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    ๊ณ ์„ฑ๋Šฅ ํ•œ๊ณ„ ํ•ธ๋“ค๋ง์„ ์œ„ํ•œ ์ธํœ ๋ชจํ„ฐ ํ† ํฌ๋ฒกํ„ฐ๋ง ์ œ์–ด

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    ํ•™์œ„๋…ผ๋ฌธ(๋ฐ•์‚ฌ) -- ์„œ์šธ๋Œ€ํ•™๊ต๋Œ€ํ•™์› : ๊ณต๊ณผ๋Œ€ํ•™ ๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€, 2021.8. ์ด๊ฒฝ์ˆ˜.์ง€๋‚œ 10๋…„ ๋™์•ˆ ์ฐจ๋Ÿ‰ ์ž์„ธ ์ œ์–ด์‹œ์Šคํ…œ(ESC)์€ ์น˜๋ช…์ ์ธ ์ถฉ๋Œ์„ ๋ฐฉ์ง€ํ•˜๊ธฐ ์œ„ํ•ด ๋งŽ์€ ์ƒ์šฉ ์ฐจ๋Ÿ‰์—์„œ ๋น„์•ฝ์ ์œผ๋กœ ๋ฐœ์ „๋˜๊ณ  ๊ฐœ๋ฐœ๋˜๊ณ  ์žˆ๋‹ค. ํŠนํžˆ, ์ฐจ๋Ÿ‰ ์ž์„ธ ์ œ์–ด ์‹œ์Šคํ…œ์€ ์•…์ฒœํ›„๋กœ ์ธํ•œ ๋ฏธ๋„๋Ÿฌ์šด ๋„๋กœ์™€ ๊ฐ™์€ ์œ„ํ—˜ํ•œ ๋„๋กœ์—์„œ ๋ถˆ์•ˆ์ •ํ•œ ์ฐจ๋Ÿ‰ ์ฃผํ–‰ ์กฐ๊ฑด์—์„œ ์‚ฌ๊ณ ๋ฅผ ํ”ผํ•˜๋Š”๋ฐ ํฐ ์—ญํ• ์„ ํ•œ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜, ์ตœ๊ทผ์˜ ๊ฒฝ์šฐ, ๊ณ ์„ฑ๋Šฅ ์ฐจ๋Ÿ‰ ๋˜๋Š” ์Šคํฌ์ธ ์นด ๋“ฑ์˜ ๊ฒฝ์šฐ ์ œ๋™์ œ์–ด์˜ ๋นˆ๋ฒˆํ•œ ๊ฐœ์ž…์€ ์šด์ „์˜ ์ฆ๊ฑฐ์›€์„ ๊ฐ์†Œ์‹œํ‚ค๋Š” ๋ถˆ๋งŒ๋„ ์กด์žฌํ•œ๋‹ค. ์ตœ๊ทผ ์ฐจ๋Ÿ‰์˜ ์ „๋™ํ™”์™€ ํ•จ๊ป˜, ์ž๋Ÿ‰ ์ž์„ธ ์ œ์–ด์‹œ์Šคํ…œ์˜ ์ž‘๋™ ์˜์—ญ์ธ ํ•œ๊ณ„ ์ฃผํ–‰ ํ•ธ๋“ค๋ง ์กฐ๊ฑด์—์„œ ๊ฐ ํœ ์˜ ๋…๋ฆฝ์ ์ธ ๊ตฌ๋™์„ ์ ์šฉ ํ•  ์ˆ˜ ์žˆ๋Š” ์‹œ์Šคํ…œ ์ค‘ ํ•˜๋‚˜์ธ ์ธํœ  ๋ชจํ„ฐ ์‹œ์Šคํ…œ์„ ์‚ฌ์šฉํ•˜์—ฌ ์ฐจ๋Ÿ‰์˜ ์ข…, ํšก๋ฐฉํ–ฅ ํŠน์„ฑ์„ ์ œ์–ด ๊ฐ€๋Šฅํ•˜๊ฒŒ ํ•˜๋Š” ํ† ํฌ ๋ฒกํ„ฐ๋ง ์ œ์–ด๊ธฐ์ˆ ์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๊ฐ€ ํ™œ๋ฐœํ•˜๋‹ค. ๋”ฐ๋ผ์„œ, ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ์ฐจ๋Ÿ‰์˜ ์„ ํšŒ ํ•œ๊ณ„ ํ•ธ๋“ค๋ง ์กฐ๊ฑด์—์„œ ์•ˆ์ •์„ฑ๊ณผ ์ฃผํ–‰ ๋‹ค์ด๋‚˜๋ฏน ์„ฑ๋Šฅ์„ ํ–ฅ์ƒ์‹œํ‚ฌ ์ˆ˜ ์žˆ๋Š” ํ† ํฌ ๋ฒกํ„ฐ๋ง ์ œ์–ด๊ธฐ๋ฅผ ์ œ์•ˆํ•˜๊ณ ์ž ํ•œ๋‹ค. ๋จผ์ €, ์ฐจ๋Ÿ‰์˜ ๋น„์„ ํ˜• ์ฃผํ–‰ ๊ตฌ๊ฐ„์ธ ํ•œ๊ณ„ ํ•ธ๋“ค๋ง ์กฐ๊ฑด์— ๋Œ€ํ•œ ์ž๋™ ๋“œ๋ฆฌํ”„ํŠธ ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ œ์•ˆํ•œ๋‹ค. ์ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ด์šฉํ•˜์—ฌ ํ† ํฌ๋ฒกํ„ฐ๋ง์ œ์–ด์— ์ฐจ๋Ÿ‰์˜ ๋‹ค์ด๋‚˜๋ฏนํ•œ ์ฃผํ–‰๋ชจ๋“œ์— ๋Œ€ํ•œ ํ†ต์ฐฐ๋ ฅ์„ ์ œ๊ณตํ•˜๊ณ  ๋ฏธ๋„๋Ÿฌ์šด ๋„๋กœ์—์„œ ์ฐจ๋Ÿ‰์˜ ๋†’์€ ์Šฌ๋ฆฝ ๊ฐ๋„์˜ ์•ˆ์ •์„ฑ ์ œ์–ด๋ฅผ ์ œ๊ณต ํ•  ์ˆ˜ ์žˆ๋‹ค. ๋˜ํ•œ, ์ธํœ  ๋ชจํ„ฐ ์‹œ์Šคํ…œ์„ ์ฐจ๋Ÿ‰์˜ ์ „๋ฅœ์— 2๊ฐœ ๋ชจํ„ฐ๋กœ ์‚ฌ์šฉํ•˜์—ฌ ์ฐจ๋Ÿ‰ ๊ณ ์œ ์˜ ํŠน์„ฑ์ธ ์ฐจ๋Ÿ‰ ์–ธ๋”์Šคํ‹ฐ์–ด ๊ตฌ๋ฐฐ๋ฅผ ์ง์ ‘์  ์ œ์–ด๋ฅผ ์ˆ˜ํ–‰ํ•˜์—ฌ, ์ฐจ๋Ÿ‰์˜ ํ•ธ๋“ค๋ง ์„ฑ๋Šฅ์„ ํ–ฅ์ƒ์‹œ์ผฐ๋‹ค. ์ œ์–ด๊ธฐ์˜ ์ฑ„ํ„ฐ๋ง ํšจ๊ณผ๋ฅผ ์ค„์ด๊ณ  ๋น ๋ฅธ ์‘๋‹ต์„ ์–ป๊ธฐ ์œ„ํ•ด ์ƒˆ๋กœ์šด ๊ณผ๋„ ๋งค๊ฐœ ๋ณ€์ˆ˜๊ฐ€ ์ด์šฉํ•˜์—ฌ ์ˆ˜์‹ํ™”ํ•˜์—ฌ ๊ตฌ์„ฑํ•˜์˜€์œผ๋ฉฐ, ์ฐจ๋Ÿ‰์˜ ์ •์ƒ ์ƒํƒœ ๋ฐ ๊ณผ๋„ ํŠน์„ฑ ํ–ฅ์ƒ์„ ๊ฒ€์ฆํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ISO ๊ธฐ๋ฐ˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ฐ ์ฐจ๋Ÿ‰ ์‹คํ—˜์„ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค. ๋งˆ์ง€๋ง‰์œผ๋กœ ์š” ์ œ์–ด๊ธฐ์™€ ํšก ์Šฌ๋ฆฝ ๊ฐ๋„ ์ œ์–ด๊ธฐ๋กœ ๊ตฌ์„ฑ๋œ MASMC (Multiple Adaptive Sliding Mode Control) ์ ‘๊ทผ ๋ฐฉ์‹์„ ์‚ฌ์šฉํ•˜๋Š” 4๋ฅœ ๋ชจํ„ฐ ์‹œ์Šคํ…œ์„ ์‚ฌ์šฉํ•œ ๋™์  ํ† ํฌ๋ฒกํ„ฐ๋ง ์ œ์–ด๋ฅผ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค. ๋†’์€ ๋น„์„ ํ˜• ํŠน์„ฑ์„ ๊ฐ€์ง„ ์ฐจ๋Ÿ‰์˜ ์ „ํ›„๋ฅœ ํƒ€์ด์–ด์˜ ์ฝ”๋„ˆ๋ง ๊ฐ•์„ฑ์€ ์ ์‘์ œ์–ด๊ธฐ๋ฒ•์„ ์ด์šฉํ•˜์—ฌ ์˜ˆ์ธกํ•˜์˜€๋‹ค. ๋”ฐ๋ผ์„œ, ์•ˆ์ „๋ชจ๋“œ์™€ ๋‹ค์ด๋‚˜๋ฏน ๋ชจ๋“œ๋ฅผ ๊ตฌ์„ฑํ•˜์—ฌ, ์šด์ „์ž๋กœ ํ•˜์—ฌ๊ธˆ ์›ํ•˜๋Š” ์ฃผํ–‰์˜ ์กฐ๊ฑด์— ๋งž๊ฒŒ ์„ ํƒํ•  ์ˆ˜ ์žˆ๋Š” ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ๊ตฌํ˜„ํ•˜์˜€๋‹ค. ์ด MASMC ์•Œ๊ณ ๋ฆฌ์ฆ˜์€ ํ–ฅํ›„ ์ „๋™ํ™” ์ฐจ๋Ÿ‰์— ์ฃผํ–‰์•ˆ์ •์„ฑ ํ–ฅ์ƒ๊ณผ ๋‹ค์ด๋‚˜๋ฏนํ•œ ์ฃผํ–‰์˜ ์ฆ๊ฑฐ์›€์„ ์ฃผ๋Š” ๊ธฐ์ˆ ๋กœ์จ, ์ „์ฐจ๋Ÿ‰ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ด์šฉํ•˜์—ฌ ๊ฒ€์ฆํ•˜์˜€๋‹ค.In the last ten decades, vehicle stability control systems have been dramatically developed and adapted in many commercial vehicles to avoid fatal crashes. Significantly, ESC (Electric Stability Control) system can help escape the accident from unstable driving conditions with dangerous roads such as slippery roads due to inclement weather conditions. However, for the high performed vehicle, frequent intervention from ESC reduces the pleasure of fun-to-drive. Recently, the development of traction control technologies has been taking place with that of the electrification of vehicles. The IWMs (In-Wheel Motor system), which is one of the systems that can apply independent drive of each wheel, for the limit handling characteristics, which are the operation areas of the ESC, is introduced for the control that enables the lateral characteristics of the vehicle dynamics. Firstly, the automated drift control algorithm can be proposed for the nonlinear limit handling condition of vehicles. This approach can give an insight of fun-to-drive mode to TV (Torque Vector) control scheme, but also the stability control of high sideslip angle of the vehicle on slippery roads. Secondly, using IWMs system with front two motors, understeer gradient of vehicle, which is the unique characteristics of vehicle can be used for the proposed control