AUTONOMOUS VEHICLES: INTELLIGENT TRANSPORT SYSTEMS AND SMART TECHNOLOGIES

AUTONOMOUS VEHICLES: INTELLIGENT TRANSPORT SYSTEMS AND SMART TECHNOLOGIES

Library of Congress Cataloging-in-Publication Data

Contents

Foreword

Preface

Part I. Intelligent Transport Systems

Chapter 1: Radar Sensor Detectors for Vehicle Safety Systems

Abstract

Nomenclatures

1. Introduction

2. Intelligent Vehicle and Total Safety Driving Approach

3. Overview of MRR and SRR Systems

4. CFAR Detector

4.1. CA-CFAR Detector

4.2. OS-CFAR Detector

4.3. GCML Detector

4.4. ACGO-CFAR Detector

5. CFAR Detection Performance

6. Definition of Target Vehicle Coordinates

7. GD Main Functioning Principles

7.1. General Statement

7.2. GD Structure

7.3. GD Threshold for Radar Sensor Systems

7.4. Noise Power Estimation for GD

8. GD Performance

9. Attenuation Effect on the Radar Sensor Performance

9.1. Signal Attenuation and Radar Range Equation

9.2. Atmospheric Attenuation

9.3. Rain Attenuation

9.4. Fog Attenuation

9.5. Dust Attenuation

Conclusion

Acknowledgments

References

Chapter 2: Airborne Ultrasonic Imaging: SONAR Based Image Generation for Autonomous Vehicles

Abstract

1. Introduction

1.1. The Context of Smart Vehicles

2. The Sonar Head: Structure and Basic Electronics

2.1. The Position Control Board

2.2. The Signal Processing Board

3. Ultrasonic Transducers and Control Circuits

3.1. The Receiver

3.2. The Transmitter

4. Narrow Directivity by External Pinnae

5. Ultrasonic Image Generation and Raw Processing

5.1. Control Functions

5.2. Description of the Experiments

5.3. Ultrasonic Image Generation

Conclusion

Acknowledgments

References

Chapter 3: Autonomous Underwater Vehicle Dynamics

Aeronautics and Astronautics Faculty, Istanbul

Technical University, Maslak, Istanbul, Turkey

Abstract

1. Introduction

2. Dynamic Mathematical Modeling of an AUV

2.1. Modeling Assumptions

2.1.1. Environmental Assumptions

2.1.2. Dynamics Assumptions

2.1.3. 6-DOFRigid-Body Equations of Motion

2.1.4. Coordinate Frames

2.1.5. Newtonian and Lagrangian Mechanics

2.1.6. Gravitational Forces

2.1.7. Hydrostatic Forces and Moments

2.1.8. Hydrodynamic Forces and Moments

2.1.9. Added Mass and Inertia

2.1.10. Propeller Effect

2.2. Mathematical Model of AUV

2.3. Numerical Integration of the AUV EOM

2.3.1. Euler's Method First Order

2.3.2. Runge-Kutta Method

2.4. Dynamic Simulink Model and Control of AUV

2.5. Simulation Results

3. Parameter Identification with Least Squares Estimation

3.1. AUV System Identification

3.2. Parameter Estimation for AUV

3.3. Simulation Results of Parameter Identification

Conclusion

References

Chapter 4: Advances in Environment Sensing and Perception Technologies and Algorithms for Autonomous Ground Vehicles

