Loading...
Administrator by China Associction for Science and Technology
Sponsored by China Society of Automotive Engineers
Published by AUTO FAN Magazine Co. Ltd.

Table of Content

    25 February 2021, Volume 43 Issue 2 Previous Issue    Next Issue
    Longitudinal and Lateral Comprehensive Trajectory Tracking Control of Intelligent Vehicles Based on NMPC
    Long Chen,Kai Zou,Yingfeng Cai,Chenglong Teng,Xiaoqiang Sun,Hai Wang
    2021, 43 (2):  153-161.  doi: 10.19562/j.chinasae.qcgc.2021.02.001
    Abstract ( 736 )   HTML ( 33 )   PDF (1048KB) ( 874 )   Save

    Aiming at the lowering of the trajectory tracking accuracy and stability caused by the coupling of longitudinal and lateral dynamic characteristics and the dynamic constraints of intelligent vehicles under large?curvature turning conditions, a longitudinal and lateral comprehensive trajectory tracking control method based on nonlinear model predictive control (NMPC) is proposed in this paper. Through the effective combination of NMPC and barrier (function) method (BM), the tracking accuracy and driving stability are improved. Firstly, a dynamics model for a four?wheel drive and front wheel steering vehicle and its trajectory tracking model are established and the NMPC is adopted to calculate the desired longitudinal force, lateral force and yaw moment. Then a nonlinear programming mathematical model with constraints is constructed based on tire dynamics model and the BM is used to solve out the optimal distribution of the tire forces of four?wheels, and finally the longitudinal and lateral comprehensive trajectory tracking control for a four?wheel drive intelligent vehicle is achieved. In the end, a Carsim and Simulink joint simulation is conducted with a result showing that compared with the traditional preview PID control, the method proposed can significantly improve the tracking accuracy and driving stability with consideration of the coupling between longitudinal and lateral dynamics characteristics.

    Figures and Tables | References | Related Articles | Metrics
    Braking Control Strategy Based on Optimal Regenerative Braking Torque Curve of Motor
    Xiaohua Zeng,Hongxu Chen,Dafeng Song,Chen Cui,Zhanjiang Li,Yuanguang Jiang
    2021, 43 (2):  162-170.  doi: 10.19562/j.chinasae.qcgc.2021.02.002
    Abstract ( 306 )   HTML ( 17 )   PDF (4337KB) ( 393 )   Save

    In this paper, the energy?consuming braking state and the regenerative braking state of a built?in PMSM are analyzed first based on the equivalent circuit model of the motor. Then the control current instruction of the motor is analytically analyzed according to the principle of motor vector control and is verified by test data. Next, the optimal regenerative torque curve of PMSM is calculated, and based on which an optimal series braking control strategy for regenerative braking is proposed. Finally, a simulation is conducted to acquire the L/100km fuel consumption and the energy recovered by regenerative braking of a P4 parallel hybrid electric commercial vehicle under C?WTVC, CHTC?TT and a section driving cycle of provincial road with both the parallel braking control and the optimal series braking control strategy. The results show that compared with parallel braking control, the series braking control strategy based on the optimal regenerative torque curve of the motor can reduce fuel consumption and recover more braking energy, achieving the enhancement of braking energy recovery and fuel economy.

    Figures and Tables | References | Related Articles | Metrics
    Research on Optimization of Power Consumption of Pure Electric Vehicle Based on Energy Flow Analysis
    Wei Huang,Guilian Zhang,Denghui Zhou,Lin Hu
    2021, 43 (2):  171-180.  doi: 10.19562/j.chinasae.qcgc.2021.02.003
    Abstract ( 550 )   HTML ( 21 )   PDF (3369KB) ( 619 )   Save

    Research on energy flow analysis is an effective way to understand vehicle energy utilization and optimize vehicle economy. For the problem of excessive power consumption of a pure electric vehicle, a pure electric vehicle energy flow test scheme is designed, and the performance benchmarking test analysis of main components is completed. Through theoretical analysis, the mathematical model affecting power consumption and the method of selecting optimal parameters based on value factor are established. Based on CRUISE power consumption simulation analysis model, quantitative power consumption optimization analysis is carried out from the aspects of electric drive system efficiency improvement, rolling resistance optimization, braking energy recovery rate improvement and accessory control strategy optimization. The improved real vehicle test results show that the energy flow efficiency of the whole vehicle has been improved significantly, with the DC/DC charging efficiency increased to 90%, the braking energy recovery rate increased to more than 18% and the vehicle power consumption reduced by 13.78% under NEDC conditions, which further improves the energy utilization economy of pure electric vehicles.

