A Neuro-Fuzzy Approach for Vehicle Fuel Consumption Prediction

This paper presents a neuro-fuzzy approach for predicting vehicle fuel consumption. The prediction of fuel consumption of a vehicle has become a strategic issue. This is because it is not only related to the problem of the availability of fuel which is getting thinner but also the problem of the environmental impact caused. In this study, the acquisition of the car parameter data was inputted, namely the number of cylinders, displacement, horsepower, weight, acceleration, and model year. The output variable that will be predicted is fuel consumption in miles per gallon (MPG). 'Weight' and 'Year' are chosen as the two best input variables. Training results and predictions are expressed in the three-dimensional input-output surface graph of the best two-input ANFIS model for MPG prediction. The graph shows a nonlinear and monotonic surface, where MPG is predicted to increase with an increase in 'Weight' and a decrease in 'Year'. The results of the RMSE training were 2.767 and the RMSE examination was 2.996. Based on the results of the study showed that the greater the weight of motor vehicles, the greater the amount of fuel needed to travel the same distance

Deep Kalman neuro fuzzy-based adaptive broadcasting scheme for Vehicular Ad Hoc Network: A context-aware approach

Vehicular Ad Hoc Networks (VANETs) are among the main enablers for future Intelligent Transportation Systems (ITSs) as they facilitate information sharing, which improves road safety, traffic efficiency, and provides passengers' comfort. Due to the dynamic nature of VANETs, vehicles need to exchange the Cooperative Awareness Messages (CAMs) more frequently to maintain network agility and preserve applications' performance. However, in many situations, broadcasting at a high rate leads to congest the communication channel, rendering VANET unreliable. Existing broadcasting schemes designed for VANET use partial context variables to control the broadcasting rate. Additionally, CAMs uncertainty, which is context-dependent has been neglected and a predefined fixed certainty threshold has been used instead, which is not suitable for the highly dynamic context. Consequently, vehicles disseminate a high rate of unnecessary CAMs which degrades VANET performance. A good broadcasting scheme should accurately determine which and when CAMs are broadcasted. To this end, this study proposes a Context-Aware Adaptive Cooperative Awareness Messages Broadcasting Scheme (CA-ABS) using combinations of Adaptive Kalman Filter, Autoregression, and Sequential Deep Learning and Fuzzy inference system. Four context variables have been used to represent the vehicular context, namely, individual driving behaviors, CAMs uncertainty, vehicle density, and traffic flow. Kalman Filter and Autoregression are used to estimate and predict the CAMs messages respectively. The deep learning model has been constructed to estimate the CAMs' uncertainties which is an important context variable that has been neglected in the previous research. Fuzzy Inference System takes context variables as input and determines an accurate broadcasting threshold and broadcasting interval. Extensive simulations have been conducted to evaluate the proposed scheme. Results show that the proposed scheme improves the CAMs delivery ratio and decreases the CAMs prediction errors

Discrete-time Robust PD Controlled System with DOB/CDOB Compensation for High Speed Autonomous Vehicle Path Following

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB) compensation to enhance autonomous vehicle path following performance. Although always implemented on digital devices, DOB and CDOB structure are usually designed in continuous time in the literature and also in our previous work. However, it requires high sampling rate for continuous-time design block diagram to automatically convert to corresponding discrete-time controller using rapid controller prototyping systems. In this paper, direct discrete time design is carried out. Digital PD feedback controller is designed based on the nominal plant using the proposed parameter space approach. Zero order hold method is applied to discretize the nominal plant, DOB and CDOB structure in continuous domain. Discrete time DOB is embedded into the steering to path following error loop for model regulation in the presence of uncertainty in vehicle parameters such as vehicle mass, vehicle speed and road-tire friction coefficient and rejecting external disturbance like crosswind force. On the other hand, time delay from CAN bus based sensor and actuator command interfaces results in degradation of system performance since large negative phase angles are added to the plant frequency response. Discrete time CDOB compensated control system can be used for time delay compensation where the accurate knowledge of delay time value is not necessary. A validated model of our lab Ford Fusion hybrid automated driving research vehicle is used for the simulation analysis while the vehicle is driving at high speed. Simulation results successfully demonstrate the improvement of autonomous vehicle path following performance with the proposed discrete time DOB and CDOB structure

A Systematic Survey of Control Techniques and Applications: From Autonomous Vehicles to Connected and Automated Vehicles

Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This survey attempts to provide a comprehensive and thorough overview of the current state of vehicle control technology, focusing on the evolution from vehicle state estimation and trajectory tracking control in AVs at the microscopic level to collaborative control in CAVs at the macroscopic level. First, this review starts with vehicle key state estimation, specifically vehicle sideslip angle, which is the most pivotal state for vehicle trajectory control, to discuss representative approaches. Then, we present symbolic vehicle trajectory tracking control approaches for AVs. On top of that, we further review the collaborative control frameworks for CAVs and corresponding applications. Finally, this survey concludes with a discussion of future research directions and the challenges. This survey aims to provide a contextualized and in-depth look at state of the art in vehicle control for AVs and CAVs, identifying critical areas of focus and pointing out the potential areas for further exploration

Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms

This book is a reprint of the Special Issue “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”,which was published in Applied Sciences

Optimal speed trajectory and energy management control for connected and automated vehicles

Connected and automated vehicles (CAVs) emerge as a promising solution to improve urban mobility, safety, energy efficiency, and passenger comfort with the development of communication technologies, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I). This thesis proposes several control approaches for CAVs with electric powertrains, including hybrid electric vehicles (HEVs) and battery electric vehicles (BEVs), with the main objective to improve energy efficiency by optimising vehicle speed trajectory and energy management system. By types of vehicle control, these methods can be categorised into three main scenarios, optimal energy management for a single CAV (single-vehicle), energy-optimal strategy for the vehicle following scenario (two-vehicle), and optimal autonomous intersection management for CAVs (multiple-vehicle). The first part of this thesis is devoted to the optimal energy management for a single automated series HEV with consideration of engine start-stop system (SSS) under battery charge sustaining operation. A heuristic hysteresis power threshold strategy (HPTS) is proposed to optimise the fuel economy of an HEV with SSS and extra penalty fuel for engine restarts. By a systematic tuning process, the overall control performance of HPTS can be fully optimised for different vehicle parameters and driving cycles. In the second part, two energy-optimal control strategies via a model predictive control (MPC) framework are proposed for the vehicle following problem. To forecast the behaviour of the preceding vehicle, a neural network predictor is utilised and incorporated into a nonlinear MPC method, of which the fuel and computational efficiencies are verified to be effective through comparisons of numerical examples between a practical adaptive cruise control strategy and an impractical optimal control method. A robust MPC (RMPC) via linear matrix inequality (LMI) is also utilised to deal with the uncertainties existing in V2V communication and modelling errors. By conservative relaxation and approximation, the RMPC problem is formulated as a convex semi-definite program, and the simulation results prove the robustness of the RMPC and the rapid computational efficiency resorting to the convex optimisation. The final part focuses on the centralised and decentralised control frameworks at signal-free intersections, where the energy consumption and the crossing time of a group of CAVs are minimised. Their crossing order and velocity trajectories are optimised by convex second-order cone programs in a hierarchical scheme subject to safety constraints. It is shown that the centralised strategy with consideration of turning manoeuvres is effective and outperforms a benchmark solution invoking the widely used first-in-first-out policy. On the other hand, the decentralised method is proposed to further improve computational efficiency and enhance the system robustness via a tube-based RMPC. The numerical examples of both frameworks highlight the importance of examining the trade-off between energy consumption and travel time, as small compromises in travel time could produce significant energy savings.Open Acces

A Novel Learning Based Model Predictive Control Strategy for Plug-in Hybrid Electric Vehicle

The multi-source electromechanical coupling renders energy management of plug-in hybrid electric vehicles (PHEVs) highly nonlinear and complex. Furthermore, the complicated nonlinear management process highly depends on knowledge of driving conditions, and hinders the control strategies efficiently applied instantaneously, leading to massive challenges in energy saving improvement of PHEVs. To address these issues, a novel learning based model predictive control (LMPC) strategy is developed for a serial-parallel PHEV with the reinforced optimal control effect in real time application. Rather than employing the velocity-prediction based MPC methods favored in the literature, an original reference-tracking based MPC solution is proposed with strong instant application capacity. To guarantee the optimal control effect, an online learning process is implemented in MPC via the Gaussian process (GP) model to address the uncertainties during state estimation. The tracking reference in LMPC based control problem in PHEV is achieved by a microscopic traffic flow analysis (MTFA) method. The simulation results validate that the proposed method can optimally manage energy flow within vehicle power sources in real time, highlighting its anticipated preferable performance