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Design Theory, Method and Control of Intelligent and Safe Vehicles
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Design Theory, Method and Control of Intelligent and Safe Vehicles

A special issue of World Electric Vehicle Journal (ISSN 2032-6653).

Deadline for manuscript submissions: closed (31 July 2024) | Viewed by 16027

Special Issue Editors

Dr. Yaoji Deng

E-Mail Website
Guest Editor
College of Mechanical Engineering, Yangzhou University, Yangzhou, China
Interests: non-pneumatic tyre; intelligent vehicle
Dr. Xinglong Zhang

E-Mail Website
Guest Editor
School of Automobile and Traffic Engineering, Jiangsu University, Zhenjiang, China
Interests: personalized motion control; human-machine shared control
Dr. Fen Lin

E-Mail Website
Guest Editor
College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Interests: autonomous decision-making and motion control; integrated control technology of vehicle dynamics and chassis

Special Issue Information

Dear Colleagues,

Electrification, intelligence, and networking have become the main development directions of modern automotive technology. Intelligent networked electric vehicles can effectively improve the traffic efficiency, economy, and safety of the transportation system through collaborative control between the vehicle and the vehicle road. In the near future, intelligent driving electric vehicles will occupy a leading position in the automotive field. While looking forward to the bright future, we should also understand that the intelligent driving system remains incomplete. Under complex traffic conditions, the system does not have the ability of human drivers to flexibly handle unknown situations, and the vehicle may lose stability. Therefore, improving the stability and safety of intelligent electric vehicles in different working conditions has become the core issue to be solved. One of the objectives of smart and safe electric vehicles is to achieve “zero casualties”. Based on advanced material structure and artificial intelligence technology, intelligent and safe electric vehicles have active and passive safety protection capabilities, intelligent decision-making capabilities and driving data connectivity capabilities that traditional vehicles do not have, which are the ultimate solutions to traffic accidents.

Dr. Yaoji Deng
Dr. Xinglong Zhang
Dr. Fen Lin
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. World Electric Vehicle Journal is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • active and passive safety intelligent control and execution
  • intelligent decision and planning
  • driving behavior and man–machine co-driving
  • state estimation and recognition
  • fault diagnosis and control
  • vibration and noise
  • intelligent driving safety
  • assisted driving
  • environment perception

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Published Papers (11 papers)

