This work studies a novel low voltage (<60 V) hybrid system that supports engine boosting and downsizing in addition to start-stop, regenerative braking, and constrained torque assist/regeneration. The hybrid power split supercharger (PSS) shares a 9 kW motor between supercharging the engine or providing hybrid functionalities through a planetary gear set, a brake and a bypass valve. The PSS operation is limited to only one of the parallel hybrid or boosting modes at a time, necessitating a highly optimized decision making algorithm to select the device mode and power split ratio. In this work an adaptive equivalent consumption minimization strategy (A-ECMS) is developed for energy management of the PSS. The A-ECMS effectiveness is compared against a dynamic programming (DP) solution with full drive cycle preview through hardware-in-the-loop experiments on an engine dynamometer testbed. The experiments show that the PSS with A-ECMS reduces a vehicle fuel consumption by 18.4% over standard FTP75 cycle compared to a baseline turbocharged engine, while global optimal DP solution decreases the fuel consumption by 22.8% compared to baseline.

This study provides a thorough review and analysis of the evolution of the Greek vehicle fleet over the last ~30 years, which is next used for the generation of high granularity fleet projections and for the estimation of relevant environmental benefits by 2030. The integrated methodology developed takes also into account vehicle clustering and the Brown’s Double Simple Exponential Smoothing technique that together with the adoption of COPERT based emission factors allow for the estimation of the anticipated emissions in 2030. Expected 2030 emissions levels suggest a reduction across all pollutants in comparison to 2018, ranging from 3.7% for PM10 to 54.5% for NMVOC (and 46% for CO, 14% for SO2, 28% for NOX and 21% for CO2). We find that Greece is on track with national goals concerning the reduction of air pollution from the transportation sector, stressing the positive contribution of EVs and new, "greener" vehicles, and setting new challenges for the further improvement of the sector beyond the 2030 outlook.

The relationships among the potential causes of a car and motorcycle collision involving turn maneuvers as well as the perception of rear and front turn signal (on/off) configuration is examined in this paper. The investigation has been based on data pooled from the answers of a survey proposed to 136 people, with special regards to the correct detection of indicators aspect. Experimental videos have been realized during the tests campaign, both in urban and suburban areas, using a 360-camera attached to a motorcyclist’s helmet, reproducing vehicular conflicts able to potentially generate crash risks. The detection of the blinker was combined with other factors (e.g. age, gender, location of the test site, presence of the car behind tester vehicles and if the bikers are also habitual car or bike drivers) in a stepwise logistic regression that modelled the odds of detecting the turn signal turned on as a function of all of these factors. The results suggest the existence of a connection between the detection of the turn signal aspect and some of the variables considered (e.g. age, being a cyclist or a car driver and the presence of a protecting car).

In this contribution, different lane-keeping control strategies for Autonomous Ground Vehicles (AGV) have been analyzed and compared. The AGV must be oriented and kept within a given reference path using the front wheel steering angle as the control action for a specific longitudinal velocity. While non-linear models can describe the lateral dynamics of the vehicle in an accurate manner, they might lead to difficulties when computing some real-time control laws such as Model Predictive Control (MPC). Linear Parameter Varying (LPV) models can provide a trade-off between computational complexity and model accuracy. Another way to reduce computational complexity is to explore other control strategies, for example, the one based on the Inverse Kinematic Bicycle model (IKIBI). Additionally, AGV sensors typically work at different measurement acquisition frequencies so that Kalman Filters (KF) are usually needed for sensor fusion. If these frequencies are slower than the actuation rate, a multi-rate KF may be needed. The two control strategies (MPC using a LPV model and IKIBI) have been compared in simulations over a circuit path in the presence of process and measurement Gaussian noise. The MPC controller has shown to provide a more accurate lane-keeping behavior than an IKIBI control strategy. Finally, it has been seen that Dual-Rate Extended Kalman Filters (DREKF) constitute an essential tool when only slow and noisy sensor feedback is available in an AGV lane-keeping application.

