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Key Technologies to Ensure the Safety of the Intended Functionality for Intelligent Vehicles Wenbo Shao,Jun Li,Yuxin Zhang,Hong Wang Automotive Engineering    2022, 44 (9): 1289-1304.   DOI: 10.19562/j.chinasae.qcgc.2022.09.001 Abstract （758）   HTML （76）    PDF（pc） （3585KB）（9647）       Knowledge map    The limitations on performance， insufficient specifications or reasonably foreseeable misuse lead to the issues related to the safety of the intended functionality （SOTIF） emerging one after another， seriously hindering the rapid development of intelligent vehicles. This paper focuses on the key technologies to ensure the SOTIF， and systematically summarizes the related state of art of research from system development， functional improvement， and operation three phases. Finally， the research prospect is foreseen from the perspectives of basic theory， risk prevention and update mechanism. The review can provide an important reference for the research on the safety of the intended functionality for intelligent vehicles. Table and Figures | Reference | Related Articles | Metrics

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Study on the Technology Development of Multi-Domain Electrical and Electronic Architecture for Intelligent Networked Vehicles Yuan Zou,Wenjing Sun,Xudong Zhang,Jiahui Liu,Ya Wen,Wenbin Ma Automotive Engineering    2023, 45 (6): 895-909.   DOI: 10.19562/j.chinasae.qcgc.2023.06.001 Abstract （479）   HTML （50）    PDF（pc） （3130KB）（1044）       Knowledge map    With the continuous development of intelligent and networked vehicle technologies， the traditional electrical and electronic architecture can no longer meet the new requirements of future-oriented vehicle， road， cloud and network integration development. Focusing on the future-oriented multi-domain electrical and electronic architecture of intelligent networked vehicles， this review provides a detailed review of existing technologies in terms of the four aspects of overall design， hardware system， communication system and software system， and provides an outlook on the development of electrical and electronic architecture in China. This paper can provide an important reference value for the research of automotive electrical and electronic architecture technology. Table and Figures | Reference | Related Articles | Metrics

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Integrated Dynamic Control Strategy for Extreme Maneuvers of 4WIDEVs Cheng Lin,Sheng Liang,Xinle Gong,Xiao Yu,Bowen Wang Automotive Engineering    2022, 44 (9): 1372-1385.   DOI: 10.19562/j.chinasae.qcgc.2022.09.008 Abstract （430）   HTML （25）    PDF（pc） （5184KB）（705）       Knowledge map    In order to improve the active safety of four-wheel independent drive electric vehicles under extreme conditions such as low adhesion road driving and high-speed steering， a predictive control-based dynamic integrated control method is proposed in this paper. Firstly， in order to balance the modeling accuracy of the prediction model and the computational burden of the controller， the nonlinear yaw dynamic model is simplified by a piecewise affine approximation， and then the prediction model of the hybrid system is established. Secondly， the instability mechanism of the multi-time-varying parameter system is analyzed. The maneuvers with bifurcation are defined as the extreme conditions， and the unified vehicle stability judgement method for different extreme conditions such as low adhesion and high speed is developed to determine the switching mechanism of the control mode. Then， the integrated dynamic control strategy based on the robust hybrid predictive control algorithm is proposed， which systematically considers the vehicle speed variation and tire nonlinear lateral deflection characteristics under the extreme conditions， and coordinately optimizes the anti-skid performance， yaw stability and other safety indexes. The processor-in-the-loop test shows that the proposed integrated dynamic control strategy can meet the control requirements of low adhesion road driving and high-speed steering conditions， and significantly improve the active safety of the vehicle under extreme conditions. Table and Figures | Reference | Related Articles | Metrics