    Figures and Tables | References | Related Articles | Metrics
    Study on Extraction Algorithm for Time⁃varying Equivalent Factor of ECMS for Parallel Hybrid Electric Vehicle
    Yuejuan Li,Wei Qi,Cheng Wang,Bo Zhang,Qiang Lu
    2021, 43 (2):  181-188.  doi: 10.19562/j.chinasae.qcgc.2021.02.004
    Abstract ( 292 )   HTML ( 6 )   PDF (2913KB) ( 355 )   Save

    For solving the problem that the current equivalent consumption minimization strategy (ECMS) cannot select the optimal equivalent factor according to the actual driving condition, an energy algorithm model for parallel hybrid electric vehicle, i.e. ECMS with dynamic programming (DP), is constucted by taking the respective advantages of DP and ECMS. With equivalent factor as the control variable of global optimum alroithm, the condition?based optimal time?varying equivalent factor is abtained through the discrete global optimizaion of equivalent factor. A numerical simulation is conducted on all performance parameters of real?time control strategy for time?varying equivalent factor and the DP for globally optimal control strategy in normal condition, verifying the effectiveness of the extraction algorithm for time?varying equivalent factor and the feasibility of the selecting method for the initial value of equivalent factor.

    Figures and Tables | References | Related Articles | Metrics
    A Connected and Autonomous Vehicle Following Model Based on Generative Adversarial Network
    Jun Liang,Jun Wang,Yunqing Yang,long Chen,Chaofeng Pan,Guangquan Lu
    2021, 43 (2):  189-195.  doi: 10.19562/j.chinasae.qcgc.2021.02.005
    Abstract ( 254 )   HTML ( 7 )   PDF (2111KB) ( 310 )   Save

    In view of the poor real?time performance and safety as the responses of connected and autonomous vehicles (CAVs) to the speed change of leading vehicle and the low stability of CAV platoon under the current mixed traffic flow situation, a generative adversarial nets vehicle following model (GANVFM) composed of generation model and discrimination model is proposed for CAVs. The generation model extracts the vehicle flowing parameters such as the leading vehicle speed, the following vehicle speed and the vehicle spacing to calculate the generated acceleration, while the discrimination model calculates the similarity of the acceleration parameters generated by generation model and updates both the generation and discrimination models by updating function. Then the real?time performance and safety of CAVs and the stability of vehicle platoon are analyzed by using mean square deviation σ for speed and acceleration, rear?end collision predicting factor γn and vehicle following state factor φn as corresponding indicators. The results show that the GANVFM has the smallest γn and σ, and the real?time performance and safety of GANVFM to the speed change of leading vehicle are high. With the increase of the permeability rate δ of CAVS, the φn reduces, the fleet length shortens, and the fleet stability improves.

    Figures and Tables | References | Related Articles | Metrics
    Matching Design of Power System for High Power Hydrogen Fuel Cell Heavy⁃duty Truck
    Shichuang Liu,Huanwu Sun,Ruixin Wang,Hao Li,Dongguang Zhang
    2021, 43 (2):  196-203.  doi: 10.19562/j.chinasae.qcgc.2021.02.006
    Abstract ( 540 )   HTML ( 42 )   PDF (1578KB) ( 724 )   Save

    In order to solve the problem that there is no existing mature control strategy for the power system design of high power hydrogen fuel cell heavy?duty truck, the control strategy with priority of high power hydrogen fuel cell protection in power system matching design is proposed. According to the strategy, the design process, parts selection, parameter matching and calculation are determined. On this basis, the configuration optimization of the power system is carried out, and the fuel cell type selection is carried out based on the steady state conditions. Meanwhile, taking into consideration of the actual working condition characteristics and efficiency characteristics of heavy?duty trucks, the hydrogen fuel cell power, power cell power, motor power and speed ratios are designed and the parameters of parts are determined. Based on the design results, a high power hydrogen fuel cell heavy?duty truck model is established in Cruise for analysis and optimization. According to the design and optimization results, the prototype vehicle is designed and manufactured, and the overall performance parameters are preliminary verified. This study provides a reference for the matching design of power system of high power hydrogen fuel cell heavy?duty truck.

