Development of Zero Turning Radius by Using Different Independent Torque

This paper is about development of zero turning radius (ZTR) by using different independent torque that given to the all tires. The main objective in this thesis is to analyze the approximate or actual zero turning radius that can be achieved by vehicle and yaw rate when the different independent torque is given to the each tire. The ZTR is existed by applied the differential torque from the motor. Meanwhile, different of torque is mean the different of rotational movement or different of torque value given by the motor. The analysis is conducted by using Matlab simulation analysis because it is very important for EVs. By using the ZTR system the vehicle can move in the narrow space and time to change the position become less. This system (ZTR) also can be applying for the light and heavy weight electrical vehicles when going for changing position in narrow with less much time

The investigation on dynamic behavior of electric powered wheelchair during the obstacle avoidance

The increment of the People with Disabilities (PWDs) keep increasing in each year and an urge of assisting these PWDs is demanding. Commercial manual wheelchair eases the mobility of the PWDs but there is side effect for the manual wheelchair users that is pain on shoulder area due to extensive daily propulsion of manual wheelchair for mobility. Therefore, this paper presents an approach towards the autonomous wheelchair whereas concerning the PWDs that have disabilities from upper to lower limbs. These paper investigates the dynamic behaviour of the autonomous wheelchair during the obstacle avoidance. The experiment conducted on the Electric Power Wheelchair (EPW) with two different speed and as a first step before implementing self-navigation system in EPW. The objective of this study is to determine the behaviour of the autonomous wheelchair by using the intervention of human input on EPW. The EPW user will manoeuvre the EPW via joystick with several speed. This study focused on the changes in speed of both left and right tires and yaw angle during the obstacle avoidance. The data will be used as a reference for the development of an autonomous wheelchair during the obstacle avoidance. The data that manoeuvred manually also serve as the human-machine relationship whereas the data will be interpreted into the control systems that will be developed for the autonomous wheelchair. Based on the results, the experience does not affect the manoeuvring skill for both male and female students. Based on the yaw rate, the manoeuvring skills of male and female students could be defined which are 57.9% and 42.1% respectively

Investigating vehicle characteristics behaviour for roundabout cornering

The allowable range of speed that a vehicle can tolerate in a constant radius turn is crucial for the development of smart assistance systems. Although the development of advanced system observers has been grown since early days of its introduction, extensive study is required in monitoring the vehicle’s behaviour in the conditions such as variation of vehicle dynamic parameters and terrain type. Autonomous vehicles will fail to judge the parameter of the road cornering due to the safety constraints of the vehicle. Thus, the primary concern of this paper is to study the vehicle’s behaviour for different curvature profiles. A real-time simulation for a typical Sedan is presented to test a constant roundabout turning with a radius of 50 m for this measure. In prior to that, a detailed analysis on the vehicle stability and handling responses are discussed. The vehicle is found to be traveling in a stable region at a speed from 10 to 74 km/h. The vehicle enters a critical area when speed is more than 74 km/h. Therefore, that the allowable range of speed that the vehicle can travel in a 50 m radius turn lies between 10 to 74 km/h. The stability is evaluated by two criterions which are the yaw rate and sideslip angle

The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition

During descending on a slope, the speed of Electric Powered Wheelchair (EPW) tends to changed rapidly. Normally, most EPW is provided with mechanical braking system which transfers human pulling force of the lever creating friction at the tire. However, the task is difficult for the users are elderly or paralyses. However, even for normal user with good strength, in fear condition they tend to give sudden braking which leads to tire locking up and skidding, eventually EPW unstable. These problems will cause accident and injuries to the users if speed does not properly control. In this paper, the automated braking torque control method was proposed in EPW as alternative to solve this problem and increase the mobility and stability especially during descending on slope in other to help the user of the EPW as their daily transportation. In this research, Proportional-Integral-Derivative and Sliding Mode Control controller are compared to determine the best response for torque braking control. The rapid change of speed can be controlled by the braking torque using proposed controllers based on the desired constant speed set by the control designer. Moreover, the sudden braking that caused tire to lock up and skid can be avoided. Furthermore, result from SMC shows this controller have good time respond to maintain the speed based on desired value when descending at slope condition by controlling the braking torque compared to the PID controller