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Research on the Test and Evaluation Technique of Real Roads for Automated Driving Vehicles Based on OEDR and ODC Hang Sun,Zhijun Li,Linlin Zhang,Zhenyu Chen,Shilong Li Automotive Engineering    2022, 44 (6): 842-850.   DOI: 10.19562/j.chinasae.qcgc.2022.06.005 Abstract （240）   HTML （7）    PDF（pc） （1226KB）（669）       Knowledge map    In this paper， a classification method of test roads is proposed based on the object and event detection and response （OEDR） task of the automated driving system， the road element fundamental model is constructed based on the operation design domain， and the effective Jaccard similarity method is modified for the conformity assessment of test road. In addition， a test and assessing method based on the boundary of operation design condition is also put forward according to the selection of test road， and combined with occupant subjective evaluation， a test and evaluation system for automated driving vehicles on real road is built. The results of test on typical roads in China show that the test and evaluation system proposed has good feasibility and universality， being able to be widely applied as a standardized method. Table and Figures | Reference | Related Articles | Metrics

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Intelligent Vehicle Autonomous Emergency Braking System Considering Safety of the Intended Functionality Dongkui Tan,Gangjun Hu,Bo Zhu,Lai Jin,Jie Zhang Automotive Engineering    2022, 44 (6): 799-808.   DOI: 10.19562/j.chinasae.qcgc.2022.06.001 Abstract （445）   HTML （47）    PDF（pc） （2911KB）（650）       Knowledge map    The proposed safety of the intened functionality （SOTIF） has challenged the safety of traditional automatic emergency braking （AEB） system. To deal with it， this paper uses systems-theoretic process analysis （STPA） to obtain the SOTIF requirements of the AEB. On the basis of the traditional AEB， a safety speed planning strategy for the perceptual blind scenes is added. Then， based on the kinematics model of the encounter between the vehicle and the pedestrian in the perceptual blind scenes， the formula of blind scenes safe speed is constructed. Then a speed sliding mode controller with a nonlinear disturbance observer is designed to track and control the speed. Finally， the simulation test is carried out on the joint platform of CarSim and Simulink to compare the safety of the proposed system with the automatic emergency braking system without the intended functional safety requirements， which is further verified via the hardware-in-the-loop experiment. The results show that the AEB considering the SOTIF can effectively reduce the risk of pedestrian collision and ensure the efficiency of vehicles passing through blind spots safely. Table and Figures | Reference | Related Articles | Metrics

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Review of Autonomous Driving Decision-Making Research Based on Reinforcement Learning Lisheng Jin,Guangde Han,Xianyi Xie,Baicang Guo,Guofeng Liu,Wentao Zhu Automotive Engineering    2023, 45 (4): 527-540.   DOI: 10.19562/j.chinasae.qcgc.2023.04.001 Abstract （535）   HTML （54）    PDF（pc） （1155KB）（648）       Knowledge map    Decision-making technology of autonomous vehicle is promoted by the development of reinforcement learning， and intelligent decision-making technology has become a key issue of high concern in the field of autonomous driving. Taking the development of reinforcement learning algorithm as the main line in this paper， the in-depth application of this algorithm in the field of single-car autonomous driving decision-making is summarized. Traditional reinforcement learning algorithms， classic algorithms and frontier algorithms are summarized and compared from the aspect of basic principles and theoretical modeling methods. According to the classification of autonomous driving decision-making methods in different scenarios， the impact of environmental state observability on modeling is analyzed， and the application technology routes of typical reinforcement learning algorithms at different levels are emphasized. The research prospects for the autonomous driving decision-making method are proposed in order to provide a useful reference for the research of autonomous driving decision-making. Table and Figures | Reference | Related Articles | Metrics