    Figures and Tables | References | Related Articles | Metrics
    Multiple Factors Dynamic Heat Generation Rate Model of Lithium‑ion Battery
    Haihong Pan,Yijing Li,Mo Zhang,Gang Liang,Lin Chen
    2021, 43 (2):  204-209.  doi: 10.19562/j.chinasae.qcgc.2021.02.007
    Abstract ( 360 )   HTML ( 5 )   PDF (2698KB) ( 530 )   Save

    In order to improve the simulation accuracy of the heat generation rate model, a multiple factors dynamic heat generation rate model is proposed based on the practical application of the Bernardi heat generation rate model for vehicle lithium?ion battery. First, the model integrates the dynamic effects of temperature, state of charge and charge?discharge rate on the parameters of Bernardi heat generation rate model. The mathematical models of dynamic internal resistance and dynamic entropy coefficient integrating multiple influencing factors are established based on the experimental data, which are substituted into Bernardi heat generation rate model to construct a multiple factors dynamic heat generation rate model. Then, the simulation program of charge, discharge and charge?discharge cycle is developed and the dynamic temperature of the battery is simulated. Finally, the simulation value of the battery temperature is verified by the experimental value. The results show that the dynamic heat generation rate model can accurately simulate the dynamic temperature of the battery under different working conditions, with the error less than 3.25 ℃.

    Figures and Tables | References | Related Articles | Metrics
    Vehicle Body Structure Improvement for Child Seat Pull Failure
    Sui Wang,Zhengchao Song
    2021, 43 (2):  210-217.  doi: 10.19562/j.chinasae.qcgc.2021.02.008
    Abstract ( 274 )   HTML ( 9 )   PDF (2436KB) ( 297 )   Save

    In order to control and optimize the child protection performance in the early stage of passenger vehicle design, taking a case as an example that the spot welds of ISOFIX fixing device in a passenger vehicle are pulled off from vehicle body, leading to a failure. Based on the spot weld heat affected zone failure criteria and the sheet metal fracture failure criteria, finite element analysis(FEA) is used to conduct virtual evaluation and structure improvement, and the FEA results well agrees with test ones. Finally, it passes the child seat pull bench test, showing that the strength analysis of body structure based on child seat pull safety performance has good reliability and applicability.

    Figures and Tables | References | Related Articles | Metrics
    Design Optimization of Vehicle Seats for Pull Safety Performance
    Zhifei Zhang,Tongtong Hu,Weichun Fan,Changjin Wang,Ruiwen Huang
    2021, 43 (2):  218-225.  doi: 10.19562/j.chinasae.qcgc.2021.02.009
    Abstract ( 293 )   HTML ( 7 )   PDF (3095KB) ( 339 )   Save

    Firstly, according to the test procedure for seat pull safety performance, provisioned in National Standard GB14167—2013“Safety?belt anchorages,ISOFIX anchorages systems and ISOFIX top tether anchorages for vehicles”, the modeling and simulation of a single vehicle seat are conducted with the reliability of the model verified by test. Then for improving the seat pull safety performance and achieving lightweighting, with consideration of the requirements of NVH performance on the modal frequency of structure, the topology optimization and dimension optimization on seat frame are performed from concept design phase to detail design phase. In concept design phase, the seat deformation trend under dynamic loading is simulated by multi?static load, and a topology optimization is carried out on seat structure with minimizing the overall compliance of seat frame as objective, the volume of design zone and the first order modal frequency as constraints. On this basis and through the relative sensitivity analysis,the panel thickness of 10 components is selected from 19 components as design variables. By adopting the design of experiment with Hammersley and Latin hypercube samplings, approximate models are constructed with moving least squares method. With minimizing the mass and the maximum deformation of seat rail as objectives, a simulation proceeds by using multi?objective genetic algorithm with the Pareto optimal solution obtained. The results indicate that after optimization, the seat mass and maximum deformation of seat rail reduce by 5.7% and 16.2% respectively while the first order modal frequency is not less than 19 Hz, achieving both the improvement in seat pull safety performance and lightweighting.