Research Trends of Electric Vehicles (EVs) in Indonesia, Malaysia, and Thailand: A Quick Analysis using Bibliometric

The electric vehicles (EVs) market in ASEAN has seen rapid growth in 2024, driven by the global trend towards sustainable transportation and strong government support. Thailand, with strong government policies and extensive charging infrastructure, has emerged as a regional leader. Malaysia and Indonesia are still in the early stages of adoption, grappling with high vehicle costs, limited charging infrastructure, and public acceptance challenges. A bibliometric analysis of research output from 2015–2025 reveals an exponential growth trend in EV-related studies, with Malaysian universities leading the research focus. Despite differences in progress, Indonesia, Malaysia, and Thailand face similar challenges, including limited infrastructure, high cost of ownership, and the need for greater public awareness. Tailored policies, infrastructure improvements, and regional collaboration are critical for ASEAN countries to realize their potential as key players in the global EV transition

Investigation of the combination of kinematic path planning and artificial potential field path planning with PI controller for autonomous emergency braking pedestrian (AEB-P) System

Autonomous Emergency Braking Pedestrian (AEB-P) is a fundamental capacity of the advanced driver assistance system (ADAS) to maintain a distance and avoid a collision. The fatality of pedestrian in traffic accident as well as near-miss accidents are the most frequent type of accidents in Malaysia as the improvisation of AEB-P system are obligatory. To generate optimum vehicle deceleration from the path planner in the presence of a pedestrian in front of the vehicle, an Artificial Potential Field (APF) path planner with a kinematic path planner is proposed in this research. The kinematic path planner will produce maximum deceleration for the vehicle, 8 m/s2, as the vehicle violates the threshold. The value is combining with the APF value to fetch to the PI controller. Thus, the AEB-P system was designed considering the pedestrian walked in front of the vehicle at 4.32 km/h and vehicle travelled at 60 km/h, dry and wet road surface condition, time for Front Collision Warning (FCW), and full braking was included for the limit APF is developed. The PI controller will tune the deceleration using its variable on dry road surface (P = 0.003, I = 5) and on wet road surface (P = 0.003, I = 8500). The host vehicle starts to give warning signal at 37.29 m and experience full braking at 21.3 m when the vehicle travel on both types of surfaces. The vehicle manages to stop from hitting the pedestrian at 2.21 and 1.5 m on the dry and wet road surface. The proposed AEB-P architecture can avoid the collision with pedestrian as the vehicle manage to stop from hitting the obstacle at a comfortable distance

Investigation of Brake Pad Wear Effect due to Temperature Generation Influenced by Brake Stepping Count on Different Road Terrains

The use of vehicles in Malaysia has become a need and important to commute to the workplace and commercial business transportation. This necessity resulted in an increase in the number of cars on the road that eventually increase the number of accidents that resulted in the loss of life which is also one of the leading killers in Malaysia. Deriving from this phenomenon, car maintenance especially brake systems has become imperative that eventually become the main objective of this research to investigate the effect of different road terrains to brake pad wear. The experimental vehicle is operated in two different road terrains namely hilly and flat roads and each road terrain is set to complete 1000km of investigation traveled distance. Three main investigation parameters are brake pad thickness wear, the temperature generated from rubbing the brake pad with the rotor, and the brake force applied on the brake pedal. A CANedge external onboard diagnostic (OBD) logger is used to collect real-time data on the relevant parameters from the vehicle’s ECU for analysis. The result from the experiments found that the average brake pad wear rate during hilly roads is 53% higher than that of flat roads. Likewise, brake pad temperature generation on a hilly road is 34% higher than that on a flat road. However, the brake pedal force applied during braking is 60% higher on flat roads compared to on hilly roads. From the findings, data from the vehicle OBD2 and the brake pad wear can be analyzed to provide an electronic signal for indication of timely maintenance for the brake pad