Abstract

Nomenclatures

1. Introduction

2. Main Types of Electronic Sensing Devices for Environment Perception in Autonomous Ground Vehicles

2.1. Type of Electronic Sensing Devices for Environment Perception Used in AGV Prototypes

2.2. Types of Electronic Sensing Devices for Environment Perception Currently Used in Mass-Production Cars

3. Objectives and Architecture of Perception Subsystem

3.1. Objectives of Perception

3.2. Generic Architecture of Perception Subsystem

4. Main Algorithms Used for Perception

4.1. Detection Algorithms

4.2. Tracking Algorithms

4.3. Classification Algorithms

4.3.1. SVM

4.3.2. Boosting Algorithms

4.3.3. Bayes Filter

5. Perception Algorithms in AGV-Review of Existing Solutions

6. Experimental Results

Conclusion

Acknowledgments

References

Chapter 5: Intelligent Highway Surveillance and Safety Systems

Abstract

1. Introduction

2. Modern Concept about Active Safety on Highways

3. Intelligent Surveillance and Safety Systems for ITS

4. Sensors and Detecting Systems

4.1. Detection Types

4.2. Functional Description of Detectors

4.3. Advantages and Disadvantages

4.4. Application Examples

4.4.1. Presence and Speed Detection, Using Inductive Loops

4.4.2. Automatic Plate Recognition Systems with Video Cameras

4.4.2.1. Vehicle Recognition

4.4.2.2. Vehicle Registration Number Recognition

5. Communication Technologies

5.1. Introduction

5.2. Wireless Technologies

5.3. Radio Data Systems (RDS)

5.4. VHF-PMR (Professional Mobile Radio) Communications

5.5. Area Radio Network (ARN)

5.6. TETRA (TErrestrial Trunked Radio) – Professional Mobile Communications for Closed User Groups

5.7. Special Radio Systems and Short Distance Communication Systems

5.7.1. DSRC (Dedicated Short Range Communication)

5.7.2. WLAN (Wireless Local Area Network)

5.7.3. Wi-Fi (Wireless Fidelity)

5.7.4. Bluetooth

5.7.5. NTCIP (National Transportation Communications for ITS Protocol)

6. Informing Public Systems

6.1. The In-Time Project - Introduction

6.2. Description of In-Time Services

6.3. IN-TIME Pilot Sites

6.4. IN-TIME Bucharest Pilot Site

7. Command and Control Centre

7.1. Introduction

7.2. Concept

7.3. Architecture

7.4. Redundancy and Back-up Solution

Conclusion

References

Chapter 6: Cyber Security Evaluation of Critical Infrastructures Systems

Abstract

1. Introduction

2. Critical Infrastructures

3. Intelligent Transport Systems

4. Smart Grids

5. Cyber Threats Targeting Critical Infrastructures

5.1. Zero Day Attacks

5.2. Botnets

5.3. Malware

6. Cyberattacks on SCADA Systems

7. Protection of Transportation Networks

7.1. Car Viruses

7.2. Protecting the Transportation Network from other Types of Software Attacks. Solutions

8. Tools and Scenarios that Help Investigating Intelligent Transport Systems Incidents

8.1. Tools

8.1.1. Stand-Alone Tools

8.1.2. Statistical Tools

8.1.3. Security Oriented Distributions

8.2. Practical Scenarios

8.2.1. Identification of Encryption Systems

8.2.2. Identification of Hidden Data inside other Files

8.2.3. Identifying a Suspect Communication between Two Computers and Reveal Stolen Data

8.2.4. Identifying and Recovering Mangled Signature Keys

8.2.5. Identification of Insecure Wireless Connection Points

9. Practical Issues and Experiences in Different Countries

9.1. United Kingdom

9.2. Germany

9.3. USA

Conclusion

References

Chapter 7: Sustainable Information Systems Management for Spatial Governance

Abstract

1. Introduction

2. Spatial Governance As an Aspect of Governance

2.1. Multiple Facets of Spatial Data Infrastructures

2.2. Spatial Information and Sustainable Development

3. Transportation Systems and Sustainable Development

3.1. Intelligent Transportation Systems

3.2. Cooperative Intelligent Transport Systems and Services

3.2.1. Interaction with Navigation/Guidance Systems

3.2.2. Vehicle to Infrastructure Communication

3.2.3. Vehicle-to-Vehicle

4. Sustainable Information Systems Management

4.1. Requirements for SISMSG

4.2. Resources for SISMSG

4.3. The Characteristics of a SISMSG

Conclusion

References

Chapter 8: Standards of Communications in the Intelligent Transport Systems (ITS)

Abstract

1. Introduction

2. The Transportation Systems

3. Current Automotive Related ITS Projects

3.1. Infrastructure-Assisted Data Exchange

3.2. DSRC/WAVE (Dedicated Short Range Communication/Wireless Access in Vehicular Environments)

4. Security and Privacy in Inter-Vehicular

Communication (IVC)

5. Key Applications of IVC

6. Discussion

Conclusion

References

Part II. Smart Technologies Applied in the Electrical and Hybrid Vehicles

Chapter 9: Power Electronics and Drives Used in Automotive Applications

Abstract

Nomenclatures

1. Introduction

2. Power Electronics Used in PEVs

3. Rectifiers

4. DC-DC Converters

4.1. Buck (Step-down) Converter

4.2. Boost (Step-up) Converter

4.3. Buck-Boost Converter

5. Inverters

6. Electrical Machines and Controllers

6.1. AC Induction Motor (ACIM) and Controllers

6.2. Brushless DC Motor and Controllers

7. The Latest Power Electronics in EVs

8. Discussion

Conclusion

References

Chapter 10: Power Control of Plug-In Electric Vehicles in Smart Grids

1Department of Electrical Engineering, Shahrood

University of Technology, Shahrood, Iran

2Department of Electrical Engineering and

Computer Applied Science, University of Wisconsin-Milwaukee, Milwaukee, US

Abstract

1. Introduction

2. Architecture of the Plug-In Electric Vehicle

3. Power Management on V2G - State of the Art

4. Power Management of GEV Based on

DC-Link Power and Voltage Control

4.1. Lyapunov Based Neuro-Fuzzy Control Strategy

4.2. Robust Sliding Mode Control Strategy for Voltage Source Converter Based on Positive and Negative Symmetrical Components