    Figures and Tables | References | Related Articles | Metrics
    Influence of Seat Rotation Speed on Occupants in Autonomous Driving
    Hequan Wu,Jiafei Zhang,Lin Hu
    2021, 43 (2):  226-231.  doi: 10.19562/j.chinasae.qcgc.2021.02.010
    Abstract ( 228 )   HTML ( 6 )   PDF (3621KB) ( 314 )   Save

    In order to enhance the safety of autonomous vehicles, a method is proposed to use a rotation speed curve to rotate the seat to a specified angle and the biomechanical response of the occupant under this rotation speed is studied. Firstly, the established collision model and dummy test data are compared and verified. Then, by changing the seat rotation direction and speed, the biomechanical responses of the occupant rotating to the specified position are studied. The results show that using isosceles trapezoidal rotation speed curve to rotate the seat to ±45° and ±90° within 200 ms will not cause additional risk of injury to the occupants.

    Figures and Tables | References | Related Articles | Metrics
    Research on Prediction of State Parameters and Structure Optimization of Diesel Engine Cylinder Gasket
    Yi Dong,Jianmin Liu,Pu Li,Yanbin Liu,Xinyong Qiao
    2021, 43 (2):  232-240.  doi: 10.19562/j.chinasae.qcgc.2021.02.011
    Abstract ( 191 )   HTML ( 3 )   PDF (3174KB) ( 287 )   Save

    In order to improve the reliability and fatigue life of a heavy?duty diesel engine cylinder head gasket, based on its state parameters such as temperature field, thermal?mechanical coupling stress field and deformation, the working parameters of the cylinder head gasket are optimized using related methods. The orthogonal experiment method is used to analyze the influence of the five working parameters of cylinder circle diameter, water hole circle diameter, heat insulation strip length, cylinder gasket thickness and bolt pre?tightening force on the above three state parameters, with the four most significant working parameters defined . Using the proposed hybrid neural network model, the corresponding relationship model between the working parameters and the state parameters is established, and the optimal working parameter value of the cylinder head gasket is calculated and determined in combination with the proposed improved gray wolf algorithm. The finite element analysis results show that the temperature stress and deformation of the cylinder head gasket after the improvement have been significantly improved, which proves the effectiveness of the improvement and the accuracy of the algorithm.

    Figures and Tables | References | Related Articles | Metrics
    Lightweight Optimization of Aluminum Alloy Energy Absorbing Box for Crash Safety
    Jing Chen,Sen Xu,Zhen Liu,Aotian Tang,Lü Wei
    2021, 43 (2):  241-247.  doi: 10.19562/j.chinasae.qcgc.2021.02.012
    Abstract ( 294 )   HTML ( 6 )   PDF (2660KB) ( 507 )   Save

    An energy absorbing box, matched with the anti?collision beam of carbon fiber composite bumper is taken as the object of study in this paper. Through an optimization by the design of experiment, the optimal cone angle and the diameter and arrangement of the collapsed holes of energy absorbing box are obtained. Then, by adopting Latin hypercube sampling technique and the multi?objective particle swarm optimization algorithm based on Kriging surrogate model with adding?point strategy, a multi?objective optimization on the thickness of energy absorbing box is conducted. After optimization, the energy absorbed by energy absorbing box greatly increases with its mass significantly reduces. Furthermore, the results of 100% overlap frontal crash with rigid wall and 25% overlap offset column collision show that the energy absorbing box has good energy absorption characteristics with rational deformation mode in crash. Finally, a low?speed frontal crash sled test is carried out for bumper beam and energy absorbing box, verifying the results of simulation in terms of the crash displacements of energy absorbing box with relatively small error.