strategy. A new transient parameter is formulated to be acquired rapid response of controller and reducing chattering effects. Simulation and vehicle tests are conducted for validation of TV control algorithm with steady-state and transient ISO-based tests. Finally, dynamic torque vectoring control with a four-wheel motor system with Multiple Adaptive Sliding Mode Control (MASMC) approach, which is composed of a yaw rate controller and sideslip angle controller, is introduced. Highly nonlinear characteristics, cornering stiffnesses of front and rear tires are estimated by adaptation law with measuring data. Consequently, there are two types of driving modes, the safety mode and the dynamic mode. MASMC algorithm can be found and validated by simulation in torque vectoring technology to improve the handling performance of fully electric vehicles.Chapter 1 Introduction 7 1.1. Background and Motivation 7 1.2. Literature review 11 1.3. Thesis Objectives 15 1.4. Thesis Outline 15 Chapter 2 Vehicle dynamic control at limit handling 17 2.1. Vehicle Model and Analysis 17 2.1.1. Lateral dynamics of vehicle 17 2.1.2. Longitudinal dynamics of vehicle 20 2.2. Tire Model 24 2.3. Analysis of vehicle drift for fun-to-drive 28 2.4. Designing A Controller for Automated Drift 34 2.4.1. Lateral controller 35 2.4.2. Longitudinal Controller 37 2.4.3. Stability Analysis 39 2.4.4. Validation with simulation and test 40 Chapter 3 Torque Vectoring Control with Front Two Motor In-Wheel Vehicles 47 3.1. Dynamic Torque Vectoring Control 48 3.1.1. In-wheel motor system (IWMs) 48 3.1.2. Dynamic system modeling 49 3.1.3. Designing controller 53 3.2. Validation with Simulation and Experiment 59 3.2.1. Simulation 59 3.2.2. Vehicle Experiment 64 Chapter 4 Dynamic handling control for Four-wheel Drive In-Wheel platform 75 4.1. Vehicle System Modeling 76 4.2. Motion Control based on MASMC 78 4.2.1. Yaw motion controller for the inner ASMC 80 4.2.2. Sideslip angle controller for the outer ASMC 84 4.3. Optimal Torque Distribution (OTD) 88 4.3.1. Constraints of dynamics 88 4.3.2. Optimal torque distribution law 90 4.4. Validation with Simulation 91 4.4.1. Simulation setup 91 4.4.2. Simulation results 92 Chapter 5 Conclusion and Future works 104 5.1 Conclusion 104 5.2 Future works 106 Bibliography 108 Abstract in Korean 114๋ฐ•

