where M is the air mass within the cabin room, T room is the cabin temperature. Substituting (2), and (3) into (1), we have:…”

Section: Model Of Road Geometrymentioning

confidence: 99%

“…An Autonomous Vehicle (AV) was known as a vehicle that can manoeuvre by itself without human conduction [1,2]. They have been used with the aims of: (i) improving road safety, (ii) avoiding crashes, (iii) releasing driver time and business opportunities, and (iv) new potential market opportunities [1,3].…”

Section: Introductionmentioning

confidence: 99%

Neuro-Fuzzy System for Energy Management of Conventional Autonomous Vehicles

et al. 2020

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“…In recent years, with the rapid development of the artificial intelligence technique, sensor technique, computing technique, and vehicle control technique, the unmanned ground vehicle (UGV) is becoming widely focused on and applied in both civilian and military applications. 1–5 Generally, the main features of the UGV are as follows: (1) The UGV is completely autonomous driving with a particular functional equipment, which is able to conduct the missions autonomously with no human onboard. (2) The purpose of the application of the UGV is to completely replace humans for various civilian and military applications.…”

Section: Introductionmentioning

confidence: 99%

A review for design and dynamics control of unmanned ground vehicle

Chen

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The unmanned ground vehicle is supposed to replace humans for various applications in both civilian and military area, including transport, delivery, shuttle, clean, patrol, scout, and battle. It has been widely expected that the unmanned ground vehicle will greatly change the human life and the land combat form in the near future. The key techniques of the unmanned ground vehicle are environment perception, motion planning, chassis dynamics control, and cloud control. In this paper, the state of the art of the development of the military and civilian unmanned ground vehicle is introduced, and many classic ones are reviewed in detail in different application categories. The overall design and X-by-wire dynamics control technique of the civilian and military unmanned ground vehicle are reviewed. The X-by-wire technique plays an important role in improving the maneuverability, mobility, and handling performance of the unmanned ground vehicle. Therefore, the chassis dynamics control is considered as a core technique of the X-by-wire unmanned ground vehicle. In addition, as a research trend of the unmanned ground vehicle dynamics control, the cloud-based dynamics control approach of future unmanned ground vehicle based on big data and cloud control techniques is described according to the authors’ work.

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“…To enable this, an important technology has been introduced in the past decade, autonomous cruise control (ACC). This ACC system with laser/radar sensors or camera can obtain the distance to the preceding vehicle, so it can adjust the movements of individual vehicles in the platoon [3].…”

Section: Introductionmentioning

confidence: 99%

An Energy Efficient Message Dissemination Scheme in Platoon-Based Driving Systems

Kim

Song²,

Pack

2020

Energies

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With the development of the convergence of IT and automotive technology, platoon-based driving systems are getting more attention and how to disseminate messages in the platoon is an important issue. In this paper, to enhance the energy efficiency and traffic throughput (e.g., average velocity) while meeting transmission deadlines, we propose an energy efficient message dissemination scheme (EMDS) in platoon-based driving systems, which also provides proper power control and relay selection. To find out the optimal policy to balance the probability of successful message dissemination and transmission power cost in EMDS, we formulate a Markov decision process (MDP) problem that considers the velocity of the vehicles in the platoon. To evaluate the performance of EMDS, we analyze the outage probability, the average velocity, and the expected power consumption using the discrete-time Markov chain (DTMC) model. Evaluation results demonstrate EMDS with the optimal policy improves the average velocity and the energy efficiency of message dissemination compared with the conventional message dissemination schemes, while reducing the message dissemination failure rate.

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Autonomous Vehicles: Autodriver Algorithm and Vehicle Dynamics

Cited by 91 publications

References 18 publications

Neuro-Fuzzy System for Energy Management of Conventional Autonomous Vehicles

Neuro-Fuzzy System for Energy Management of Conventional Autonomous Vehicles

A review for design and dynamics control of unmanned ground vehicle

An Energy Efficient Message Dissemination Scheme in Platoon-Based Driving Systems

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