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Key Technologies of Brain-Inspired Decision and Control Intelligence for Autonomous Driving Systems Shengbo Eben Li,Guojian Zhan,Yuxuan Jiang,Zhiqian Lan,Yuhang Zhang,Wenjun Zou,Chen Chen,Bo Cheng,Keqiang Li Automotive Engineering    2023, 45 (9): 1499-1515.   DOI: 10.19562/j.chinasae.qcgc.2023.ep.006 Accepted: 25 April 2023 Online available: 25 April 2023 Abstract （532）   HTML （36）    PDF（pc） （3942KB）（562）       Knowledge map    As the technical trend of the next generation of high-level autonomous driving， brain-inspired learning is a class of methods that employ deep neural networks （DNN） as the strategy carrier and reinforcement learning （RL） as the training algorithm to realize strategy self evolution through continuous interaction with traffic environments， ultimately obtaining the optimal mapping from the environmental state to execution action. Currently， brain-inspired learning is mainly applied in decision-making and motion control modules of autonomous driving. Its key technologies include how to design its system framework to support interactive training， high-fidelity autonomous driving simulation platform， accurate and flexible representation of environment statues， multiple dimensional evaluation metrics， and effective training algorithm that drives policy updates. This paper systematically summarizes the history and future trends of decision-making and control functionalities in autonomous vehicles， including two main modular architectures （HDC， i.e.， hierarchical decision & control and IDC， i.e.， integrated decision & control） and three mainstream technical solutions （i.e.， rule-based design， supervised learning， and brain-inspired learning）. An overview of autonomous driving simulation platforms are briefly introduced， followed by three effective designing methods for representing traffic environment states （i.e.， object-based design， feature-based design， and combined design）. The paper also introduces multiple dimensional evaluation metrics for autonomous vehicles， which can describe self-driving performances including driving safety， regulatory compliance， driving comfort， travel efficiency， energy efficiency. Typical reinforcement learning algorithms， including their design principles， taxonomy， and algorithm performances， are introduced， as well as their application on brain-inspired autonomous driving systems in the systematic design of road-cloud cooperation. Table and Figures | Reference | Related Articles | Metrics

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Trajectory Tracking Control Method Based on Vehicle Dynamics Hybrid Model for Intelligent Vehicle Peijun Fang,Yingfeng Cai,Long Chen,Yubo Lian,Hai Wang,Yilin Zhong,Xiaoqiang Sun Automotive Engineering    2022, 44 (10): 1469-1483.   DOI: 10.19562/j.chinasae.qcgc.2022.10.001 Abstract （612）   HTML （62）    PDF（pc） （7582KB）（542）       Knowledge map    The vehicle dynamics modeling process based on mechanism analysis is usually simplified with assumptions，which can't accurately calculate the dynamic changes of actual vehicles under different road conditions， thus causing problems such as low trajectory tracking control accuracy and instability of intelligent automotive. To tackle the above-mentioned problems， this paper proposes a non-linear modeling and control method based on hybrid modeling technology. By constructing mechanism analysis - data-driven vehicle dynamics series hybrid model， the vehicle state and control data are calculated and processed by the mechanism model， and then used as the input of the data-driven module after a level combination. Besides， long-short-term memory network used as the backbone realizes the nonlinear correlation feature extraction of time-series data and the final model output calculation. The test results show that the model can supplement some unmodeled dynamics in the mechanism model， improve the model calculation accuracy and has the ability to implicitly understand different road adhesion conditions. In addition， the Euler integration is used to complete the discretization of the prediction model and design the model predictive control track tracking algorithm. The feedforward feedback control algorithm is designed to provide external input required by the prediction model in the horizontal control while realizing the longitudinal control of the vehicle， finally achieving more accurate trajectory tracking control effect that is more in line with the actual driving environment. The co-simulation results of Carsim / Simulink show that the method achieves accurate output of different road attachment coefficients， synchronously enhances the intelligent automotive trajectory tracking control accuracy and stability， and has good horizontal and longitudinal coordination control. Table and Figures | Reference | Related Articles | Metrics

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Review on Electro-Mechanical Brake Structure and Control Technology Lu Xiong,Congcong Li,Guirong Zhuo,Yulin Cheng,Le Qiao,Xinjian Wang Automotive Engineering    2023, 45 (12): 2187-2199.   DOI: 10.19562/j.chinasae.qcgc.2023.12.001 Abstract （302）   HTML （33）    PDF（pc） （3849KB）（538）       Knowledge map    As a complete form of brake-by-wire system， electro-mechanical brake （EMB） system has many advantages such as simplified structure and rapid braking response. To give a comprehensive review on the development status of EMB structure， the development and industrialization of various structure schemes are summarized based on investigation of a large number of patents in this paper. And four basic structure schemes including the ball-screw-type， wedge-type， ball-ramp-type and cam-type scheme are analyzed and compared. For the clamping force control problem of the actuator with nonlinear characteristics and slow time-varying parameter perturbations， firstly a review on the actuator modeling methods is conducted in this paper. Then through the classification based on the presence or absence of pressure sensors， the research progress both home and abroad is reviewed from two aspects： clamping force control methods based on the feedback force value and control methods based on the estimated force value. Finally， future development trends of the actuator structure design， clamping force control and vehicle coordination redundancy control are prospected. Table and Figures | Reference | Related Articles | Metrics

