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2017-10-08
Technical Paper
2017-01-2201
Zhongye Cao, Tianyou Wang, Kai Sun, Lei Cui
In uniflow scavenged two-stroke marine diesel engines, the main function of scavenging process is to replace the burned gas with fresh charge. It is integral to the subsequent combustion process, thereby affecting the engine's fuel economy, power output and emission performance. In this paper, a complete working cycle of 6S35ME engine of MAN Diesel&Turbo was simulated by using the CFD software CONVERGE with full engine geometry including intake and exhaust ports. The simulation based on RANS and standard k-epsilon model was in good agreement with experiment. Based on the above calibrated model, the influence of exhaust valve closing (EVC) timing and swirl ratio on the scavenging process were investigated.
2017-10-08
Technical Paper
2017-01-2197
Vignesh Pandian Muthuramalingam, Anders Karlsson
Owing to increased interest in blended fuels for automotive applications, a great deal of understanding is sought for the behavior of multicomponent fuel sprays. This sets a new requirement on spray model since the volatility of the fuel components in a blend can vary substantially. It calls for careful solution to implement the differential evaporation process concerning thermodynamic equilibrium while maintaining a robust solution. This work presents the Volvo Stochastic Blob and Bubble (VSB2) spray model for multicomponent fuels. A direct numerical method is used to calculate the evaporation of multicomponent fuel droplets. The multicomponent fuel model is implemented into OpenFoam CFD code and the case simulated is a constant volume combustion vessel. The CFD code is used to calculate liquid penetration length for surrogate diesel (n-dodecane)-gasoline (iso-octane) blend and the result is compared with experimental data.
2017-10-08
Technical Paper
2017-01-2202
Shiyou Yang
This work presents an application of two sub-models relative to chemical-kinetics-based turbulent pre-mixed combustion modeling approach on the simulation of burn rate and emissions of spark ignition engines. In present paper, the justification of turbulent pre-mixed combustion modeling directly based on chemical kinetics plus a turbulence model is given briefly. Two sub-models relative to this kind of pre-mixed combustion modeling approach are described generally, including a practical PRF (primary reference fuel) chemical kinetics mechanism which can correctly capture the laminar flame speed under a wide range of Ford SI (spark ignition) engines/operating conditions, and an advanced spark plug ignition model which has been developed by Ford recently.
2017-10-08
Technical Paper
2017-01-2457
Rickard Arvidsson, Tomas McKelvey
A two dimensional Forward Dynamic Programming algorithm is evaluated in a series hybrid drive-train with the objective to minimize fuel consumption when look ahead information is available. The algorithm is compared to one dimensional approaches where the engine is operated at it’s optimum efficiency line in sustain with load following power demand, or with constant load in the optimum operating point where the system efficiency is highest. The work have included the engine speed target and generator power as control signals in a full drive train simulation model which is based on the Volvo Car Corporation VSIM tool. Lowest fuel consumption is obtained by the two dimensional approach, with 12% less fuel consumed in fuel consumption for the drive cycle analyzed compared to when the engine is operated at the maximum efficiency and even more fuel could be gained compared to the load following approach.
2017-10-08
Technical Paper
2017-01-2359
Yaodong Hu
Energy saving is becoming one of the most important issues for the next generation of commercial vehicles. The fuel consumption limits for commercial vehicles in China have stepped into the third stage, which is a great challenge for heavy duty commercial vehicles. Hybrid technology provides a promising method to solve this problem, of which the dual motor coaxial series parallel configuration is one of the best options. Compared with P2 configuration, the powertrain can not only operate in pure electric or parallel mode, but also can operate in series, which shows better flexibility. In this paper, regulations on test cycle, fuel consumption test methods and its limits of the third stage will be introduced and explained in detail. Then, the quasi static models of the coaxial series parallel powertrain with/without gearbox under C-WTVC cycle are built.
2017-10-08
Technical Paper
2017-01-2381
Kristian Hentelä, Ossi Kaario, Vikram Garaniya, Laurie Goldsworthy, Martti Larmi
In the present study, a new approach for modelling emissions of coke particles or cenospheres from large diesel engines using HFO (Heavy fuel oil) was studied. The used model is based on a multicomponent droplet mass transfer and properties model that uses a continuous thermodynamics approach to model the complex composition of the HFO fuel and the resulting evaporation behavior of the fuel droplets. Cenospheres are modelled as the residue left in the fuel droplets towards the end of the simulation. The mass-transfer and fuel properties models were implemented into a cylinder section model based on the Wärtsilä W20 engine in the CFD-code Star CD v.4.24. Different submodels and corresponding parameters were tuned to match experimental data of cylinder pressures available from Wärtsilä for the studied cases. The results obtained from the present model were compared to experimental results found in the literature.