Comparison of braking performance between mechanical and dynamic braking for Electric Powered Wheelchair

Braking is the necessary system need to install as the safety feature for moving transportation. Using the mechanical braking only as primary braking system in Electric Transportation (ET) is insufficient due to some issues such as low strength users hand gripping and abruptly tire locking during braking especially on wet surface condition. In this paper, the performance between mechanical and electrical braking which is by using dynamic braking concept is proposed to enhance the braking performance of Electric Powered Wheelchair (EPW). The experiments were conducted during descending on the slope under wet and dry pavements. From the results of slip ratio, the slipping time between mechanical and dynamic braking in dry pavement is recorded 0.9 seconds and 0.7 seconds respectively. Meanwhile, it is observed that tire is fully locked-up for mechanical braking under the wet surface. However, by using the dynamic braking, the wheel does not lock-up and the slipping time was recorded 1.4 seconds. It can be considered that, mechanical and dynamic braking give their own merit. The high braking torque from mechanical braking is suitable to use under the dry pavement for the short stopping distance. The other sides, braking under the wet pavement, dynamic braking is more efficient compare to the mechanical braking in term of short slipping time and does not cause tire to lockup while braking

An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle

Studies on self-driving vehicles have become a trend in recent years, and many systems have been developed to enable autonomous manoeuvre. Various methods have been used to improve path-tracking algorithms which increase vehicle performance, including tracking accuracy and stability. Path tracking is one of the primary problems for autonomous vehicles where the vehicle deviates from target paths, which leads to unnecessary counter-correction. Conventional front wheel steering is unable to satisfy the manoeuvre with a high lateral acceleration since the front steering angle is limited in accurately responding to vehicle dynamics. Moreover, the characteristics of front wheel steering vehicles affect handling stability due to the fact that the turning radius is larger than the vehicle itself. This disadvantageous can compromise safety during under-steer and over-steer situations. The main objective of this preliminary study is to investigate the performance of a four-wheel steering system (4WS) in path tracking for autonomous vehicles using a classical model predictive controller (MPC). Conventional two-wheel steering (2WS) tracking performance following the desired driving system with the same MPC controller is compared with 4WS vehicles. The driving system is developed using Driving Scenario Designer to extract the desired yaw angle and lateral position for controller references constructed in Matlab Simulink. Fixed MPC constraint, prediction, control horizon, yaw angle and lateral position weights were used to compare the performance between 2WS and 4WS vehicles. The simulation results show that 4WS is three times better than 2WS vehicles in tracking predetermined paths. 4WS vehicle show 74.55% better performance in lateral position tracking and 68.75% better performance in trailing predetermined yaw angle value. The simulation data from the preliminary study will be used as a guideline to develop an advanced controller of 4WS vehicles

3D LiDAR Vehicle Perception and Classification Using 3D Machine Learning Algorithm

3D LiDAR-based object detection during autonomous vehicle navigation is a trending field in autonomous vehicle research and development. As 3D LiDAR is resistant to light interference while capable of capturing detailed 3D spatial structures of the detected objects, it is the main perception sensor for autonomous vehicles. With its improved accessibility in the recent years, the advent of deep learning had allowed feature learning from sparse 3D point clouds. Hence, this leads a plethora of methods in object detection for 3D sparse point clouds. In this research, an extensive experiment was conducted using various 3D LiDAR object detections for various forms like pillar-form, point-form and voxel-form onto multiple point cloud data sets captured using Robotic Operating System (ROS). Based on experiments conducted, pillar-form point cloud data is suitable for dense point clouds, while voxel-form is optimal for both indoors and outdoors environment