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Research

19 pages, 490 KiB  
Article
The Safety Risks of AI-Driven Solutions in Autonomous Road Vehicles
by Farshad Mirzarazi, Sebelan Danishvar and Alireza Mousavi
World Electr. Veh. J. 2024, 15(10), 438; https://doi.org/10.3390/wevj15100438 - 26 Sep 2024
Viewed by 1405
Abstract
At present Deep Neural Networks (DNN) have a dominant role in the AI-driven Autonomous driving approaches. This paper focuses on the potential safety risks of deploying DNN classifiers in Advanced Driver Assistance System (ADAS) systems. In our experience, many theoretically sound AI-driven solutions [...] Read more.
At present Deep Neural Networks (DNN) have a dominant role in the AI-driven Autonomous driving approaches. This paper focuses on the potential safety risks of deploying DNN classifiers in Advanced Driver Assistance System (ADAS) systems. In our experience, many theoretically sound AI-driven solutions tested and deployed in ADAS have shown serious safety flaws in practice. A brief review of practice and theory of automotive safety standards and related body of knowledge is presented. It is followed by a comparative analysis between DNN classifiers and safety standards developed in the automotive industry. The output of the study provides advice and recommendations for filling the current gaps within the complex and interrelated factors pertaining to the safety of Autonomous Road Vehicles (ARV). This study may assist ARV’s safety, system, and technology providers during the design, development, and implementation life cycle. The contribution of this work is to highlight and link the learning rules enforced by risk factors when DNN classifiers are expected to provide a near real-time safer Vehicle Navigation Solution (VNS). Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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14 pages, 2243 KiB  
Article
A Frequency Domain Fitting Algorithm Method for Automotive Suspension Structure under Colored Noise
by Xiangyu Lu, Huaihai Chen and Xudong He
World Electr. Veh. J. 2024, 15(9), 410; https://doi.org/10.3390/wevj15090410 - 7 Sep 2024
Viewed by 693
Abstract
The suspension of a car has different structural forms but usually consists of springs, shock absorbers, guiding mechanisms, etc. As a vehicle moves, the terrain often induces a multifaceted non-white noise vibration within the vehicle. Research on this type of vibration often uses [...] Read more.
The suspension of a car has different structural forms but usually consists of springs, shock absorbers, guiding mechanisms, etc. As a vehicle moves, the terrain often induces a multifaceted non-white noise vibration within the vehicle. Research on this type of vibration often uses the operational modal analysis (OMA) method, due to its advantages of not requiring knowledge of excitation signals. The disadvantage is that it can only analyze systems under white noise excitation, otherwise it will bring errors. So, this paper proposes a frequency domain fitting algorithm (FDFA) based on colored noise excitation. Initially, an exposition on the foundational principles of the FDFA technique was provided, followed by a demonstration of the modal identification approach. Subsequently, a simulation scenario involving a cantilever beam, akin to a suspension system, was chosen for examination in three instances, revealing that the frequency discrepancies are under 2.94%, and for damping coefficients, they are less than 2.76%. In conclusion, the paper’s introduced FDFA technique, along with the frequency–spatial domain decomposition (FSDD) approach, were employed to determine the modal characteristics of aluminum cantilever beams subjected to four distinct colored noise stimulations. The findings indicate that when utilizing the FDFA technique, the error in modal frequency is kept below 2.5%, while the error for the damping ratio does not exceed 15%. Compared with FSDD, the accuracy was improved. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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20 pages, 6889 KiB  
Article
Sliding Mode Control for Semi-Active Suspension System Based on Enhanced African Vultures Optimization Algorithm
by Yuyi Li, Zhe Fang, Kai Zhu and Wangshui Yu
World Electr. Veh. J. 2024, 15(8), 380; https://doi.org/10.3390/wevj15080380 - 21 Aug 2024
Viewed by 781
Abstract
To improve the ride comfort and driving stability of automobiles, an optimal sliding mode control (OSMC) strategy based on the enhanced African vultures optimization algorithm (EAVOA) is proposed. Firstly, the structure and operating principle of a semi-active suspension system (SASS) with a magnetorheological [...] Read more.
To improve the ride comfort and driving stability of automobiles, an optimal sliding mode control (OSMC) strategy based on the enhanced African vultures optimization algorithm (EAVOA) is proposed. Firstly, the structure and operating principle of a semi-active suspension system (SASS) with a magnetorheological damper (MRD) is comprehensively introduced. Secondly, the OSMC is designed based on a quarter-vehicle suspension model with two degrees of freedom (DOF) to meet the Hurwitz stability theory. Simultaneously, the EAVOA is employed to optimize the control coefficients of the sliding mode surface and the control law parameters. Finally, the EAVOA-OSMC control strategy is utilized to construct the simulation model in MATLAB/Simulink (R2018b), providing a comprehensive analysis for passive suspension systems (PSSs) and suspensions with SMC control. The simulation results demonstrate that the EAVOA-OSMC control strategy outperforms SMC controllers, offering a better control performance in real application. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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12 pages, 1184 KiB  