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Small Target Detection Method for Dual-Modal Autonomous Driving with Yolo v5 and Lite-HRNet Fusion Zilong Liu,Xiangfei Shen Automotive Engineering    2022, 44 (10): 1511-1520.   DOI: 10.19562/j.chinasae.qcgc.2022.10.005 Abstract （721）   HTML （25）    PDF（pc） （2181KB）（535）       Knowledge map    This paper proposes a Yolo v5 network fused with Lite-HRNet to solve the problem of missed detection in the current target detection algorithm for autonomous driving field when detecting small and dense targets. Firstly， in order to obtain high-resolution feature detection maps， Lite-HRNet is used as the backbone network of Yolo v5 to enhance the detection of small and dense objects. In order to improve the detection performance in dark scenes， the infrared image and the visible light image are dynamically weighted to give full play to the complementary advantages of the visible light image and the infrared image. Because of the sufficient feature fusion of the backbone network， in order to speed up the detection speed， the feature fusion structure in the detection layer is cancelled. Secondly， \alpha-EIoU is used as the bounding box loss function in order to speed up the convergence and improve the regression accuracy. At the same time， the bisecting K-means algorithm is used for clustering to select more appropriate anchor boxes for the data set， and the small target data augmentation algorithm is used for sample expansion of the dataset. Finally， a comparative test with Yolo v5 on the flir dataset is conducted. According to the experimental results， the average detection accuracy of this algorithm is 7.64% higher than Yolo v5， and the missed detection rate of small targets and dense targets is significantly reduced. Table and Figures | Reference | Related Articles | Metrics

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Methodology of Critical Scenarios-Based Dual-Loop Testing and Verification for Safety of the Intended Functionality Siyu Wu,Wenhao Yu,Xingyu Xing,Yuxin Zhang,Chuzhao Li,Xueke Li,Xinyu Gu,Yunwei Li,Xiaohan Ma,Wei Lu,Zheng Wang,Zhenmao Hao,Hong Wang,Jun Li Automotive Engineering    2023, 45 (9): 1583-1607.   DOI: 10.19562/j.chinasae.qcgc.2023.09.008 Abstract （151）   HTML （12）    PDF（pc） （3139KB）（534）       Knowledge map    Safety of the Intended Functionality （SOTIF） is a vital part of autonomous driving and poses a significant challenge for intelligent connected vehicles， which requires comprehensive and high-efficiency testing and verification methodology to effectively assist the safety development process of the system. Based on critical scenarios， this paper proposes a dual-loop framework with close loop verification and dynamic evaluation， summarizes the technologies for critical scenarios construction， and further formulizes a quantitative method for acceptance criterion. Finally， this article looks forward to key researches in the area of SOTIF testing and verification. The paper aims to provide a maneuverable and theoretical reference for the engineering practice on the SOTIF for intelligent connected vehicle. Table and Figures | Reference | Related Articles | Metrics

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Research on Heat Pump PTC Coupling Heating Strategy for Electric Vehicle Hongzeng Ji,Jingyang Cai,Jinchen Pei,Xinglei He,Fen Guo,Yichun Wang Automotive Engineering    2022, 44 (10): 1563-1570.   DOI: 10.19562/j.chinasae.qcgc.2022.10.011 Abstract （194）   HTML （10）    PDF（pc） （2087KB）（511）       Knowledge map    In order to decrease the power consumption for EV heating， it is proposed that there are heating performance zones for heat pump system heating within the ambient temperature range of -20 to 5℃ based on the heating performance test of the heat pump system. The PTC coupling heating strategy of the heat pump with PTC involving in the low efficiency zone in advance is developed. The system model built by AMESim is used for simulation and the comparison study is conducted with the traditional strategy. Compared with the heat pump with 6 000 r/min rotary speed coupling 278.95 W PTC heating power， the heat pump with 4 700 r/min rotary speed coupling 462.11 W PTC heating power consumes 6.4% less energy to maintain the car temperature at 24 ℃。Compared with single heat pump heating， the heat pump coupling PTC heating strategy with PTC intervention in advance has the advantages of faster heating， lower energy consumption and lower rotary speed. When the ambient temperature is -10 ℃ and the target temperature in the vehicle is 20 ℃，the energy consumption in the regulation process can be reduced by 9.4% at most and by 2.8% after stabilization. When the strategy with PTC intervention in advance is adopted， the compressor speed should be maintained as close to the critical speed in the high efficiency zone as possible. The strategy can significantly improve the heating efficiency and comfort without changing the system structure. Table and Figures | Reference | Related Articles | Metrics