    Actuators for Intelligent Electric Vehicles

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    This book details the advanced actuators for IEVs and the control algorithm design. In the actuator design, the configuration four-wheel independent drive/steering electric vehicles is reviewed. An in-wheel two-speed AMT with selectable one-way clutch is designed for IEV. Considering uncertainties, the optimization design for the planetary gear train of IEV is conducted. An electric power steering system is designed for IEV. In addition, advanced control algorithms are proposed in favour of active safety improvement. A supervision mechanism is applied to the segment drift control of autonomous driving. Double super-resolution network is used to design the intelligent driving algorithm. Torque distribution control technology and four-wheel steering technology are utilized for path tracking and adaptive cruise control. To advance the control accuracy, advanced estimation algorithms are studied in this book. The tyre-road peak friction coefficient under full slip rate range is identified based on the normalized tyre model. The pressure of the electro-hydraulic brake system is estimated based on signal fusion. Besides, a multi-semantic driver behaviour recognition model of autonomous vehicles is designed using confidence fusion mechanism. Moreover, a mono-vision based lateral localization system of low-cost autonomous vehicles is proposed with deep learning curb detection. To sum up, the discussed advanced actuators, control and estimation algorithms are beneficial to the active safety improvement of IEVs

    Traction Control Allocation Employing Vehicle Motion Feedback Controller for Four-wheel-independent-drive Vehicle

