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Artificial Intelligence algorithms for environment perception and vehicle state estimation in assisted and autonomous driving
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Economic, Technical and Environmental Aspects of Recycling Lithium Batteries: A Literature Review
No full textIn the last few years, the automotive industry has been moving towards fuel-free and economically sustainable alternatives, motivated by the latest trends in the market and new regulations about CO2 emissions. Hybrid and electric vehicles feature a transmission drive with one or more electrical motors powered by Lithium batteries. Thus, Lithium batteries are increasingly used in onboard energy storage systems, leading new economical, technical and environmental challenges which are of fundamental importance in this early stage for the next automotive generation. Recycling materials from used Lithium batteries can also moderate the price of virgin materials, by reducing the price disposal as well as the dependence of manufacturers on exporting countries. Furthermore, recycling Lithium-ion batteries has significant environmental benefits, such as containing the risk of chemical pollution and improving safety in storage facilities for exhausted batteries worldwide. This paper aims to provide a comprehensive insight on Lithium-ion battery recycling for scientific research and industrial applications, examining the economic, technical and environmental aspects of this topic
A Data-Driven Method for Vehicle Speed Estimation
Get PDFThis paper presents a method based on Artificial Neural Networks for estimation of the vehicle speed. The technique exploits the combination of two tasks: a) speed estimation by means of regression neural networks dedicated to different road conditions (dry, wet and icy); b) identification of the road condition with a pattern recognition neural network. The training of the networks is conducted with experimental datasets recorded during the driving sessions performed with a vehicle on different tracks. The effectiveness of the proposed approach is validated experimentally on the same car by deploying the algorithm on a dSPACE computing platform. The estimation accuracy is evaluated by comparing the obtained results to the measurement of an optical sensor installed on the vehicle and to the output of another estimation method, based on the mean value of velocity of the four wheels
Robust Data-Driven Battery State of Charge Estimation for Hybrid Electric Vehicles
No full textThis article presents a method to estimate the State of Charge (SOC) in Lithium-ion batteries of Hybrid Electric Vehicles (HEVs) with Artificial Neural Networks (ANNs). The inputs of the SOC estimation algorithm are the measured values of current, voltage, and temperature. In the article, two different battery packs are considered for a power-split full HEV. The training and validation datasets needed for developing the ANNs are generated exploiting a numerical model of two different configurations of an HEV performing real-world driving missions or the Worldwide Harmonized Light Vehicle Test Procedure (WLTP) cycle, while the testing dataset is collected experimentally on battery cells. Specifically, the capacity values for the considered battery pack sizes are 1.82 kWh and 1.06 kWh. The proposed method uses a Nonlinear AutoRegressive with eXogenous input (NARX) recurrent ANN, which has been observed to have reasonable computational cost in prior research. The performance of the investigated technique is demonstrated by estimating the SOC with a low estimation error for both the considered battery sizes. Coulomb counting is used to compute the reference value of the SOC during the real charge/discharge cycles. An analysis of the robustness of the proposed estimation method to offset errors on the measured input current is also performed
Combined regression and classification artificial neural networks for sideslip angle estimation and road condition identification
No full textA local trajectory planning and control method for autonomous vehicles based on the RRT algorithm
Get PDFThis paper presents a local trajectory planning and control method based on the Rapidly-exploring Random Tree algorithm for autonomous racing vehicles. The paper aims to provide an algorithm allowing to compute the planned trajectory in an unknown environment, structured with non-crossable obstacles, such as traffic cones. The investigated method exploits a perception pipeline to sense the surrounding environment by means of a LIDAR-based sensor and a high-performance Graphic Processing Unit. The considered vehicle is a four-wheel drive electric racing prototype, which is modeled as a 3 Degree-of-Freedom bicycle model. A Stanley controller for both lateral and longitudinal vehicle dynamics is designed to perform the path tracking task. The performance of the proposed method is evaluated in simulation using real data recorded by on-board perception sensors. The algorithm can successfully compute a feasible trajectory in different driving scenarios
A Model Predictive Control Strategy for Lateral and Longitudinal Dynamics in Autonomous Driving
No full textThis paper presents a controller dedicated to the lateral and longitudinal vehicle dynamics control for autonomous driving. The proposed strategy exploits a Model Predictive Control strategy to perform lateral guidance and speed regulation. To this end, the algorithm controls the steering angle and the throttle and brake pedals for minimizing the vehicle’s lateral deviation and relative yaw angle with respect to the reference trajectory, while the vehicle speed is controlled to drive at the maximum acceptable longitudinal speed considering the adherence and legal speed limits. The technique exploits data computed by a simulated camera mounted on the top of the vehicle while moving in different driving scenarios. The longitudinal control strategy is based on a reference speed generator, which computes the maximum speed considering the road geometry and lateral motion of the vehicle at the same time. The proposed controller is tested in highway, interurban and urban driving scenarios to check the performance of the proposed method in different driving environments
Fuzzy Logic Method for the Speed Estimation in All-Wheel Drive Electric Racing Vehicles
Get PDFThis paper presents a method for the vehicle speed estimation with a Fuzzy Logic based algorithm. The algorithm acquires the measurements of the yaw rate, steering angle, wheel velocities and exploits a set of five Fuzzy Logics dedicated to different driving conditions. The technique estimates the speed exploiting a weighted average of the contributions provided by the longitudinal acceleration and the credibility assigned by the Fuzzy Logics to the measurements of the wheels' speed. The method is experimentally evaluated on an all-wheel drive electric racing vehicle and is valid for the front and rear wheel drive configurations. The experimental validation is performed by comparing the obtained estimation with the result of computing the speed as the average of the linear velocity of the four wheels. A comparison to the integral of the vehicle acceleration over time is reported
A LIDAR-Based Clustering Technique for Obstacles and Lane Boundaries Detection in Assisted and Autonomous Driving
No full textThis paper presents a clustering technique for the detection of the obstacles and lane boundaries on a road. The algorithm consists of two nested clustering stages. The first stage is based on hierarchical clustering, and the second on k-means clustering. The method exploits a preliminary ground-plane filtering algorithm to process the raw LIDAR point cloud, that is based on the semantic segmentation of point clouds. The clustering algorithm estimates the position of the obstacles that define the race track. Once the race track is sensed, the lane boundaries are detected. The method is validated experimentally on a four-wheel drive electric vehicle participating in the Formula SAE events. The validation environment is structured with traffic cones to define the race track
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