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The Design of the Safety of the Intended Functionality of the Control Strategies for Vehicle Automatic Emergency Braking System Shunchang Duan,Xianxu Bai,Qin Shi,Weihan Li,Guannan He Automotive Engineering    2022, 44 (9): 1305-1317.   DOI: 10.19562/j.chinasae.qcgc.2022.09.002 Abstract （353）   HTML （29）    PDF（pc） （2063KB）（507）       Knowledge map    The safety risks the autonomous vehicles face not only come from the deficiencies of functional safety and information safety， but also stem from the insufficiencies of the safety of the intended functionality （SOTIF）. As an important part of autonomous driving system， the automatic emergency braking （AEB） system has SOTIF insufficiencies in control strategies. In this paper， the system theoretical process analysis method is adopted to analyze the safety of AEB system， find out the trigger events that may cause harm and put forward the corresponding safety objectives. Aiming at the safety objectives， a control strategy for AEB system based on detailed scenes are proposed. The control strategy proposed for AEB system is then verified in CarSim-MATLAB/Simulink environment. The results show that after functional corrections in both the event acceptance criterion and total risk acceptance criterion， the risk level of the system becomes much lower and the safety level of the system is apparently enhanced. Table and Figures | Reference | Related Articles | Metrics

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Human-Like Behavior Decision-Making of Intelligent Vehicles Based on Driving Behavior Generation Mechanism Dongjian Song,Bing Zhu,Jian Zhao,Jiayi Han,Yanchen Liu Automotive Engineering    2022, 44 (12): 1797-1808.   DOI: 10.19562/j.chinasae.qcgc.2022.12.001 Abstract （455）   HTML （45）    PDF（pc） （3666KB）（505）       Knowledge map    In this paper， a human-like behavior decision-making strategy （HBDS） is established by analyzing drivers’ driving behavior generation mechanism. HBDS has a framework that matches the driving behavior generation mechanism， obtains the human-like reward function through maximum entropy inverse reinforcement learning， and adopts the Boltzman noisily-rational model to build the mapping relationship between behavior probability and its cumulative reward. By discretizing the expected trajectory space， the curse of dimensionality in the integration of continuous high-dimensional space is avoided， and based on statistical law and safety constraint， the expected trajectory space is compressed and pruned， enhancing the sampling efficiency of HBDS. The strategy is trained and tested on NGSIM dataset， and the results show that HBDS can make behavior decisions that conform to the driver’s personalized cognitive and behavioral characteristics. Table and Figures | Reference | Related Articles | Metrics

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Technical Status and Development Trend of Automotive Operating System Zhihong Wang,Deying Yu,Tianze Ma,Bingquan Chen,Zongyang Li,Hongyan Li Automotive Engineering    2023, 45 (6): 910-921.   DOI: 10.19562/j.chinasae.qcgc.2023.06.002 Abstract （256）   HTML （31）    PDF（pc） （2374KB）（504）       Knowledge map    With the development of automotive electrification and intelligence， its electronic and electrical architecture is changing from traditional distributed architecture to domain centralized architecture and central computing architecture， and vehicle software is upgrading from signal oriented architecture to service-oriented software architecture. Automotive operating system is an important foundation of vehicle software ecology， and it is of great significance to strengthen the development of automotive operating system technology to ensure the safety of intelligent automobile industry in China. Based on this background， this paper reviews the technical architecture， typical products and development status of automotive operating system， compares the mainstream virtual technology products， kernels and middleware at home and abroad， and brings forward the development trend of automotive operating system. Table and Figures | Reference | Related Articles | Metrics