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    A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes individual wheel torque actuation assuming all wheels are individually driven. The approach presented is an alternative to the various direct optimization-based traction force/torque allocation schemes. The proposed system has many benefits, such as significant reduction of the algorithm complexity by merging most traction system functionalities into one. Such a system enables significant simplification, unification, and standardization of powertrain control design. Moreover, many signals needed by conventional traction force allocation methods are not required to be measured or estimated with the proposed approach, which are among others vehicle mass, wheel loading (normal force), and vehicle center of gravity location. Vehicle center point trajectory setpoints and measurements are transformed to each wheel, where the tracking is ensured using the wheel torque actuation. The proposed control architecture performance and analysis are shown using the nonlinear twin-track vehicle model implemented in Matlab &\& Simulink environment. The performance is then validated using high fidelity FEE CTU in Prague EFORCE formula model implemented in IPG CarMaker environment with selected test scenarios. Finally, the results of the proposed control allocation are compared to the state-of-the-art approach

    Advanced Control and Estimation Concepts, and New Hardware Topologies for Future Mobility

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    According to the National Research Council, the use of embedded systems throughout society could well overtake previous milestones in the information revolution. Mechatronics is the synergistic combination of electronic, mechanical engineering, controls, software and systems engineering in the design of processes and products. Mechatronic systems put โ€œintelligenceโ€ into physical systems. Embedded sensors/actuators/processors are integral parts of mechatronic systems. The implementation of mechatronic systems is consistently on the rise. However, manufacturers are working hard to reduce the implementation cost of these systems while trying avoid compromising product quality. One way of addressing these conflicting objectives is through new automatic control methods, virtual sensing/estimation, and new innovative hardware topologies

    Assessing the Impact of Multi-variate Steering-rate Vehicle Control on Driver Performance in a Simulation Framework

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    When a driver turns a steering-wheel, he or she normally expects the vehicle\u27s steering system to communicate an equivalent amount of signal to the road-wheels. This relationship is linear and occurs regardless of the steering-wheel\u27s position within its rotational travel. The linear steering paradigm in passenger vehicles has gone largely unchanged since mass production of passenger vehicles began in 1901. However, as more electronically-controlled steering systems appear in conjunction with development of autonomous steering functions in vehicles, an opportunity to advance the existing steering paradigms arises. The following framework takes a human-factors approach toward examining and evaluating alternative steering systems by using Modeling and Simulation methods to track and score human performance. Present conventional steering systems apply a linear relationship between the steering-wheel and the road wheels of a vehicle. The rotational travel of the steering-wheel is 900ยฐ and requires two-and-a-half revolutions to travel from end-stop to opposite end-stop. The experimental steering system modeled and employed in this study applies a dynamic curve response to the steering input within a shorter, 225ยฐ rotational travel. Accommodation variances, based on vehicle speed and steering-wheel rotational position and acceleration, moderate the apparent steering input to augment a more-practical, effective steering rate. This novel model follows a paradigm supporting the full range of steering-wheel actuation without necessitating hand repositioning or the removal of the driver\u27s hands from the steering-wheel during steering maneuvers. In order to study human performance disparities between novel and conventional steering models, a custom simulator was constructed and programmed to render representative models in a test scenario. Twenty-seven males and twenty-seven females, ranging from the ages of eighteen to sixty-five were tested and scored using the driving simulator that presented two successive driving test vignettes: One vignette using conventional 900ยฐ steering with linear response and the other employing the augmented 225ยฐ multivariate, non-linear steering. The results from simulator testing suggest that both males and females perform better with the novel system, supporting the hypothesis that drivers of either gender perform better with a system augmented with 225ยฐ multivariate, non-linear steering than with a conventional steering system. Further analysis of the simulated-driving scores indicates performance parity between male and female participants, supporting the hypothesis positing no significant difference in driver performance between male and female drivers using the augmented steering system. Finally, composite data from written questionnaires support the hypothesis that drivers will prefer driving the augmented system over conventional steering. These collective findings support justification for testing and refining novel steering systems using Modeling and Simulation methods. As a product of this particular study, a tested and open-sourced simulation framework now exists such that researchers and automotive designers can develop, as well as evaluate their own steering-oriented products within a valid human-factors construct. The open-source nature of this framework implies a commonality by which otherwisedisparate research and development work can be associated. Extending this framework beyond basic investigation to reach applications requiring morespecialized parameters may even impact drivers having special needs. For example, steeringsystem functional characteristics could be comparatively optimized to accommodate individuals afflicted with upper-body deficits or limited use of either or both arms. Moreover, the combined human-factors and open-source approaches distinguish the products of this research as a common and extensible platform by which purposeful automotive-industry improvements can be realizedโ€”contrasted with arbitrary improvements that might be brought about predominantly to showcase technological advancements