2017-10-08
Technical Paper
2017-01-2386
Naoki Ohya, Kohei Hiyama, Kotaro Tanaka, Mitsuru Konno, Atsuko Tomita, Takeshi Miki, Yutaka Tai
Diesel engines have better fuel economy over comparable gasoline engines and useful for the reduction of CO2 emissions. However, to meet stringent emission standards, the technology for reducing NOx and particulate matter (PM) in diesel engine exhaust needs to be improved. A conventional selective catalytic reduction (SCR) system consists of a diesel oxidation catalyst (DOC), a diesel particulate filter (DPF), and an urea-SCR catalyst. Recently, more stringent regulations have led to the development of SCR systems with a larger volume and increased the cost of such systems. In order to solve these problems, an SCR catalyst coated on DPF (SCR/DPF) is proposed. An SCR/DPF system has a lower volume and cost compared with the conventional SCR system. The SCR/DPF catalyst has two functions: one is combustion of PM and the other is reduction of NOx emissions.
2017-10-08
Technical Paper
2017-01-2426
Zhiming Zhang, Weimin wang, Jiangtao Wang, Jiming Zhang, Yuanda Chen, Wenlong zhang, Guofang Yang, Fugui Fan, Wenxiang Zhang, Fengqin Huang, Xiangwang Li
Turbo-charged GDI technology is more and more widely used, which can meet the high demand of the engine performance and efficiency, but the resulting reliability and NVH issues also need to be paid attention to. Traditional NVH performance is mostly based on the experience design, repeatable test, which leads to longer development period, high cost, and also ineffective results. Along with the development of the simulation technology, NVH performance simulations play more important role in engine vibration and noise prediction. Usually The Force response analysis is used to compare the NVH performance of the engine structure, considering the standard excitation. Currently, dynamic analysis of the crank train, valve train, and piston can be carried out, and then the whole engine vibration and airborne noise can be predicted directly, considering different speed and load. In this paper, The NVH performance of a turbo-charged GDI engine is studied based on the simulation and experiment.
2017-10-08
Technical Paper
2017-01-2208
Tao Liu, Ziwang Lu, Guangyu Tian
To further explore the potential of fuel economy for hybrid electric vehicle (HEV) , an adaptive energy management strategy (EMS) considering driver’s power demand reasonability is proposed, which is necessary to reduce fuel consumption, emission and traffic congestion. To get accurate and reliable control strategy two aspects are the most important: 1) a rigorous and organized modeling approach to describe complicated powertrain system of HEV, 2) a trade off between optimization and real time. The Energetic Macroscopic Representation (EMR) is a graphical synthetic description of electromechanical conversion system based on energy flow. Based on Energetic Macroscopic Representation (EMR) a powertrain architecture of HEV is constructed. Generally EMS includes rule based that can be used online with suboptimal solution and optimization based that ensures the minimum fuel consumption with heavy computation duty and requirement of prior knowledge.
2017-10-08
Technical Paper
2017-01-2424
Shemin zhang, Huaping Li, Tao Chen, Nan Jiang, Xinzhen Tan, Limei Deng, Qingsong Xia, Paul Kapus, Mingtang Ma, Wei Li, Junqiang Zhang, Qingjun Ma, Yong Xia
In recent years, more attentions have been paid to stringent legislation on fuel and emissions. Turbocharged downsizing DI engine is playing an increasing vital role in OEM’s powertrain strategies. Dongfeng Motor (DFM) has developed a new type of 1.0-liter 3 cylinder TGDI gasoline engine to meet the requirements of China 4th stage fuel consumption regulations and the China 6 emission standards. In this paper, the concepts of DFM 3-cylinder 1.0TGDI gasoline engine are explored to meet the powerful performance (torque 190Nm/1500-4500rpm and power 95kW/5500rpm), excellent part-load BSFC and NVH targets to ensure the drivers could enjoy the powerful output in quiet and comfortable environment without concerning about the fuel cost and pollution. The combustion system with side-mounted 6-hole direct injector and 200bar injection pressure has been optimized by CFD simulation and transparent engine investigation.