Article
Incremental Learning for LiDAR Attack Recognition Framework in Intelligent Driving Using Gaussian Processes
by Zujia Miao, Cuiping Shao, Huiyun Li and Yunduan Cui
World Electr. Veh. J. 2024, 15(8), 362; https://doi.org/10.3390/wevj15080362 - 12 Aug 2024
Viewed by 705
Abstract
The perception system plays a crucial role by integrating LiDAR and various sensors to perform localization and object detection, which ensures the security of intelligent driving. However, existing research indicates that LiDAR is vulnerable to sensor attacks, which lead to inappropriate driving strategies [...] Read more.
The perception system plays a crucial role by integrating LiDAR and various sensors to perform localization and object detection, which ensures the security of intelligent driving. However, existing research indicates that LiDAR is vulnerable to sensor attacks, which lead to inappropriate driving strategies and need effective attack recognition methods. Previous LiDAR attack recognition methods rely on fixed anomaly thresholds obtained from depth map data distributions in specific scenarios as static anomaly boundaries, which lead to reduced accuracy, increased false alarm rates, and a lack of performance stability. To address these problems, we propose an adaptive LiDAR attack recognition framework capable of adjusting to different driving scenarios. This framework initially models the perception system by integrating the vehicle dynamics model and object tracking algorithms to extract data features, subsequently employing Gaussian Processes for the probabilistic modeling of these features. Finally, the framework employs sparsification computing techniques and a sliding window strategy to continuously update the Gaussian Process model with window data, which achieves incremental learning that generates uncertainty estimates as dynamic anomaly boundaries to recognize attacks. The performance of the proposed framework has been evaluated extensively using the real-world KITTI dataset covering four driving scenarios. Compared to previous methods, our framework achieves a 100% accuracy rate and a 0% false positive rate in the localization system, and an average increase of 3.43% in detection accuracy in the detection system across the four scenarios, which demonstrates superior adaptive capabilities. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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24 pages, 2934 KiB  
Article
A Multidisciplinary Approach for the Sustainable Technical Design of a Connected, Automated, Shared and Electric Vehicle Fleet for Inner Cities
by Paul Rieger, Paul Heckelmann, Tobias Peichl, Sarah Schwindt-Drews, Nina Theobald, Arturo Crespo, Andreas Oetting, Stephan Rinderknecht and Bettina Abendroth
World Electr. Veh. J. 2024, 15(8), 360; https://doi.org/10.3390/wevj15080360 - 9 Aug 2024
Cited by 1 | Viewed by 794
Abstract
The increasing volume of personal motorized vehicles (PMVs) in cities has become a serious issue leading to congestion, noise, air pollution and high land consumption. To ensure the sustainability of urban transportation, it is imperative to transition the current transportation paradigm toward a [...] Read more.
The increasing volume of personal motorized vehicles (PMVs) in cities has become a serious issue leading to congestion, noise, air pollution and high land consumption. To ensure the sustainability of urban transportation, it is imperative to transition the current transportation paradigm toward a more sustainable state. Transitions within socio-technical systems often arise from niche innovation. Therefore, this paper pursues the technical optimization of such a niche innovation by applying a technical sustainability perspective on an innovative mobility and logistics concept within a case study. This case study is based on a centrally managed connected, automated, shared and electric (CASE) vehicle fleet which might replace PMV use in urban city centers of the future. The key technical system components of the envisioned mobility and logistics concept are analyzed and optimized with regard to economic, ecological and social sustainability dimensions to maximize the overall sustainability of the ecosystem. Specifically, this paper identifies key challenges and proposes possible solutions across the vehicle components as well as the orchestration of the vehicles’ operations within the envisioned mobility and logistics concept. Thereby, the case study gives an example of how different engineering disciplines can contribute to different sustainability dimensions, highlighting the interdependences. Finally, the discussion concludes that the early integration of sustainability considerations in the technical optimization efforts of innovative transportation systems can provide an important building block for the transition of the current transportation paradigm to a more sustainable state. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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18 pages, 2392 KiB  
Article
Robot Motion Planning Based on an Adaptive Slime Mold Algorithm and Motion Constraints
by Rong Chen, Huashan Song, Ling Zheng and Bo Wang
World Electr. Veh. J. 2024, 15(7), 296; https://doi.org/10.3390/wevj15070296 - 3 Jul 2024
Cited by 1 | Viewed by 831
Abstract
The rapid advancement of artificial intelligence technology has significantly enhanced the intelligence of mobile robots, facilitating their widespread utilization in unmanned driving, smart home systems, and various other domains. As the scope, scale, and complexity of robot deployment continue to expand, there arises [...] Read more.
