Showing 72 results for Vehicle
Hashem Ghariblu,
Volume 12, Issue 2 (6-2022)
Abstract
This paper introduces a trajectory planning algorithm for long-term freeway driving for autonomous vehicles including different modes of motion. In the autonomous driving in a freeway, different maneuvers are needed, including free flow, distance adaption, speed adaption, lane change and overtaking. This paper introduces an algorithm that provides all of these driving scenarios in the trajectory planning for an autonomous vehicle. All maneuvers are classified and proper formulation for each driving mode formulated. Then, an algorithm is introduced to show the procedure of decision making and switching between all driving modes. The relative distances and velocities of the other peripheral and front vehicle from autonomous vehicle are considered as the main factors for decision making during the travelling in the freeway. By the developed simulation programming, validity and effectiveness of the algorithm are verified, and pseudo code and flowchart for the simulation programming are introduced. Later in two simulation studies, different driving conditions are generated and results have been discussed and analyzed by detail.
Hossein Chehardoli,
Volume 12, Issue 2 (6-2022)
Abstract
The adaptive size-independent consensus problem of uni-directional (UD) and bi-directional (BD) decentralized large-scale vehicle convoys with uncertain dynamics has been investigated in this research work. The constant distance plan (CDP) is employed to adjust the distances between successive vehicles. We assume that only relative displacement information between adjacent vehicles is accessible (partial measurement) and other information such as relative velocity and acceleration are not provided. The stability of the convoy can be performed by the analysis of each couple of consecutive vehicles. The main objective is to design an adaptive size-independent control protocol maintaining internal and string stability based on CDP with only partial measurement. Appropriate adaptive rules are derived to estimate the uncertain dynamics by utilizing only relative displacement. It will be proved that the presented adaptive protocol assures both internal stability (asymptotic stability of closed-loop convoy) and string stability (tracking error attenuation) of large-scale decentralized UD and BD convoys under the CDP. Simulations demonstrate the efficiency of the presented control framework.
Dr Morteza Mollajafari, Mr Alireza Rajabi Ranjbar, Mr Shayegan Shahed Haghighi,
Volume 12, Issue 3 (9-2022)
Abstract
The development and adoption of electric vehicles (EVs) appears to be an excellent way to mitigate environmental problems such as climate change and global warming exacerbated by the transportation sector. However, it faces numerous challenges, such as optimal locations for EV charging stations and underdeveloped EVCS infrastructure, among the major obstacles. The present study is based on the location planning of charging stations in real cases of central and densely populated districts of Tehran, the capital of Iran. In order to achieve this goal, this paper attempts to validate the results of a previous study in another country. Secondly, by employing preceding principals in accordance with relevant information collected from the car park and petrol stations in the regions of study, a five-integer linear program is proposed based on a weighted set coverage model considering EV users' convenience, daily life conditions, and investment costs, and finally optimally solved by genetic algorithm under various distribution conditions; normal, uniform, Poisson and exponential, to specify the location and number of EV charging stations in such a way that EV drivers can have access to chargers, within an acceptable driving range.
Vahid Nooraeefar, Nader Nariman-Zadeh, Abolfazl Darvizeh,
Volume 12, Issue 3 (9-2022)
Abstract
Connecting point of the longitudinal veins and cross-veins in wing is called Joint. In some insect wing joints, there is a type of rubber-like protein called Resilin. Due to the low Young's modulus of this protein, its presence in the wing can help to change the shape of the wing during flight. Today, using composite structures in flying vehicles in order to achieve the desired shape of wing is considered. The purpose of this study is the multi-objective optimization of artificial wing by arranging Resilin joints in the artificial wing of Micro air vehicles (MAVs). The amount of torsion and bending of the flapping robot wings is considered as the objective function to improve the flight performance of robots. Two types of artificial wings have been investigated, and considering pareto points, the optimal arrangement of Resilin joints has been achieved. The result of this study shows that in both wings, with the presence of Resilin in the joints, the amount of torsion has increased to 38.65 degrees.