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Research on Particle Emission Characteristics of Direct In-jection Gasoline Vehicles Based on the Particle Size Distribution Xiaohan Jiang,Jianwei Tan,Changjian Xu,Yunshan Ge,Lijun Hao,Xin Wang,Jiachen Li Automotive Engineering    2022, 44 (10): 1609-1618.   DOI: 10.19562/j.chinasae.qcgc.2022.10.016 Abstract （100）   HTML （5）    PDF（pc） （2684KB）（491）       Knowledge map    Taking a national VI standard gasoline direct injection vehicle （GDIV） equipped with an exhaust particulate filter as the research object， the particle number （PN） emission concentration of different particle size ranges in the exhaust gas is measured by two instruments， namely， condensation particle counters （CPC） and electrostatic low voltatge impactor （ELPI+）. The worldwide harmonized light vehicle test cycle （WLTC） cold-start test is carried out on a chassis dynamometer， and the test results show that in the ultra-high-speed section of the WLTC cycle test， the measurement results of ELPI+_29~2 500 nm is 1 order of magnitude higher than that of CPC_23~2 500 nm， with ELPI+_6~29 nm ultrafine particulate matter as the main body of PN emission accounting for up to 97.5%. Under hot start conditions， the high-speed section and ultra-high-speed section of the WLTC cycle show that the poor original exhaust of the engine and the continuous regeneration reaction of the gasoline engine particulate trap lead to large amount of ultra-fine particulate matter emission. To reduce the impact of vehicle particulate matter emissions on the environment and human health， it is necessary to conduct in-depth research on the particle size distribution of vehicle exhaust particles， and pay more attention to ultra-fine particles below 23 nm. Table and Figures | Reference | Related Articles | Metrics

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Research on Trajectory Tracking Control of Unmanned Vehicle Based on Efficient NMPC Algorithm Hongwei Wang,Chenyu Liu,Lei Li,Haotian Zhang Automotive Engineering    2022, 44 (10): 1494-1502.   DOI: 10.19562/j.chinasae.qcgc.2022.10.003 Abstract （420）   HTML （21）    PDF（pc） （2205KB）（487）       Knowledge map    In view of the lowering of the trajectory tracking accuracy and the solution efficiency caused by the increase of nonlinear degree and dynamic constraints of unmanned vehicles under complex working conditions， an efficient algorithm based on nonlinear model predictive control （NMPC） is proposed in this paper. Firstly， in consideration of the nonlinear factors of the vehicle model， the dynamic model and the magic formula tire model are established. A terminal state is integrated to the performance index. The multi-constraint conditions within the stability range are added， and barrier function method is used to solve nonlinear inequality constraints to ensure the smoothness of the solution process. Then in order to reduce the computational burden caused by solving nonlinear optimization problems， an improved continuous/generalized minimum residual （improved-C/GMRES） algorithm is proposed. Compared with the traditional C/GMRES algorithm， the continuously increasing penalty factor is introduced to speed up the numerical calculation efficiency and reduce the computational burden of the algorithm. Finally， based on the joint simulation platform of Simulink and Carsim， the trajectory tracking accuracy and solution efficiency are verified in double-shift line motion and serpentine motion. Simulation results show that compared with the traditional C/GMRES algorithm， the proposed algorithm can significantly improve the tracking accuracy and driving stability of trajectory tracking， and greatly accelerates the solution efficiency. Table and Figures | Reference | Related Articles | Metrics