The rapid advancement of artificial intelligence technology has significantly enhanced the intelligence of mobile robots, facilitating their widespread utilization in unmanned driving, smart home systems, and various other domains. As the scope, scale, and complexity of robot deployment continue to expand, there arises a heightened demand for enhanced computational power and real-time performance, with path planning emerging as a prominent research focus. In this study, we present an adaptive Lévy flight–rotation slime mold algorithm (LRSMA) for global robot motion planning, which incorporates LRSMA with the cubic Hermite interpolation. Unlike traditional methods, the algorithm eliminates the need for a priori knowledge of appropriate interpolation points. Instead, it autonomously detects the convergence status of LRSMA, dynamically increasing interpolation points to enhance the curvature of the motion curve when it surpasses the predefined threshold. Subsequently, it compares path lengths resulting from two different objective functions to determine the optimal number of interpolation points and the best path. Compared to LRSMA, this algorithm reduced the minimum path length and average processing time by (2.52%, 3.56%) and (38.89%, 62.46%), respectively, along with minimum processing times. Our findings demonstrate that this method effectively generates collision-free, smooth, and curvature-constrained motion curves with the least processing time. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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14 pages, 4607 KiB  
Article
Conceptual Design of an Unmanned Electrical Amphibious Vehicle for Ocean and Land Surveillance
by Hugo Policarpo, João P. B. Lourenço, António M. Anastácio, Rui Parente, Francisco Rego, Daniel Silvestre, Frederico Afonso and Nuno M. M. Maia
World Electr. Veh. J. 2024, 15(7), 279; https://doi.org/10.3390/wevj15070279 - 22 Jun 2024
Viewed by 1440
Abstract
Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV) that can be easily adapted for different types of land and/or water [...] Read more.
Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV) that can be easily adapted for different types of land and/or water missions with low monetary cost (EUR < 5 k, without sensors). Basing the design on the needs highlighted in the 2021 review of the Strategic Directive of the Portuguese Navy, the necessary specifications and requirements are established for two mission scenarios. Then, a market research analysis focused on vehicles currently available and their technological advances is conducted to identify existing UV solutions and respective characteristics/capabilities of interest to the current work. To study and define the geometry of the hull and the configuration of the A-UGV itself, preliminary computational structural and fluid analyses are carried out to ensure it complies with the specifications initially established. As a result, one obtains a fully electric vehicle with approximate dimensions of 1050 × 670 × 450 mm (length–width–height), enabled with 6 × 6 traction capable of reaching 20 km/h on land, which possesses amphibious capabilities of independent propulsion in water up to 8 kts and an estimated autonomy of over 60 min. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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17 pages, 4772 KiB  
Article
Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning
by Guangbing Xiao, Zhicheng Li, Ning Sun and Yong Zhang
World Electr. Veh. J. 2024, 15(4), 169; https://doi.org/10.3390/wevj15040169 - 18 Apr 2024
Viewed by 1037
Abstract
Based on an investigation of how vehicle structural characteristics and system parameters influence the motion stability of high-speed steering intelligent vehicle platooning, a control strategy for ensuring motion stability is proposed. This strategy is based on a virtual articulated concept and is validated [...] Read more.
Based on an investigation of how vehicle structural characteristics and system parameters influence the motion stability of high-speed steering intelligent vehicle platooning, a control strategy for ensuring motion stability is proposed. This strategy is based on a virtual articulated concept and is validated using both characteristic equation analysis and time domain analysis methods. To create a system, any two adjacent front and rear vehicles in the intelligent vehicle platooning are connected using a virtual articulated model constructed through the virtual structure method. A ten-degrees-of-freedom model of the intelligent vehicle platooning system is established, taking into account the nonlinearities of the tire and steering systems, utilizing the principles of the second Lagrange equation theory. The system damping ratio is determined through characteristic equation analysis, and the system’s dynamic critical speed is assessed by examining the relationship between the damping ratio and the motion stability of the intelligent vehicle platooning, serving as an indicator of system stability. By applying sensitivity analysis, control variable analysis, and time domain analysis methods, the influence of vehicle structural characteristics and system parameters on the system’s dynamic critical speed and motion stability under lateral disturbances within the intelligent vehicle platooning is thoroughly investigated, thereby validating the soundness of the proposed control strategy. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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15 pages, 7215 KiB  
Article
Numerical Simulation of Aerodynamic Characteristics of Electric Vehicles with Battery Packs Mounted on Chassis