Mohammed Khalifa Al-Alawi, Dr. Kamyar Nikzadfar,
Volume 12, Issue 4 (12-2022)
Abstract
Electric vehicles are attaining significant attention recently and the current legislation is forcing the automotive industry to electrify the productions. Regardless of electric energy accumulation technology, drive technology is one of the vital components of EVs. The motor drive technology has been mainly developed based on the application which required position/velocity control. In automotive application, however, torque control is an important aspect since the drivers have already used to drive the vehicle based on torque control approach in traditional powertrain system. In this article, a model-based approach is employed to develop a controller which can guarantee the precise control of the induction motors torque for a micro electric vehicle (EV) application regardless of operating conditions. The implementation of the control drive was conducted in MATLAB/Simulink environment, followed by Model In the Loop simulation and testing at various test conditions to confirm the robustness of the developed drive. Direct Torque Control (DTC) with optimum voltage vector selection method is employed to control the motor torque that requires fewer power electronics to process its operation and hence lowers the cost of implementation. The result shows the practicality of the designed control system and its ability to track reference torque commands. Vitally, the controlled approach shows fair abilities to control IMs to produce torque at both the motoring and regenerative modes which is a highly important requirement in electrical propulsion powertrains. Furthermore, the controller’s response time was within the industrial standard range which confirms its suitability for industrial implementation at low cost.
Mr. Mohammad Yar-Ahmadi, Mr. Hamid Rahmanei, Prof. Ali Ghaffari,
Volume 13, Issue 1 (3-2023)
Abstract
The primary purpose of each autonomous exit parking system is to facilitate the process of exiting the vehicle, emphasizing the comfort and safety of driving in the absence of almost any human effort. In this paper, the problem of exit parking for autonomous vehicles is addressed. A nonlinear kinematic model is presented based on the geometric relationship of the vehicle velocities, and a linear time-varying discrete-time model of the vehicle is obtained for utilizing the optimal control strategy. The proposed path planning algorithm is based on the minimization of a geometric cost function. This algorithm works for ample space exit parking in Single-Maneuver and tight spaces in Multi-Maneuver exit parking. Finally, an optimal discrete-time linear quadratic control approach is hired to minimize a quadratic cost function. To evaluate the performance of the proposed algorithm, the control system is simulated by MATLAB/Simulink software. The results show that the optimal control strategy is well able to design and follow the desired path in each of the exit parking maneuvers.
Dr Hossein Chehardoli,
Volume 13, Issue 1 (3-2023)
Abstract
In this paper, the consensus of second-order nonlinear self-driving vehicle convoys (SDVCs) is studied. We assume that each self-driving vehicle (SDV) communicates only with one front and one rear SDVs. Each SDV’s nonlinear dynamics consisting of the rolling resistance and the air drag force is a function of SDV’s speed and is investigated in SDVC’s modeling and consensus design. Since the speed is bounded, all vehicles’ nonlinearities are also bounded. Due to engine saturation of each SDV, the control input is limited. We involve this limitation by introducing the arctan(.) function to control protocol. The inter-SDV’s distances are assumed to be constant during motion. The distance tracking error associated with each SDV is defined as distance between it and the leading SDV. The error dynamics of the proposed SDVC is derived after applying the consensus law to each SDV. To prove the internal stability, the Lyapunov theorem is employed. We will prove that under this consensus algorithm, the SDVC will be internal stable. To validate the effectiveness of this method, a SDVC comprising a leading and 6 following SDVs will be studied. It will be verified that under the proposed consensus law, all the SDVs reach a unique consensus.