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Design, Analysis and Validation of Novel Distributed Drive Liquid Hydrogen Fuel Cell Heavy Commercial Vehicles Hang Li,Zunyan Hu,Jiayi Hu,Jiachen Dong,Jianqiu Li,Liangfei Xu,Ouyang Minggao,Yu Bu,Lijun Wang,Zhidong Qin Automotive Engineering    2022, 44 (8): 1183-1198.   DOI: 10.19562/j.chinasae.qcgc.2022.08.008 Abstract （491）   HTML （27）    PDF（pc） （9299KB）（478）       Knowledge map    According to the development requirements of high performance， long driving range and low cost for the powertrain of heavy commercial vehicles， a technical scheme for the distributed drive heavy commercial vehicles with liquid hydrogen fuel cell is proposed in this paper. In the scheme， many innovative technologies are applied， including high-power fuel cell system， large-capacity onboard liquid-hydrogen storage and supply system and distributed electric wheel drive system. Based on the design and matching techniques of fuel cell system， the first domestically publicized hundred-kilowatt-level fuel cell system （109 kW） is developed. Based on the breakthrough of key technologies such as onboard liquid hydrogen tank design， liquid hydrogen carburetor design and onboard liquid hydrogen BOG treatment and full system safety monitoring， the domestically first set on-board large-capacity liquid hydrogen storage and supply system （60 kg/110 kg） is developed. Based on the innovations in the magneto-thermal design， configuration design and integrated design of hub-motors， the electric wheels suitable for the double-tire assembled wheel for heavy vehicles are developed with a peak torque of single electric wheel of 16 000 N·m， a short-term peak torque of 18 000 N·m and a peak torque density of 60 N·m/kg. Based on the key technologies of components mentioned above， the world's first distributed drive liquid hydrogen fuel cell heavy commercial vehicle is developed， with a designed driving range of more than 1 000 km. The road tests on the 35 t and 49 t heavy commercial vehicle developed are carried out to verify the technical feasibility of liquid hydrogen storage， powertrain and distributed electric drive system， exploring the feasible direction of the electrification of heavy commercial vehicles. Table and Figures | Reference | Related Articles | Metrics

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Research Progress on Pulse Heating Technology of Lithium-ion Battery for Electric Vehicles Yubo Lian,Heping Ling,Qingchan Ma,Qiang Ren,Bin He Automotive Engineering    2023, 45 (2): 169-174.   DOI: 10.19562/j.chinasae.qcgc.2023.02.001 Abstract （439）   HTML （69）    PDF（pc） （708KB）（450）       Knowledge map    At low temperatures， the lithium-ion batteries of electric vehicles have the problems of usable capacity reduction， charging difficulty and cycle life decay， which seriously restrict the application of lithium-ion batteries. Therefore， it is very important to ensure that the lithium-ion batteries operate within the appropriate temperature range. With the advantages of fast heating rate， good temperature uniformity and simple system structure， the battery pulse heating technology is an effective method to solve the problem of low temperature application of the lithium-ion batteries. In this paper， the research progress of pulse heating technology is summarized from the three aspects of pulse heating schemes， pulse control parameters and pulse heating strategies. Firstly， the advantages and disadvantages of the existing pulse heating schemes are introduced. Secondly， the temperature rise and capacity decay characteristics of lithium-ion batteries under different pulse control parameters are summarized. Finally， the influence of different pulse heating strategies on the low-temperature performance of lithium-ion batteries is compared， and the future development direction of pulse heating technology is pointed out. Table and Figures | Reference | Related Articles | Metrics

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Estimation of Vehicle Motion State Based on Hybrid Neural Network Zhenhai Gao,Wenhao Wen,Minghong Tang,Jian Zhang,Guoying Chen Automotive Engineering    2022, 44 (10): 1527-1536.   DOI: 10.19562/j.chinasae.qcgc.2022.10.007 Abstract （287）   HTML （16）    PDF（pc） （5103KB）（448）       Knowledge map    For the problem that the existing vehicle motion state estimation algorithm relies heavily on the accuracy of the dynamic model and the accuracy is difficult to guarantee under large slip angle， the paper proposes a vehicle motion state estimation algorithm based on the hybrid neural network （HNN）. By analyzing the basic dynamic characteristics of the vehicle itself， an hybrid neural network architecture suitable for vehicle motion state estimation is designed， and the deep learning estimation of vehicle motion state is realized. Based on the dataset composed of multi standard operating conditions and typical real vehicle test conditions， network training and test verification are carried out. The results show that compared with the traditional algorithm， the proposed HNN algorithm realizes estimation of vehicle motion state without dynamic vehicle model， improves estimation accuracy， and is robust to road adhesion coefficient change. Table and Figures | Reference | Related Articles | Metrics