2017-10-08
Technical Paper
2017-01-2256
Muhammad Umer Waqas, Kai Morganti, Jean-Baptiste MASURIER, Bengt Johansson
Future internal combustion engines demand higher efficiency, progression towards is limited by antiknock quality of present fuels and energy economics in octane enhancement. A possible solution is Octane-on-Demand, that uses a combination of high and low octane fuels in separated tanks to generate fuels of the required octane rating according to demand. Methanol, a RON 109 fuel was selected as the high octane fuel and five low octane fuels were used as base fuel. These were FACE (Fuels for Advanced Combustion Engines) gasolines, more specifically FACE I, J and A and their primary reference fuels (iso-octane/n-heptane). Experiments were conducted with a modified Cooperative Fuel Research (CFR) engine. For SI combustion mode the CFR operated at RON and MON conditions. The engine i.e. also operated in HCCI mode to get the auto ignition properties at lean conditions (λ=3).
2017-10-08
Technical Paper
2017-01-2186
Lukas Urban, Michael Grill, Sebastian Hann, Michael Bargende
The development of IC engines is a complex process where 0D/1D-simulation tools became more important in the past few years. Different designs can be investigated in very early stages of the development process without the expensive buildup of prototypes and it is possible to get reliable results with passable effort. The quality of the overall simulation results depends on the quality of the sub-models. Simulation of the combustion process in natural-gas SI engines relies on predictive models for burn rates and knock. Existing knock models for gasoline fuels are based on a time-integrated ignition delay, using a fitted Arrhenius equation. Within a research project an enhanced knock-model approach for methane based fuels was developed. Chemical kinetics models were used to calculate the auto-ignition times for various temperatures, pressures and air-fuel-ratios (AFR).
2017-10-08
Technical Paper
2017-01-2446
Pengchuan Wang, Nikolaos Katopodes, Yuji Fujii
Wet clutch packs are the key component for gear shifting in the step-ratio automatic transmission system. They are coupled or de-coupled to alter gear ratios based on driver’s demand and vehicle operating conditions. The frictional interfaces between clutch plates are lubricated with automatic transmission fluid (ATF) for both thermal and friction management. In a 10-speed transmission, there may be as many as 6 clutch packs. Under any driving conditions, 2 to 3 clutch packs are typically open, shearing ATF and contributing to energy loss. There is an opportunity to improve fuel economy by reducing this viscous drag. One main factor that directly affects clutch drag is the clearance between rotating plates. The axial position of clutch plates changes continually at every instance. It is empirically known that not only the total clearance, but also its distribution between the plates affects the viscous drag.
2017-10-08
Technical Paper
2017-01-2304
Hui Ding, Frank Husmeier, Jayesh Gudekar, Amol Bobade, Deepak Patil
This paper discusses the holistic approach of simulating a low pressure pump (LPP) including test stand flow dynamics. The simulation includes all lines, valves, filters, and tank of the test stand providing realistic test operating in the simulation. The capability to capture all line dynamics enables a robust design against resonances and delivers high-quality performance data. Comparison with actual test data agrees very well giving us confidence in the prediction capability of PumpLinx. Despite the large spatial extent of the test stand, PumpLinx is able to generate a feasible mesh resulting in acceptable turn-around times. The ability to still model small gaps and clearance of the LPP very efficiently enables inclusion of realistic tolerances as experienced on hardware. This allows us to translate simulation results for limit sample runs without procurement of hardware reducing development time and cost.
2017-10-08
Technical Paper
2017-01-2188
Bruno S. Soriano, Edward S. Richardson, Stephanie Schlatter, Yuri M. Wright
Dual-fuel combustion is an attractive approach for utilising alternative fuels such as natural gas in compression-ignition internal combustion engines. In this concept, a more reactive fuel is injected in order to provide a source of ignition for the premixed natural gas/air, combining the high efficiency of a compression-ignition engine with the relatively low emissions associated with natural gas. The flame modes present in dual-fuel engines impose a challenge for existing turbulent combustion models. Following ignition, flame propagates through a partially-reacted and inhomogeneous mixture of the two fuels. The objective of this study is to test a new modelling approach that combines the ability of the Conditional Moment Closure (CMC) approach to describe autoignition of fuel sprays with the ability of the G-equation approach to describe the subsequent flame propagation.