Ali Modarresi, Saman Samiezadeh, Ali Qasemian,
Volume 13, Issue 1 (3-2023)
Abstract
In recent years, the automotive industry has experienced a dramatic mutation in the develop ment of electric vehicles. One of the most important aspects of this type of vehicle is its thermal management. Among the various parts of an electric vehicle that are subjected to thermal management, the battery is of particular importance. Battery cell temperatures may exceed the allowable range due to continuous and high-pressure operation and various weather conditions, and this, in addition to performance, severely affects battery life. Therefore, the appropriate cooling system is essential. In this research, the most common methods of battery cooling are investigated. First, three-dimensional thermal analysis on the battery is performed using the computational fluid dynamics method in transient and steady-state phases. Then, the effect of changing the cooling flow rate on the maximum temperature of the battery cell as well as the temperature difference of the cells in the battery pack is investigated. The effect of changing inlet coolant temperature change on battery cell temperature distribution is also investigated. The results show that by increasing the flow rate from 0.5 to 1.2 liter per minute, the maximum temperature in the battery pack and the temperature difference between the cells decrease to 44.4 and 2.51 ° C, respectively. Also, by changing the temperature of the inlet coolant from 15 to 30 ° C, the maximum temperature in the battery pack increases up to 42.2 ° C and the temperature difference is negligible.
Mr. Hamid Rahmanei, Dr. Abbas Aliabadi, Prof. Ali Ghaffari, Prof. Shahram Azadi,
Volume 13, Issue 2 (6-2023)
Abstract
The coordinated control of autonomous electric vehicles with in-wheel motors is classified as over-actuated control problems requiring a precise control allocation strategy. This paper addresses the trajectory tracking problem of autonomous electric vehicles equipped with four independent in-wheel motors and active front steering. Unlike other available methods presenting optimization formulation to handle the redundancy, in this paper, the constraints have been applied directly using the kinematic relations of each wheel. Four separate sliding mode controllers are designed in such a way that they ensure the convergence of tracking errors, in addition to incorporating the parametric and modeling uncertainties. The lateral controller is also designed to determine the front steering angles to eliminate lateral tracking errors. To appraise the performance of the proposed control strategy, a co-simulation is carried out in MATLAB/Simulink and Carsim software. The results show that the proposed control strategy has enabled the vehicle to follow the reference path and has converged the errors of longitudinal and lateral positions, velocity, heading angle, and yaw rate. Furthermore, the proposed control system shows promising results in the presence of uncertainties including the mass and moment of inertia, friction coefficient, and the wind disturbances.
Mr Arash Darvish Damavandi, Dr Behrooz Mashhdi, Dr Masoud Masih-Tehrani,
Volume 13, Issue 3 (9-2023)
Abstract
This paper investigates the performance of the hydraulically interconnected suspension system with the full vehicle model of ride and handling. A sensitivity analysis has been performed by changing the coefficients of the cylinder and accumulator valves and the initial conditions of the accumulators in the default hydraulic circuits to determine the effect on the frequency and damping of the system response such as roll, pitch, and bounce. This study highlights the importance of the influence of all system parameters to investigate vehicle vibration characteristics. The results provide valuable insights for designers and engineers working on improving automotive suspension system performance. Damping and frequency of modes change up to 179% with the change of cylinder valves and 141% with the change of accumulator valves and 74% for the initial pressure of accumulators change in mentioned range.
Mustafa Mirtabaee, Mohammad Abasi,
Volume 13, Issue 4 (12-2023)
Abstract
Protection of Armor Vehicles and military truck Occupants Against Explosion Mine and IED is the most important Parameter for comprehensive performance evaluation of armored vehicle. Armored Vehicle components Specifically Hull Floor Must be Able to Disperse Blast Shock Waves and Resist Against the structural Fracture. Analysis of the War Documents proves that flat hulls with thin-walled steel cannot resist against Anti-Tank Mines. In Recent years, development of V-shape Hull configurations Consider as an efficient Approach to improve Safety of armored vehicles. In the new generation of Armor Vehicle, Monocoque chassis combined with V-shape hull, But Replacement of All of the Old Armor Vehicle in the Defense Industry is not cost effective. So, there is an urgent need to develop the efficient strategy for enhancing the protection level of old armor vehicle. Since most of the armored vehicles used in the armies of different countries were designed and built in the past years, it is very likely that the safety standards have not been fully observed in them. Therefore, it is of great importance to provide a simple and low-cost plan for the reliable upgrade of such armored and logistics vehicles. In this article, by investigating the effect of placing V-shaped composite panels in three case studies, we were able to reduce the acceleration of the center of mass of the passenger compartment by approximately 7 times, in addition to reducing displacement by 50% on average. In addition, the explosion products were not able to penetrate into the cabin.