    Figures and Tables | References | Related Articles | Metrics
    B⁃pillar Lightweight Design for Side Impact Crashworthiness
    Ding Xia,Shusheng Di,Lin Pan,Zhixin Zhao,Jinkun Lu,Jian Wu Changsheng Zhang
    2021, 43 (2):  248-252.  doi: 10.19562/j.chinasae.qcgc.2021.02.013
    Abstract ( 311 )   HTML ( 8 )   PDF (1706KB) ( 396 )   Save

    The relationship between the crushing force and material strength and thickness of thin?walled beam under three?point bending condition is studied, and a lightweight design method for B?pillar is proposed. For the lower end of B?pillar, it crushes and bends in side crash, which can be approximately equivalent to three?point bending condition, the high?strength steel with high?ductility is used instead of the ordinary high?strength steel with lower strength, and its lightweight design is carried out. For the upper end of the B?pillar, the rigid rotation occurs in side crash, which can be equivalent to the statics problem. The equivalent static force of side crash is applied, the upper end of the B?pillar is divided into N segments, and the thickness of each segment is optimized by using Optstruct software. Finally, an optimization is conducted on a real vehicle by introducing the optimization schemes for upper and lower ends of B?pillar into the side crash model of the vehicle. The results show that after optimization, the intrusion speed and intrusion amount of the main parts of B?pillar are almost equal to those of the original design, demonstrating the effectiveness of the lightweight design. The optimization achieves a lightweighting effect of 24% (1.9 kg), with its crashworthiness unaffected.

    Figures and Tables | References | Related Articles | Metrics
    Construction, Analysis and Optimization of Pre⁃collapse Tensile Energy⁃Absorbing Structure
    Jianhai Wang,Fengchong Lan,Liqiang Zeng,Jiqing Chen,Rui Song
    2021, 43 (2):  253-261.  doi: 10.19562/j.chinasae.qcgc.2021.02.014
    Abstract ( 181 )   HTML ( 6 )   PDF (2222KB) ( 332 )   Save

    Based on an analysis on the advantage of the scheme of energy absorption by material stretching, a pre?collapse tensile energy?absorbing structure is innovatively proposed, which can effectively enhance the impact energy absorption performance. Firstly, through the compression test of the energy?absorbing box and the tensile test of the standard tensile specimen, it is indicated that the energy absorption by material stretching has the advantages of higher specific energy absorption. Then, a pre?collapse tensile energy?absorbing structure is constructed, which utilizes the stretching of energy?absorbing bar to absorb energy. The characteristics of impact deformation and energy absorption of the structure are analyzed by finite element collision simulation, and an optimization is conducted on thickness parameters. The results show that the new structure takes full advantage of the principle of energy absorption by material stretching and achieves 40% higher specific energy absorption than traditional structure, enhancing its collision safety performance significantly.

    Figures and Tables | References | Related Articles | Metrics
    Analysis of Lower Extremity Injury of Six⁃year⁃old Child Pedestrian in Different Orientation Collisions with Car
    Haiyan Li,Kun Li,Yongqiang Huang,Lijuan He,Shihai Cui,Lü Wenle Ruan Shijie
    2021, 43 (2):  262-268.  doi: 10.19562/j.chinasae.qcgc.2021.02.015
    Abstract ( 175 )   HTML ( 5 )   PDF (4046KB) ( 239 )   Save

    The new version of technical bulletin TB024 promulgated by Euro NCAP made a separate request on the authentication of 6?year?old child pedestrian model, aiming to reinforce the protection of child pedestrian. In this study, based on the finite element model of 6?year?old pedestrian with detailed anatomical structure as specified in Euro NCAP TB024, 4 different collision orientations are set to conduct pedestrian?vehicle crash simulation test for exploring the injury mechanism of child's lower extremity in different collision orientations. The results show that among 4 collision orientations, only 270° collision (back impact) does not cause femur fracture; the most severe knee ligament injury happens in 0° collision (right?side impact); In 180° collision (left?side impact), the meniscus in right?side knee is most prone to injury and the left distal femoral growth plate has a higher risk of injury; Tibia and fibula are most prone to injury in 270° collision. This study provides a theoretical basis for child pedestrian protection and the cure of child extremity injury and the data supports for the development of vehicle safety protection devices.

    Figures and Tables | References | Related Articles | Metrics
    Research and Performance Test of Magnetorheological Semi⁃Active Suspension System Based on a Real Vehicle
    Zhizhao Peng,Yintao Wei,Xiaowei Fu,Xiejun Yao
    2021, 43 (2):  269-277.  doi: 10.19562/j.chinasae.qcgc.2021.02.016
    Abstract ( 305 )   HTML ( 10 )   PDF (5038KB) ( 488 )   Save

    For coordinated control of vehicle for semi?active suspension system, a master?slave control strategy is proposed by analyzing the coupling influence through suspension dynamic model. The road test is carried out based on a real vehicle equipped with the self?developed electronic control unit (ECU) as well as magnetorheological (MR) dampers paralleling with constant throttling orifices. The off?road test indicates that the weighted acceleration of the driver seat and the pitching rate are reduced by 13.8%~42.6% and 21.1%~53.7% respectively; In the slalom test, the rolling rate and angle are reduced by 65% and 38.5% respectively. In the double lane?change test, the rolling rate and angle are reduced by 65% and 51% respectively. In conclusion, the developed MR suspension system can improve the riding comfort, handling stability and driving safety significantly.

