International Journal of Vehicle Design (10 papers in press)

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• This is a test paper, pleaseignore it
  by ReviewerV ReviewerC 
  Abstract: This is a test submission. Please ignore it
  Keywords: test test test test test test test test test test test test test test test test.
  
  
• Multi-mode servo braking control and experimentation of integrated electro-hydraulic braking system  
  by Houhua Jing, Liwen Dong, Qinggan Lin, Haifeng Liu 
  Abstract: As the critical problem of electric servo braking control, the relationship between hydraulic pressure, motor position and motor current is systematically analyzed. A large hysteresis exists in the pressure-position relationship. Then a multi-mode servo braking control law is proposed on the basis of experimental tests. Firstly, the influence of nonlinear friction is overcome by dither compensation to improve the smoothness of position and pressure. Secondly, the pressure-current cascade control is applied, and the feedforward is obtained based on the experimental data, which effectively avoids the nonlinear and uncertain influence of pressure-position relationship. Thirdly, position-current cascade control is applied to realize the accurate return of the motor in the release process, and overcome the influence of pressure-position large hysteresis and dead zone. Finally, the control method is comprehensively verified and analyzed based on the experimental bench. The practicability of the method is verified.
  Keywords: integrated electro-hydraulic braking; servo braking control; multi-mode control; pressure control; position control.
  DOI: 10.1504/IJVD.2024.10068496
   
  
• Multi-vehicle trajectory planning at unsignalized intersections based on cooperative vehicle-infrastructure system  
  by Yangjie Ji, Ziru Yang, Yanjun Huang, Zhuoping Yu 
  Abstract: Collaboration between infrastructures and connected and autonomous vehicles (CAVs) at unsignalized intersections has emerged as an effective strategy for improving transportation efficiency. To enhance the safety and efficiency of CAVs passing through unsignalized intersections, this paper proposes a cooperative vehicle-infrastructure system (CVIS) based multi-vehicle trajectory planning architecture. The architecture comprises a roadside planner and vehicle planners. The roadside planner formulates the problem of generating multi-vehicle trajectories as an optimization task and addresses it using an improved particle swarm optimization approach along with a space-time voxels strategy to determine the times for vehicles to reach the intersection and the trajectories passing through it. Then, the vehicle planner plans according to the results of the roadside planner. The results show that our approach enables potentially conflicting CAVs to pass through unsignalized intersections without stopping and waiting, ensuring safety while improving traffic efficiency.
  Keywords: cooperative vehicle-infrastructure system; connected and autonomous vehicles; multi-vehicle trajectory planning.
  DOI: 10.1504/IJVD.2025.10070249
   
  
• Design and damping matching method for a novel decoupled suspension system  
  by J.N. WANG, Zhe Liu, Da Wang, Zhonghao Li, Guanrong Chen 
  Abstract: To address the coupling of stiffness and damping in the suspension system of high-performance vehicles under heave and roll manoeuvres, this paper designs a decoupled suspension system and proposes a damping matching method. First, the motion characteristics of various decoupled suspension structures are analysed, leading to the development of the decoupled suspension in which roll stiffness is provided by a torsion bar. Then, damper selection and testing are conducted, and the damping matching method for the decoupled suspension system is proposed. Finally, three tests are conducted: multi-body dynamics simulation for decoupling analysis, lap time simulation for the vehicle performance, and real-vehicle test for the symmetry of the damper motion. The results show that a race car equipped with the decoupled suspension achieves shorter lap times compared to one with a traditional suspension, and the proposed damping matching method provides an ideal baseline for suspension design and tuning.
  Keywords: race car; decoupled suspension; damping matching; multi-body dynamics simulation; lap time simulation.
  DOI: 10.1504/IJVD.2025.10071185
   
  
• Grey comprehensive evaluation method of a passenger vehicle adaptive cruise control system  
  by Zhige Chen, Zhigang Zhang, Kai Yang, Chengcheng Qian, Xiaolin Tang 
  Abstract: The automated driving assistance function technology cannot undergo development without objective test evaluation methods. However, subjective evaluation by independent experts is required in the evaluation, which leads to subjectivity in the direct results. This study uses the i-VISTA test specification to obtain objective and reasonable results. It combines natural Chinese driving data to develop test scenarios that meet national traffic conditions. Taking the adaptive cruise control system function as an example, we propose a gray comprehensive evaluation method based on a subjective-objective wide weighting of the ACC system. First, we use the analytic hierarchy process method and entropy method to obtain the comprehensive subjectiveobjective wide weight coefficients of evaluation indices, respectively. Then, we apply the comprehensive weight to the grey method, which provides superior subjective and objective evaluation consistency. Compared with the traditional method, it overcomes the arbitrariness of the subjective assignment method and is more objective and reasonable.
  Keywords: entropy value method; grey relational analysis; automated vehicles; real scenario test.
  DOI: 10.1504/IJVD.2025.10071186
   