Dr. Pezhman Bayat, Dr. Peyman Bayat, Dr. Abbas Fattahi Meyabadi,
Volume 14, Issue 1 (3-2024)
Abstract
The hydrogen fuel cell is one of the latest technologies used in fuel cell electric vehicles (FCEVs), which uses hydrogen gas to supply the electrical energy needed by the electric engines. The proposed topology has boost function and uses a novel diodes and switches network, which leads to the creation of an integrated system with high efficiency and high voltage gain. Other advantages of the proposed converter are small size, low voltage and current stresses on all the components, less component count, continuous input current and light weight; which makes it more efficient compared to existing structures. In this regard, theoretical calculations and steady state analysis for the proposed system have been presented. Also, in order to verify the performance of the proposed converter, it has been simulated in the MATLAB/Simulink software environment at the rated power of 1kW, with an output voltage of 220V and an output current of 4.55A, and the results have been presented in detail. The peak efficiency of the proposed converter reached 97.4% at half power, and the efficiency at rated power was reported 96%. Moreover, in the proposed structure, the voltage stress of capacitors, diodes and switches reaches the maximum value of 63%, 83% and 41% of the output voltage, respectively; which are promising values. Finally, to verify the performance of the proposed converter and the relationships obtained, a 1kW prototype is built in the laboratory to demonstrate the efficiency of the proposed converter.
Seied Isa Koranian, Mahdi Gholampour, Hamid Mazandarani,
Volume 14, Issue 1 (3-2024)
Abstract
Harnessing nanomaterials and the piezo-phototronic effect, we engineered a high-performance ultraviolet (UV) photodetector (PD), unveiling a new frontier in optoelectronics. This novel device seamlessly integrates zinc oxide nanorods (ZnO NRs) onto a flexible polyethylene terephthalate- indium tin oxide (PET-ITO) substrate through a straightforward and efficient hydrothermal process. This unique nanostructure design outshines its competitors, producing significantly higher current under UV illumination despite a comparable detection area. The plot thickens with the intriguing "piezo-phototronic effect," where applying pressure under UV light amplifies the current and overall device efficiency. This groundbreaking discovery paves the way for cutting-edge optoelectronic applications, where nanomaterials and the piezo-phototronic effect join forces to redefine performance.
Mr Seyed Amir Mohammad Managheb, Mr Hamid Rahmanei, Dr Ali Ghaffari,
Volume 14, Issue 1 (3-2024)
Abstract
The turn-around task is one of the challenging maneuvers in automated driving which requires intricate decision making, planning and control, concomitantly. During automatic turn-around maneuver, the path curvature is too large which makes the constraints of the system severely restrain the path tracking performance. This paper highlights the path planning and control design for single and multi-point turn of autonomous vehicles. The preliminaries of the turn-around task including environment, vehicle modeling, and equipment are described. Then, a predictive approach is proposed for planning and control of the vehicle. In this approach, by taking the observation of the road and vehicle conditions into account and considering the actuator constraints in cost function, a decision is made regarding the minimum number of steering to execute turn-around. The constraints are imposed on the speed, steering angle, and their rates. Moreover, the collision avoidance with road boundaries is developed based on the GJK algorithm. According to the simulation results, the proposed system adopts the minimum number of appropriate steering commands while incorporating the constraints of the actuators and avoiding collisions. The findings demonstrate the good performance of the proposed approach in both path design and tracking for single- and multi-point turns.