2017-10-08
Technical Paper
2017-01-2190
Alessandro D'Adamo, Marco Del Pecchia, Sebastiano Breda, Fabio Berni, Stefano Fontanesi, Jens Prager
CFD simulations of reacting flows are fundamental investigation tools used to predict combustion behaviour and pollutants formation in modern spark-ignition internal combustion engines. Most of the flamelet-based combustion models adopted in current simulations use the fuel/air/residual laminar flame speed as a background to predict the turbulent flame speed. This in turn is a fundamental requirement to model the effective burn rate. The consolidated approach in engine combustion simulations relies on the adoption of empirical correlations for laminar flame speed, which are derived from fitting activity of combustion experiments. However, these last are conducted at largely different pressure and temperature ranges from those encountered in engines: for this reason, correlation extrapolation at engine conditions is inevitably accepted and relevant differences between proposed correlations emerge even for the same fuel and conditions.
2017-10-08
Technical Paper
2017-01-2193
Andreas Nygren, Anders Karlsson
When developing new combustion concepts, CFD simulations is a powerful tool. The modeling of spray formation is a challenging but important part when it comes to CFD modelling of non-premixed combustion. There is a large difference in the accuracy and robustness among different spray models and their implementation in different CFD codes. In the work presented in this paper a spray model, designated as VSB2 has been implemented in OpenFOAM. VSB2 differ from traditional spray models by replacing the Lagrangian parcels with stochastic blobs. The stochastic blobs consists of a droplet size distribution rather than equal sized droplets, as is the case with the traditional parcel. The VSB2 model has previously been thoroughly validated for spray formation and combustion of n-heptane. The aim of this study was to validate the VSB2 spray model for ethanol spray formation and combustion as a step in modelling dual-fuel combustion with alcohol and diesel.
2017-10-08
Technical Paper
2017-01-2192
Shenghui Zhong, Zhijun Peng, Yu Li, Hailin Li, Fan ZHANG
A 3D DNS (Three-dimensional direct numerical simulation) study with detailed chemical kinetic mechanism of methane has been performed to investigate the characteristic of turbulent premixed oxy-fuel combustion relevant to traditional spark ignition (SI) engine conditions. H2O and CO2 are adopted as the dilution agents in oxy-fuel combustion. In order to keep a consistent temperature profile compared with those of air-fired cases, 73% and 66% of H2O and CO2 in oxidizer by volume ratio are used. At first, laminar premixed flames are conducted to study the effect of the dilution molar fraction on the process of flame propagation. It is found that decreasing the dilution molar fraction will increase the flame propagation speed in both H2O and CO2 dilution cases, and there exists a temperature limitation because of chemical equilibrium.
2017-10-08
Technical Paper
2017-01-2252
Weihua Sun, Zhiping Wu, Xuefei Dai, Xiangdong Bai, Wei Du
Getting real cylinder pressure is the basis of engine combustion analysis. Because of the advantages of good thermal performance, fast response, small size, high accuracy, large range and so on, piezoelectric quartz sensor is widely used in the measurement of the cylinder pressure. But this kind of sensor can only get the dynamic cylinder pressure which may not represent the real one. In this situation, the cylinder pressure needs to be corrected by some method. It also could cause great result divergences of the combustion analysis by using different cylinder pressure correction methods. This paper aims to acquire a proper cylinder pressure correction method by carrying out the theory analysis based on ideal gas equation and experiment research of cylinder pressure on a turbocharged eight-cylinder diesel engine.
2017-10-08
Technical Paper
2017-01-2264
Hyun Woo Won, Alexandre Bouet, Joseph KERMANI, Florence Duffour, Simon Dosda
Recent work has demonstrated the potential of gasoline-like fuels to reduce NOx and particulate emissions when used in compression ignition engines. In this context, low RON gasoline, a refinery stream derived from the atmospheric crude oil distillation process, has been identified as a highly valuable fuel. In addition, thanks to its higher H/C ratio and energy content compared to diesel, CO2 benefits are also expected when used in such engines. In previous studies, different Cetane Number (CN) fuels have been evaluated and a CN 35 fuel has been selected. The assessment and the choice of the required engine hardware adapted to this fuel, such as the compression ratio, bowl pattern and nozzle design have been performed on a single cylinder compression-ignition engine. The purpose of this paper is to assess different airpath and after treatment system (ATS) definitions to maximize the potential of a low-RON gasoline fuel running on a multi-cylinder compression ignition engine.