    Trends in vehicle motion control for automated driving on public roads

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    In this paper, we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk manoeuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally, the important topic of verification of driving automation systems is addressed

    Strike 3000: Standing Electric Trike

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    In the past decade there has been much research conducted on maintaining a healthy lifestyle, even in sedentary activities. It is clear to see this trend in the rising popularity of standing desks, ergonomic mice and keyboards, and the plethora of applications that remind the user not to stay inactive for too long. Ken Howes suggests that this revolution be brought to the world of motor vehicles with his proposed concept of the Strike 3000: an electric-powered three-wheeled vehicle that keeps the operator in a standing position while still maintaining all of the functionality and reliability of a standard automobile. To accomplish this goal, the members of Team 4 conducted thorough technical research into existing patents, competitive designs, and literature concerned with the essentials in designing a vehicle. With the information that was gathered, Team 4 then began to generate design concepts for every component of the vehicle including the chassis, steering, braking, suspension, etc. Together the team generated over one-hundred and fifty concepts. The team also conducted a Quality Function Deployment comparison to create a visual representation of how each component of the vehicle will help meet the wants of the sponsor as well as a comparison between the Strike 3000 and other competitive products. This gave the team a better understanding of what components were important to focus on and which could be sacrificed in order to improve the most essential parts. After the foundation work of the design was completed, Team 4 and Ken Howes collaborated to design a chassis to the aesthetic standards of Mr. Howesโ€™ proposed design while making necessary revisions to keep the design technically acceptable. At the start of the second semester, Team 4 had sent out a final design and engineering drawing to a local welder for construction of the chassis. They ordered all the parts to be implemented into the vehicle. When the chassis arrived they began assembling the vehicle in the Kirk Machine Shop so that custom parts, such as suspension mounts and tie rods could be welded and modifications to the chassis could be made accordingly. The team was able to finish the construction with a lot of help from Nick Ladyga, a member of the team who lead the build effort. The motor was not able to be installed by the time of the Design Showcase but with technical documentation and guidance the team will be able to help Mr. Howes complete the vehicle in a short amount of time

    New trends in electrical vehicle powertrains

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    The electric vehicle and plug-in hybrid electric vehicle play a fundamental role in the forthcoming new paradigms of mobility and energy models. The electrification of the transport sector would lead to advantages in terms of energy efficiency and reduction of greenhouse gas emissions, but would also be a great opportunity for the introduction of renewable sources in the electricity sector. The chapters in this book show a diversity of current and new developments in the electrification of the transport sector seen from the electric vehicle point of view: first, the related technologies with design, control and supervision, second, the powertrain electric motor efficiency and reliability and, third, the deployment issues regarding renewable sources integration and charging facilities. This is precisely the purpose of this book, that is, to contribute to the literature about current research and development activities related to new trends in electric vehicle power trains.Peer ReviewedPostprint (author's final draft

    Automated Mixed Traffic Vehicle (AMTV) technology and safety study

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    Technology and safety related to the implementation of an Automated Mixed Traffic Vehicle (AMTV) system are discussed. System concepts and technology status were reviewed and areas where further development is needed are identified. Failure and hazard modes were also analyzed and methods for prevention were suggested. The results presented are intended as a guide for further efforts in AMTV system design and technology development for both near term and long term applications. The AMTV systems discussed include a low speed system, and a hybrid system consisting of low speed sections and high speed sections operating in a semi-guideway. The safety analysis identified hazards that may arise in a properly functioning AMTV system, as well as hardware failure modes. Safety related failure modes were emphasized. A risk assessment was performed in order to create a priority order and significant hazards and failure modes were summarized. Corrective measures were proposed for each hazard
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