  
• A novel scheme on adaptive cruise strategy for intelligent vehicles considering pavement types  
  by Shuo Bai, Lilin Shen, Xin Bai, Haonan Ding, Guoshun Cai, Weihua Wang, Guodong Yin 
  Abstract: Establishing an adaptive cruise strategy which can have an outstanding performance under various pavement types is extremely necessary to decision making for intelligent vehicles. Whereas, existing research for Tire-road friction coefficient (TRFC) estimation ignore the influence of state mutation and noise uncertainty, which will lead to an unsatisfying estimation precision. To address these problems, adaptive strong tracking square-root cubature Kalman filter (ASTSCKF) is proposed to guarantee the precision for TRFC estimation, which is composed of Sage-Husa noise estimator and strong tracing filtering. Simulation and vehicle testing based on the simulator platform indicate that ASTSCKF is capable of estimating TRFC more accurately than Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), showing strong anti-interference to different pavement types. The proposed cruise scheme also displays an excellent tracking performance on the leading vehicle, which verifies the feasibility of the cruise scheme.
  Keywords: tyre-road friction coefficient estimation; strong tracing filtering; noise estimator; intelligent vehicles.
  DOI: 10.1504/IJVD.2025.10071749
   
  
• Trajectory and attitude cooperative control method of Four Wheel Independently Actuated Vehicles Based on Joystick Driving Intention Input  
  by Jubiao Liu, Lin Li, Yu Feng, Xin Fang, Shuyun Lin, Wei Liu 
  Abstract: In order to solve the problem that the trajectory and attitude of the four-wheel independently actuated vehicle are difficult to be controlled jointly, that is, how to allocate the angles of the front and rear wheels, this paper proposes a manipulation mechanism. By manipulating the joystick, the driver can obtain the required slip angle and yaw rate, thereby perceiving the driver's intention for vehicle attitude control. At the same time, a robust controller is designed, taking the slip angle and yaw rate generated by the joystick as the control reference and the steering angles of the front and rear wheels as the control input to achieve cooperative vehicle trajectory and attitude control. The simulation results show that the proposed joystick and control method can improve the flexibility, stability, and safety of the vehicle.
  Keywords: Four-wheel independently actuated vehicle; Perceiving driver's intention; Automatic allocation of front and rear wheel steering angles; Robust controller.
  
  
• A stable adaptive control method for the four wheel independent steering vehicle  
  by Zhiyao Pan, Hongyu Zheng 
  Abstract: Vehicle stability control is crucial for securing vehicle driving safety, while precise stability classification can assist in enhancing the performance of vehicle control. A stable adaptive model predictive controller (MPC) of the four-wheel independent steering (4WIS) vehicle is introduced in this paper. Firstly, a new vehicle dynamic model derived from a long short-term memory (LSTM) network is established and an attribute dataset representing vehicle stability is procured further. Subsequently, we employ the Gaussian mixture model (GMM)-hidden Markov model (HMM) to classify the stability of the 4WIS vehicle. According to the different classification results, the stable adaptive MPC integrated with Bayesian optimization (BO) is designed to track an optimal trajectory with high accuracy while working under different conditions. Through the simulation tests in various typical driving scenarios, the advantages of the stability classification strategy and the stable adaptive control method proposed in this paper are confirmed.
  Keywords: stability classification; stable adaptive control; four-wheel independent steering; LSTM; HMM-GMM; dataset; trajectory.
  DOI: 10.1504/IJVD.2025.10072493
   
  
• A novel driver-handling model based on a single-view angle for natural steering mechanisms  
  by Changhua Dai, Changfu Zong, Dong Zhang, Min Hua, Hongyu Zheng, Dingheng Wang, Kaku Chuyo 
  Abstract: The process of steering a vehicle necessitates the acquisition of visual feedback from the dynamically evolving road layout ahead. The act of steering relies heavily on the driver’s interpretation of visual cues, a fundamental aspect crucial for the ongoing development of autonomous driving technology. This paper introduces an innovative driver-handling model designed to consolidate visual information into a single-view angle, with the aim of capturing the inherent characteristics of natural steering mechanisms. The model comprises three integral modules: the first module acquires the single-view angle, the second translates this angle into the appropriate steering angle for the front wheels, and the third mitigates steering delay using a Smith predictor. Through meticulous validation conducted via Simulink/CarSim co-simulations and real-world vehicle experiments, the model demonstrates that the single-view angle reliably informs steering actions, closely aligning with the natural steering responses exhibited by a human driver. This correlation is of paramount importance, underscoring the model’s potential to significantly enhance autonomous driving systems, particularly in improving path-tracking and lane-keeping capabilities.
  Keywords: visual feedback; autonomous driving; driver-handling model; steering mechanism; single-view angle; path-tracking.
  DOI: 10.1504/IJVD.2025.10073107
   
  
• Optimal control of a four-wheel steering car using state-dependent Riccati equation controller  
  by Hami Tourajizadeh, Sadegh Ordou, Morteza Efafi, Mohsen Sarvari 
  Abstract: Optimal control of a four-wheel steering car model is performed in this paper using two strategies: linear quadratic regulator (LQR) and state-dependent Riccati equation (SDRE). In such vehicles, the system is over-constrained, so the solution of inverse dynamics is not unique. Extracting the optimal control input satisfies the desired vehicle performance while minimising a specific objective function. The bicycle model with two steering inputs is used to model the four-wheel steering car and its nonlinear behaviour. A new approach for kinematic modelling is also proposed. Two closed-loop optimal control strategies are applied: one linear and valid near its operating point, and the other global and nonlinear. Their results are analysed and compared. Model correctness is investigated via comparison with CARSIM. The effectiveness of the proposed optimal control strategies and the superiority of the nonlinear SDRE over traditional methods are validated using MATLAB simulations, showing accurate path tracking with minimal energy consumption across the its full workspace.
  Keywords: 4WS; four-wheel steering vehicle; optimal control; bicycle model; optimal regulation; LQR; linear quadratic regulator; SDRE; state-dependent Riccati equation.
  DOI: 10.1504/IJVD.2025.10073108