by Yaoji Deng, Keyu Lu, Tao Liu, Xufei Wang, Hui Shen and Junjie Gong
World Electr. Veh. J. 2023, 14(8), 216; https://doi.org/10.3390/wevj14080216 - 13 Aug 2023
Cited by 2 | Viewed by 2304
Abstract
Aerodynamic characteristics are of great significance to the fuel economy and handling the stability of electric vehicles. The battery pack of electric vehicles has a huge structure and is usually arranged in the chassis area of the vehicle, which inevitably occupies the space [...] Read more.
Aerodynamic characteristics are of great significance to the fuel economy and handling the stability of electric vehicles. The battery pack of electric vehicles has a huge structure and is usually arranged in the chassis area of the vehicle, which inevitably occupies the space at the bottom of the vehicle and affects the aerodynamic characteristics of the vehicle. To study the effect of the power battery pack installed in the chassis on the aerodynamics characteristics of the electric vehicle, the Computational Fluid Dynamics (CFD) method is used to study the flow and pressure fields of the SAE (Society of Automotive Engineers) hierarchical car model with battery packs mounted on chassis. The influence of the structure parameters of the battery pack on the automobile’s aerodynamics are also analyzed in detail. Based on the simulation results, it can be seen that the battery pack installed on the chassis has a great impact on the flow and pressure field at the bottom and tail of the vehicle, causing the drag coefficient and lift coefficient to increase. The structural parameters of the battery pack have contradictory effects on the drag and lift coefficients. As the length of the battery pack increases, the drag coefficient decreases, and the lift coefficient increases. As the battery pack width and height increase, the drag coefficient increases, and the lift coefficient decreases. The research results provide a reference for the optimization of the aerodynamic characteristics of electric vehicles with battery packs mounted on chassis. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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22 pages, 8972 KiB  
Article
Personalized Collision Avoidance Control for Intelligent Vehicles Based on Driving Characteristics
by Haiqing Li, Lina Gao, Xiaoyu Cai and Taixiong Zheng
World Electr. Veh. J. 2023, 14(6), 158; https://doi.org/10.3390/wevj14060158 - 14 Jun 2023
Cited by 3 | Viewed by 1516
Abstract
Collision avoidance has been widely researched in the field of intelligent vehicles (IV). However, the majority of research neglects the individual driver differences. This paper introduced a novel personalized collision avoidance control (PCAC) strategy for IV based on driving characteristics (DC), which can [...] Read more.
Collision avoidance has been widely researched in the field of intelligent vehicles (IV). However, the majority of research neglects the individual driver differences. This paper introduced a novel personalized collision avoidance control (PCAC) strategy for IV based on driving characteristics (DC), which can better satisfy various scenarios and improve drivers’ acceptance. First, the driver’s DC is initially classified into four types using K-means clustering, followed by the application of the analytic hierarchy process (AHP) method to construct the DC identification model for the PCAC design. Then, a novel PCAC is integrated with a preview-follower control (PFC) module, an active rear steering (ARS) module, and a forward collision control (FCC) module to ensure individual requirements and driving stability. Moreover, simulations verified the validity of the developed PCAC in terms of path tracking, lateral acceleration, and yaw rate. The research results indicate that DC can be identified effectively through APH, and PCAC based on DC can facilitate the development of intelligent driving vehicles with superior human acceptance performance. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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19 pages, 3188 KiB  
Article
Research on Collision Avoidance Systems for Intelligent Vehicles Considering Driver Collision Avoidance Behaviour
by Guosi Liu, Shaoyi Bei, Bo Li, Tao Liu, Walid Daoud, Haoran Tang, Jinfei Guo and Zhaoxin Zhu
World Electr. Veh. J. 2023, 14(6), 150; https://doi.org/10.3390/wevj14060150 - 6 Jun 2023
Cited by 2 | Viewed by 3221
Abstract
In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability of intelligent vehicles under different collision avoidance operating conditions. To ensure the rationality of the collision avoidance switching strategy for intelligent vehicles, the NGSIM road dataset [...] Read more.
In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability of intelligent vehicles under different collision avoidance operating conditions. To ensure the rationality of the collision avoidance switching strategy for intelligent vehicles, the NGSIM road dataset is introduced to analyse the driver’s collision avoidance behaviour, and a two-layer fuzzy controller considering the overlap rate is established to design the collision avoidance switching strategy. In order to achieve real-time collision avoidance system activation, a lane change collision avoidance model based on MPC control is also developed. Finally, a simulation environment was created using Matlab/CarSim for simulation verification. The simulation results show that the collision avoidance switching system is more responsive and has a shorter start-up distance and is more adaptable to different driving conditions. Full article
(This article belongs to the Special Issue Design Theory, Method and Control of Intelligent and Safe Vehicles)
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