Seied Isa Koranian, Mahdi Gholampour, Hamid Mazandarani,
Volume 14, Issue 2 (6-2024)
Abstract
Fueled by their potential for energy harvesting, ZnO nanorods (NRs) have sparked considerable enthusiasm in the development of piezoelectric nanogenerators in the last decade. This is attributed to their exceptional piezoelectric properties, semiconducting nature, cost-effectiveness, abundance, chemical stability in the presence of air, and, the availability of diverse and straightforward crystal growth technologies. This study explores and compares the piezoelectric properties of two promising nanostructured ZnO architectures: thin films deposited via radiofrequency (RF) magnetron sputtering and well-aligned nanorod arrays grown using a hydrothermal process. Both structures are fabricated on flexible polyethylene terephthalate (PET) with an indium tin oxide (ITO) electrode (PET-ITO substrate), presenting valuable options for flexible piezoelectric devices. By directly comparing these distinct morphologies, we provide insights into their respective advantages and limitations for energy harvesting and sensor applications. The investigation into the piezoelectric properties of ZnO NRs involved the construction of an actual piezoelectric nanogenerator. This device demonstrated a direct correlation between applied mechanical forces and the resultant voltage outputs. It was observed that when the same external force was applied to both devices, the ZnO NRs-based piezoelectric nanogenerator (PENG) exhibited a higher output voltage compared to the other device.
Seyed Reza Hosseini, Mahdi Moghimi, Norouz Mohammad Nouri,
Volume 14, Issue 3 (9-2024)
Abstract
The impact of a supercooled droplet on a surface is a primary challenge of many industrial and aeronautical processes. However, in some cases, such as frost formation on vehicle windshields or wind turbine blades, the supercooled droplet collision does not occur in stagnant air. In this study, for the first time, the effects of the air transverse flow (ATF) on the thermal-fluid behavior of a supercooled droplet were investigated numerically. Also, different patterns of a superhydrophobic pillared surface were used in 24 three-dimensional simulations in ANSYS Fluent software. The volume of fluid method is chosen for the simulation of the multiphase flow. The freezing model is improved by the supercooling temperature consideration method. The results show that the ATF velocity reduces the separation time exponentially and helps the droplet bounce from the surface before freezing inception. However, the excessive increase in ATF velocity has the opposite effect and may prevent the droplet from detaching the surface due to notable drag. The best value of the ATF velocity is obtained to be 8 m/s , which reduces the separation time exponentially from 16.3 ms to 12.5 ms for a cold surface with a simple pillar pattern. The separation time is entirely affected by the simulation conditions and varies from 11.85 ms to 29.2 ms . The maximum spreading factor, despite the separation time, is seriously influenced by the void fraction percentage of different pillared surfaces and varies from 1.53 to 1.69.
Mr. Mohammad Hossein Nahani, Dr. Gholam Reza Molaeimanesh, Dr. Masoud Dahmardeh,
Volume 14, Issue 4 (12-2024)
Abstract
The transition from traditional internal combustion engine vehicles to electric vehicles is in progress. With their high energy density, low self-discharge rates, long cycle life, and absence of memory effects, lithium-ion batteries have become the primary power source for alternative vehicles. Throughout the battery's lifespan, its performance or health gradually deteriorates due to irreversible physical and chemical changes. Depending on the specific aging mechanisms, a battery may lose capacity or face increased internal resistance. Growing awareness of the importance of environmental protection and the potential implications associated with products and services has spurred interest in developing methods to better understand and address these impacts. Life cycle assessment is a method used to examine the environmental effects associated with all stages of product production. This study compares the operational conditions of an electric vehicle equipped with both new and old battery packs. The performance difference indicates that the vehicle with the aged battery has 17% less capacity, operates over 20% weaker in range, and its ohmic resistance increases by up to 150%. From a well-to-wheel perspective, using an electric vehicle with an old battery could result in a 2% increase in carbon dioxide emissions, reaching 56.638 g CO₂ equivalent per kilometer.