    Figures and Tables | References | Related Articles | Metrics
    Research on Road Elevation and Grade Identification of Active Suspension Considering Unknown Inputs
    Renkai Ding,Yu Jiang,Ruochen Wang,Wei Liu,Xiangpeng Meng,Zeyu Sun
    2021, 43 (2):  278-286.  doi: 10.19562/j.chinasae.qcgc.2021.02.017
    Abstract ( 253 )   HTML ( 9 )   PDF (5059KB) ( 373 )   Save

    The basic premise of improving the ride comfort and driving safety of vehicles via the precise control of active suspension is road elevation and grade identification. In this paper, a Kalman observer considering unknown inputs is designed to obtain the road elevation information. The AR model is established to acquire the road power spectral density, and the root mean square value of the road power spectral density in the interest frequency band is computed to realize the road grade classification. The accuracy of road elevation estimation and road grade classification under different working conditions is analyzed by simulation. Finally, the test bench is built to verify the effectiveness of the proposed road elevation estimation and road grade classification method, which provides necessary conditions for the intelligent control of active suspension.

    Figures and Tables | References | Related Articles | Metrics
    Modeling of Shim Valve Type Hydraulically Interconnected Suspension Considering the Time⁃varying Characteristics of Gas⁃liquid Emulsion
    Bohuan Tan,Xiang Lin,Bangji Zhang,Chunjie Guo,Nong Zhang
    2021, 43 (2):  287-295.  doi: 10.19562/j.chinasae.qcgc.2021.02.018
    Abstract ( 185 )   HTML ( 3 )   PDF (3010KB) ( 259 )   Save

    In view of the effects of gas?liquid emulsion in hydraulically interconnected suspension (HIS) system, a time?varying characteristics model for the physical properties of gas?liquid emulsion is derived, a nonlinear deformation correction function is proposed for correcting the equivalent shim deformation model built for damping valve and hence a nonlinear dynamics model of valve?type single ?cylinder HIS system considering the time?varying characteristics of gas?liquid emulsion is established and then verified by bench test. The results of simulation show that the time?varying characteristics of gas?liquid emulsion may lead to the appearance of the “hysteresis” phenomenon on the characteristic curve of HIS system with reduced damping force peak. The comparison with test results demonstrates that the modeling method proposed can accurately describe the “hysteresis” phenomenon with a result basically agreeing with test one.

    Figures and Tables | References | Related Articles | Metrics
    A Comparative Study on Economy of Battery and Fuel Cell Electric Vehicles of Different Application Scenarios Based on Learning Rate
    Bin Qiu,Rujie Yu,Yong Liu,Dongchang Zhao,Jian Song
    2021, 43 (2):  296-304.  doi: 10.19562/j.chinasae.qcgc.2021.02.019
    Abstract ( 383 )   HTML ( 9 )   PDF (2429KB) ( 529 )   Save

    High cost of new energy vehicles (NEVs) is one of the most important factors restricting its development in China. In this study, a comprehensive model for economy analysis and comparison of battery electric vehicles (BEV) and fuel cell electric vehicles (FCEV) is constructed. Based on the learning rate curves of major components of NEVs, the future manufacturing cost trends of battery electric and fuel cell passenger cars, buses, and trucks are analyzed and compared. At the same time, combined with the four application scenarios of private car, taxi, bus and logistics vehicle in China, the use cost of battery electric vehicles and fuel cell electric vehicles in each application scenario is analyzed. Finally, the total cost differences between the two technical routes at different time points in the future are compared. The result shows that although the manufacturing cost of range?extended fuel cell vehicles will be lower in the future, the cost advantage of BEVs is distinct, with its total cost more competitive.

    Figures and Tables | References | Related Articles | Metrics