5. Simulation Results

Conclusion

References

Chapter 11: Optimal Short-Term Scheduling of Aggregators for Plug-In Electric Vehicles

Abstract

1. Introduction

1.1. Background and Review of the Related Works

1.2. PHEV Configurations

Series Configuration

Parallel Configuration

Series-Parallel Configuration

1.3. Chapter Organization

2. Stochastic Programming

2.1. Stochastic Versus Deterministic Programming

2.2. Risk Control in Stochastic Programming

2.3. Scenario Generation and Reduction

2.4. Two-Stage Stochastic Programming

3. Problem Formulation

3.1. Market Structure

3.2. Decision Framework

3.3. Mathematical Formulation

4. Illustrative Example

4.1. Deterministic Scheduling

4.2. Stochastic Scheduling

4.3. Risk-Constrained Scheduling

Conclusion

References

Chapter 12: Energy Efficiency of the Hybrid Power Source Used in the Plug-In Fuel Cell Vehicles

1University of Pitesti, Pitesti, Romania

2University Politehnica of Bucharest, Bucharest, Romania

Abstract

Nomenclatures

1. Introduction

2. Plug-In Electric Vehicles with a Range Extender

3. Electrical Motors and Inverter Systems

Used in the Hybrid Electrical Vehicle

4. The DC Input Sources of the FC Vehicle

4.1. Fuel Cell System

4.2. Energy Storage System

5. Energy Management Unit

6. Multi-Port Converter Topologies

7. PFCV with Series and Parallel MPC Topologies

8. Parallel MPC Topology

8.1. Equivalent Parallel MPC Topology

8.2. Energy Efficiency of Parallel MPC Topology

9. Series MPC Topology

9.1. Equivalent Series MPC Topology

9.2. Energy Efficiency of Series MPC Topology

10. Energy Efficiency of MPCp vs. MPCs

10.1. The Results of Analytical Calculations

10.2. Simulation Results

11. Energy Efficiency of MPCp

and MPCs Topologies in CS Mode

Conclusion

Acknowledgments

References

Chapter 13: Dynamic Response of Electric Machines for Electric Vehicles/Hybrid Electric Vehicles (EV/HEV)

Abstract

1. Introduction

2. Electric Machines Used in EV/HEV

2.1. The DC Machine

2.1.1. Mechanical Characteristics

2.1.2. Chopper Control of DC Machines

2.1.2.1. Chopper Control for Single-Quadrant DC Functionality

2.1.2.2. Chopper Control for Multiple-Quadrant DC Functionality

2.1.2.3. Driving System of Chopper Controllers for DC Machines

2.2. Induction Machine

2.2.1. Mechanical Characteristics

2.2.2. Control of Induction Machines for Constant U/f

2.2.3. Driving System of U/f Controllers for Induction Machines

2.3. Brushless Machine

2.3.1. Mechanical Characteristics

2.3.2. Control of Brushless Machines

3. Dynamic Regime of Electrical Machines Used in EV/HEV

3.1. DC Machine

3.2. Induction Machine

3.3. Brushless Machine

4. Comparative Behavior of Electric Machines for EV/HEV

Conclusion

Nomenclatures

References

Chapter 14: Use of the External Magnetic Field for Supervision and Diagnosis of Electrical Traction Motors