Amir Ansari Laleh, Mohammad Hasan Shojaeefard,
Volume 14, Issue 4 (12-2024)
Abstract
Lithium-ion batteries hold great promise for addressing environmental and energy challenges, driving their increased adoption in electric vehicles. Their advantages include stability, high energy density, low self-discharge, and long lifespan. However, both high and low temperatures pose significant challenges. High temperatures can lead to thermal runaway and safety hazards such as short circuits and explosions, while low temperatures can promote the formation of lithium dendrites, resulting in degradation and performance issues. To mitigate these thermal challenges, phase change materials (PCMs) have emerged as a promising solution for battery thermal management systems (BTMS). This review provides a comprehensive overview of PCMs and their application in BTMS. We categorize PCMs used in BTMS based on their modified filler materials and functionalities, including carbon-based (carbon fiber-PCM composites, carbon nanotube-PCM composites, and expanded graphite-PCM composites), metal foam, metal mesh, and organic and inorganic materials. Both inorganic and carbon-based materials can serve as highly thermally conductive encapsulants and fillers for PCMs. Finally, we present a thorough review of recent research on the thermal properties of modified PCMs and their impact on BTMS performance, including a detailed discussion of PCM performance metrics and selection criteria.
Ehsan Vakili, Behrooz Mashadi, Abdollah Amirkhani,
Volume 15, Issue 1 (3-2025)
Abstract
Ensuring that ethically sound decisions are made under complex, real-world conditions is a central challenge in deploying autonomous vehicles (AVs). This paper introduces a human-centric risk mitigation framework using Deep Q-Networks (DQNs) and a specially designed reward function to minimize the likelihood of fatal injuries, passenger harm, and vehicle damage. The approach uses a comprehensive state representation that captures the AV’s dynamics and its surroundings (including the identification of vulnerable road users), and it explicitly prioritizes human safety in the decision-making process. The proposed DQN policy is evaluated in the CARLA simulator across three ethically challenging scenarios: a malfunctioning traffic signal, a cyclist’s sudden swerve, and a child running into the street. In these scenarios, the DQN-based policy consistently minimizes severe outcomes and prioritizes the protection of vulnerable road users, outperforming a conventional collision-avoidance strategy in terms of safety. These findings demonstrate the feasibility of deep reinforcement learning for ethically aligned decision-making in AVs and point toward a pathway for developing safer and more socially responsible autonomous transportation systems.
Dr. Alireza Sobbouhi, Mohammad Mozaffari,
Volume 15, Issue 2 (6-2025)
Abstract
The high penetration of renewable energy sources (RES) makes the power system unreliable due to its uncertain nature. In this paper, the quantifying impact of electric vehicles (EV) charging and discharging on power system reliability and relieving the congestion is analyzed. The proposed reliability assessment is formulated by considering generation and demand interruption costs for N-1 contingency criteria. The proposed algorithm manages the optimal scheduling of EV to mitigate the uncertainties associated with RES and relieving the congestion. The impact of EV charging and discharging on expected energy not supplied (EENS) and expected interruption cost (ECOST) for generating companies (GENCOs), transmission companies (TRANSCOs), customers, and entire power system are calculated. The charging station of EV is selected by the trade-o_ between investment cost of EV and percentage change in EENS and ECOST value for the entire power system, GENCOs, TRANSCOs, and customers. The effectiveness of the proposed approach is tested on the modified IEEE RTS 24 bus system. The impact of EV charging stations on system reliability has been evaluated by quantifying the EENS and the ECOST across all available EV capacities. The results clearly demonstrate the improvement of system reliability and minimize the objective function consisting of generator re-dispatch and load curtailment considering N-1 contingency in the face of uncertainties of wind and solar generation sources by considering EV. The results show that EV can improve the reliability by about 40%. The problem is modeled in GAMS environment and solved using CONOPT as a nonlinear programming (NLP) solver.
