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3 articles
Article 2 February 2024
Nipun Goyal and Mahdi Mahmoudzadeh
This article is part of the Special Issue Capturing the Sustainable Impact of Early-Stage Business Models.
Highlights of Sustainability
Volume 3 (2024), Issue 1, pp. 46–60
Volume 3 (2024), Issue 1, pp. 46–60
1115 Views279 Downloads
Article 20 December 2023
Mouna Samaali, El-Hassane Aglzim, Xavier Dessertenne and Patrick Dubreuille
This article is part of the Special Issue Feature Papers to the Inaugural Volume of Highlights of Vehicles.
Highlights of Vehicles
Volume 1 (2023), Issue 2, pp. 68–85
Volume 1 (2023), Issue 2, pp. 68–85
1047 Views452 Downloads
Article 26 July 2023
Maksym Diachuk and Said M. Easa
This article is part of the Special Issue Feature Papers to the Inaugural Volume of Highlights of Vehicles.
Highlights of Vehicles
Volume 1 (2023), Issue 1, pp. 29–53
Volume 1 (2023), Issue 1, pp. 29–53
1547 Views486 Downloads1 Citations
Article 26 July 2023
Maksym Diachuk and Said M. Easa
The study aims at improving the technique of planning the autonomous vehicles’ (AV) speed mode based on a kinematic model with physical restrictions. A mathematical model relates the derivatives of kinematic parameters with ones of the
The study aims at improving the technique of planning the autonomous vehicles’ (AV) speed mode based on a kinematic model with physical restrictions. A mathematical model relates the derivatives of kinematic parameters with ones of the trajectory’s curvature. The inverse approach uses an expanded vehicle model considering the distribution of vertical reactions, wheels’ longitudinal reactions according to a drive type, and lateral forces ensuring motion stability. For analysis of the drive type, four options are proposed: front-wheel drive (FWD), rear-wheel drive (RWD), permanent engaged all-wheel drive (AWD), and 4-wheel drive with torque vectoring (4WD-TV). The optimization model is also built by the inverse scheme. The longitudinal speed’s higher derivatives are modeled by the finite element (FE) functions with nodal unknowns. The sequential integrations ensure the optimality and smoothness of the third derivative. The kinematic restrictions are supplemented by the tire-road critical slip states. Sequential quadratic programming (SQP) and the Gaussian N-point scheme for quadrature integration are used to minimize the objective function. The simulation results show a significant difference in the mode forecasts between four types of AV drives at the same initial conditions. This technique allows redistributing the traction forces strictly according to the wheels’ adhesion potentials and increases the optimization performance by about 40% compared to using the kinematic model based on the same technique without physical constrains.
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This article is part of the Special Issue Feature Papers to the Inaugural Volume of Highlights of Vehicles.
Highlights of Vehicles
Volume 1 (2023), Issue 1, pp. 29–53
Volume 1 (2023), Issue 1, pp. 29–53
1547 Views486 Downloads1 Citations