Abstract

1. Introduction

2. Magnetic Field

2.1. Measurement of External Magnetic Field

2.2. Measurement Sensors

3. Stator Faults in AC Electrical Rotating Machines

3.1. Analytical Model

3.2. Model for Salient-Pole Synchronous Machine

3.3. Model for Induction Machine

3.4. Principle of the Tests

4. Rotor Faults in AC Electrical Rotating Machines

4.1. Types of the Rotor Faults

4.1.1. Bearings Faults

4.1.2. Eccentricity

4.1.3. Broken Bar

4.2. Rotor Broken Bar

4.2.1. Influence on the Speed Variation

4.2.2. Influence on the Axial Flux

5. Experimental Tests

5.1. Achievements of the Tests

5.2. Stator Tests

5.2.1. Inter-Turn Short Circuit in Synchronous Machines

5.2.2. Inter-Turn Short Circuit in Induction Machines

5.3. Broken Rotor Bar in Induction Machine

Conclusion

Appendix

References

Chapter 15: Batteries for Electrical Vehicles: A Review

Abstract

1. Introduction

2. Existing Electric Vehicles

2.1. Electric Vehicles

2.2. Hybrid Electric Vehicles

2.2.1. Micro-Hybrids - “Stop and Start”

2.2.2. Soft-Hybrids - “Stop and Go”

2.2.3. Mild Hybrids

2.2.4. Full Hybrids - Power Assist

2.2.5. Plug-in Hybrids -PHEV

3. Battery Technology Used for Electric Vehicles

3.1. Lead-Acid Batteries

3.2. Nickel Batteries

3.2.1. Ni-Cd Batteries

3.2.2. Ni-MH Batteries

3.2.3. Batteries Based on Sodium

3.2.4. Batteries Based on Lithium

3.2.5. Li-P Batteries

3.2.6. Li-Ion Batteries

3.3. Metal-Air Batteries

3.3.1. Al-Air Batteries

3.3.2. Zn-Air Batteries

3.3.3. Li-Air Batteries

4. New Trends in the Development of the Batteries for the Electric Drive

Conclusion

References

Chapter 16: Computational Study of Li-Ion Batteries for Automotive Applications

Abstract

Nomenclatures

1. Introduction

1.1. History

1.2. Background Knowledge

1.2.1. Charge and Discharge Processes

1.2.2. Important Technical Considerations

1.3. Computational Fluid Dynamics (CFD) Tools

2. State of the Art: Past and Present of the Lithium-Ion Battery Cooling Technology

2.1. Lithium-Ion Battery with Passive Cooling

2.2. Modular Battery System with Cooling System

2.3. Battery Cooling Device

3. Application to a Real World Example

3.1. Technical Data

3.2. Definition and Concept of Cold Plate Cooling

3.3. System of Solid Aluminum Cold Plates

4. System of Extruded Aluminum Cold Plates

Conclusion

References

Chapter 17: Ni-Cd Batteries for Automotive Applications: The ac Electrical Data of the Ni-Cd Battery in the Havriliak-Negami Dielectric Representation

Abstract

1. Introduction

2. Ni-Cd Battery: Status and Prospect

3. Thin-Film Stack or Layer Batteries

4. Background and Analytical Approach of the Dielectric Data

4.1. Dielectric Relaxation: Ideal (Debye)and Cole-Cole (Non-Ideal) Responses

4.2. Analysis of the Havriliak-Negami Representation

4.3. Geometrical Interpretation of H-N Relaxation at the Limiting Case

4.4. Extraction of the Relaxation Time τ and the H-N Depression Parameters α and β

4.5. Test of Depression Parameter β When α Is Real

4.6. Test of Depression Parameter α When β Is Real

4.7. Effect of α and β on the H-N Distribution Function

4.8. Meaning of the Depression Parameters α and β

Conclusion

Acknowledgment

References

Chapter 18: Advanced Drive Architectures and State of the Art In-Wheel Motors

Abstract

1. Introduction

2. History

3. Direct Drive In-Wheel Propulsion

3.1. Uncompromising Performance

3.2. Unbeatable Efficiency

3.3. Zero Maintenance

4. High Torque and Low RPMs Requirements for the Direct Drive In-Wheel Motors

5. In-Wheel Motor Characteristics for Different Segments of Passenger Vehicles

6. Mechanical Design Possibilities of an In-Wheel Motor

6.1. In-Wheel Motors with Gears

6.2. Direct Drive In-Wheel Motors

6.2.1. Outer Runner Motors

6.2.2. Inner Runner Motors

7. Some Types of the In-Wheel Motors

Conclusion

References

Chapter 19: The Future of Electrical Vehicles

Abstract

1. Introduction

2. Past, Present, Future

3. Efficiency of Existing Vehicles

3.1. Fuel Efficiency

3.2. Increasing Efficiency

3.3. The Environmental Impact of Electrical Vehicles

4. Alternatives

4.1. Hybrid Vehicles

4.2. Bio-Fuels

4.3. Hydrogen

4.4. Compressed Air

4.5. Hydraulic Vehicles

4.6. Public Transport

Conclusion

References

Index