2017-10-08
Technical Paper
2017-01-2284
Haifei zheng
The potential benefits of reheat burner placed between turbine stages for propulsion system have been recognized for nearly a century. Compared to the conventional non-reheat engines, the turbine inter-guide-vane burner (TIB) engines by using jet-swirl flow scheme (high-G loading) are shown to have a higher specific thrust with no or only small increase in thrust specif-ic fuel consumption. But, it is a known fact that the G loading in the circumferential cavity is inversely proportional to the radius of the circumferential cavity. If one needs to scale this configuration for a larger spool of turbine components, the effectiveness of the high G operation and obtained benefits on flame speed will reduce and hence the performance will de-grade.
2017-10-08
Technical Paper
2017-01-2422
Na Li, Fenlian Huang, Yuhua Bi, Yueqiang Xu, Lizhong Shen, Dewen Jia
The assembly of connecting rod bearing and crankpin is a key friction pair which offers an important guarantee for stable operation of diesel engine. Specific to the non-road 2-cylinder diesel engine developed independently and based on the theory of elasto-hydrodynamic lubrication as well as multi-body dynamics, this paper establishes a multi-body dynamics model for connecting rod bearing of the 2D25 horizontal diesel engine and makes a research on the influence of bearing width, bearing clearance, and oil inlet position and diameter upon lubrication of connecting rod bearing, taking into consideration that of the surface appearance of bearing bush and the elastic deformation of bearing bush and axle journal upon the same. Research results show that bearing width and bearing clearance are the major factors that influence lubrication characteristics of connecting rod bearing while oil inlet position and diameter only have a small influence on such characteristics.
2017-10-08
Technical Paper
2017-01-2384
Ijhar H. Rusli, Svetlana Aleksandrova, Humberto Medina, Stephen F. Benjamin
The effect of the residual swirl from the turbocharger turbine on the catalyst flow distribution has been investigated experimentally and numerically. A swirling flow rig with a moving-block swirl generator was used to generate swirling flow in a sudden expansion diffuser with a wash-coated diesel oxidation catalyst (DOC) downstream. Hot-wire anemometry (HWA) was used to measure the axial and tangential velocities of the swirling flow upstream of the diffuser expansion and the axial velocity downstream the monolith. Pressure along the diffuser wall was measured using Scanivalve pressure scanners. With no swirl, the results show that the flow is highly non-uniform in the catalyst monolith with maximum velocities near the diffuser axis. High non-uniformity is also exhibited at high swirl levels with highest velocities near the diffuser wall. An intermediate swirl level exists where the flow is uniform.
2017-10-08
Technical Paper
2017-01-2382
Tul Suthiprasert, Sirichai Jirawongnuson, Ekathai Wirojsakunchai, Tanet Aroonsrisopon, Krisada Wannatong, Atsawin Salee
One of the most important challenges on implementing Diesel Dual Fuel (DDF) engine into the vast market is CH4 emission in its exhaust. This is due to the fact that CH4 is hard to oxidize at lower temperature environment of DDF exhaust comparing to that of conventional or bi-fuel engines. In addition, another parameter such as exhaust flow rate, specie concentration, especially CO, C3H8, and water have tremendous impact on Diesel Oxidation Catalyst performance on reducing CH4. Combining of all these factors together, a study of CH4 reduction is a major research problems that researchers around the world are keen to gain more fundamental understandings. In this work, a new CH4 kinetic model, which is based on Langmuir Hinshelwood mechanism, including CO, C3H8, and water is implemented into 1-D and 3-D Catalytic Converter models. The CH4 kinetic model is calibrated with the experiment by using synthetic exhaust gas generator.
2017-10-08
Technical Paper
2017-01-2432
Xiangwang Li, Weimin wang, Xiongcai zou, Zhiming Zhang, Wenlong zhang, Shemin zhang, Tao Chen, Yuhuang cao, Yuanda Chen
In order to reduce emissions, size and manufacturing cost, integrated exhaust manifold become popular in gasoline engine, especially in three-cylinder engine. Moreover, due to shorter length, lighter weight, and less component connections, the exhaust manifold and hot end durability will improve apparently. In this work, an advanced cylinder head with integrated exhaust manifold is in adopted in one three-cylinder turbo engine. Because of this integration characteristic, the gas retain in cylinder head longer and the temperature reach higher level than normal cylinder head, which will cause thermal fatigue failure more easily. To validate the exhaust manifold and hot end durability, series simulation and test validation work have been done. Firstly, overall steady state and transient temperature simulation was done for global model. The global model include cylinder head, block, turbocharger, and catalyst components.
2017-10-08
Technical Paper
2017-01-2196
Giuseppe Cicalese, Fabio Berni, Stefano Fontanesi, Alessandro D'Adamo, Enrico Andreoli
High performance Diesel engines are characterized by remarkable thermo-mechanical loads. Therefore, compared to spark ignition engines, designers are forced to increase component strength in order to avoid failures. By the way, 3D-CFD simulations represent a powerful tool for the evaluation of the engine thermal field and may be used by designers, along with FEM analysis, to prevent thermo-mechanical failures. The current work aims at providing an integrated in-cylinder/CHT methodology for the estimation of a Diesel engine thermal field. On one hand, in-cylinder simulations are fundamental to evaluate not only the global heat transfer at the combustion chamber walls, but also its point-wise distribution. In particular, thanks to an improved heat transfer model based on a modified thermal wall function, wall heat fluxes due to combustion are correctly estimated.
2017-10-08
Technical Paper
2017-01-2280
Yuzuru Nada, So Morimoto, Yoshiyuki Kidoguchi, Ryu Kaya, Hideaki Nakano, Shinichi Kobayashi
In our previous studies, we have developed natural gas engines operating under lean conditions to improve thermal efficiency and emission characteristics. We applied a sub-chamber injection system to our engines, in which natural gas is directly injected into a combustion sub-chamber in order to completely separate stoichiometric mixture in the sub-chamber from ultra-lean mixture in the main chamber. The results obtained from engine tests demonstrated excellent performance of our engines in view point of efficiency and NOx emissions. However, we have poor knowledge of mixture distributions in the combustion chambers to understand the mechanism of the improvements. The aim of this paper is to clarify the mixture formation in combustion chambers by means of numerical simulations in the combustion chamber with and without the sub-chamber at a variety of operating conditions.
2017-09-23
Technical Paper
2017-01-1953
Manfei Bai, Lu Xiong, Zhiqiang Fu, Renxie Zhang
Abstract: In this paper, a speed tracking controller is designed for the All-terrain vehicles. The method of feedforward with state variable feedback based on conditional integrators is adopted by the proposed control algorithm. The feedforward is designed considering the influence of the road slope on the longitudinal dynamics, which makes the All-terrain vehicles satisfy the acceleration demand of the upper controller when it tracks the desired speed on the road with slope varying greatly. The road slope is estimated based on a combined kinematic and dynamic model. This method solves the problem that road slope estimation require an accurate vehicle dynamic model and are susceptible to acceleration sensor bias. Based on the vehicle dynamic model and the nonlinear tire model, the method of conditional integration is used in the state variable feedback, which considers the saturation constraint of the actuator with the intention of preventing the divergent integral operation.
2017-09-23
Technical Paper
2017-01-1954
Peng Hang, Xinbo Chen, Fengmei Luo
Path tracking is the rudimentary capability and primary task for autonomous ground vehicles (AGVs). In this paper, a novel four-wheel-independent-steering (4WIS) and four-wheel-independent-drive (4WID) electric vehicle (EV) is proposed which is equipped with steer-by-wire (SBW) system. Compared with conventional front-wheel-steering (FWS) vehicles, 4WIS and 4WID EV has superior maneuverability, handing stability and path-tracking capability thanks to more actuators. Therefore, it is more suitable for a desired AGV. For path-tracking controller design, the nonlinear vehicle model with 2 degrees of freedom (DoF) is built utilizing the nonlinear Dugoff tire model. The nonlinear dynamic model of SBW system is conducted as well considering the external disturbances.
2017-09-23
Technical Paper
2017-01-1958
Motion Planning of Automatic Driving in Complex Traffic Scenarios With the increasing complexity, dynamicity and uncertainty of traffic, motion planning of automatic driving is getting more difficult and challenging. This paper focuses on the real-time motion planning problem of connected and automated vehicles in complex traffic scenarios. To effectively solve this problem, a general driving risk model is presented, which contains the following two essential parts: i) collision risk, i.e., the collision risk between the subject vehicle and other surrounding vehicles, pedestrians, buildings etc.; ii) non-collision risk, such as violation of traffic regulations, the difference between the actual operation state of the subject vehicle and the intention of driver, etc. In order to achieve the real time collision detection, the subject vehicle is approximated to a dot and its shape is considered by extending the dimension of obstcales considering their relative position and velocity.
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