Due to the renewed variation in government and political systems inside and outside countries, and with the high tariffs at borders, the latter have become an outlet for terrorism and smugglers. Therefore, each country seeks to develop its own protection system, and the technologies used in these systems vary according to the severity and the importance of the installations to be protected, it is found that some of them are expensive and unnecessary, but other have good and variable levels of efficiency. Consequently, the idea of designing a surveillance system that can monitor and control access becomes indispensable. In the same context, this work is of crucial strategic and geopolitical importance. It combines pre-existing alarm and monitoring methods and revolutionary Internet of Things (IoT) application products, of which Wireless Sensor Networks (WSN) and Optical Fiber Sensors (OFS) are part of this application. This article presents the distribution of wireless radar nodes accompanying with a Bragg fiber sensor to identify each rolling intruder incoming the zone to be monitored, from the determination of its speed, weight and wheelbase distance.

The research develops the vehicular routing problem for the distribution of refrigerated products in a multinational company. The mathematical model corresponds to the vehicle routing problem with hard time windows and stochastic service (VRPTW-ST) time model applied in the city of Santiago de Chile. For optimization of the model, optimization methods tabu search, chaotic search and general algebraic modeling were used. The results allow to validate the meta-heuristic chaotic search to solve the VRPTW-ST; chaotic search method obtains superior performance than tabu search method for solving a real problem in a large city.

Over the past few decades, the growth of the urban population has been remarkable. Nowadays, 50% of the population lives in urban areas, and forecasts point that by 2050 this number will reach 70%. Today, 64% of all travel made is within urban environments and the total amount of urban kilometers traveled is expected to triple by 2050. Thus, seeking novel solutions for urban mobility becomes paramount for 21st century society. In this work, we discuss the performance of vehicular networks. We consider the metric Delta Network. The Delta Network characterizes the connectivity of the vehicular network through the percentage of travel time in which vehicles are connected to roadside units. This article reviews the concept of Delta Network and extends its study through the presentation of a general heuristic based on the definition of scores to identify the areas of the road network that should receive coverage. After defining the general heuristic, we show how small changes in the score computation can generate very distinct (and interesting) patterns of coverage, each one suited to a given scenario. In order to exemplify such behavior, we propose three deployment strategies based on simply changing the computation of scores. The results show that the strategies derived from the general heuristic are very interesting, all of them deploying roadside units in a circle pattern around the traffic epicenter.

This work mainly discusses an innovative teaching platform on Unmanned Aerial Vehicle digital mapping for Remote Sensing (RS) education at Wuhan University, underlining the fast development of RS technology. Firstly, we introduce and discuss the future development of the Virtual Simulation Experiment Teaching Platform for Unmanned Aerial Vehicle (VSETP-UAV). It includes specific topics such as the Systems and function Design, teaching and learning strategies, and experimental methods. This study shows that VSETP-UAV expands the usual content and training methods related to RS education, and creates a good synergy between teaching and research. The results also show that the VSETP-UAV platform is of high teaching quality producing excellent engineers, with high international standards and innovative skills in the RS field. In particular, it develops students' practical skills with technical manipulations of dedicated hardware and software equipment (e.g., UAV) in order to assimilate quickly this particular topic. Therefore, students report that this platform is more accessible from an educational point-of-view than theoretical programs, with a quick way of learning basic concepts of RS. Finally, the proposed VSETP-UAV platform achieves a high social influence, expanding the practical content and training methods of UAV based experiments, and providing a platform for producing high-quality national talents with internationally recognized topics related to emerging engineering education.

Recently, the Third Generation Partnership Project (3GPP) introduced the New Radio (NR) technology for Vehicle-to-everything (V2X) communication to enable delay-sensitive and bandwidth-hungry applications in vehicular communication. The NR system is strategically crafted to complement the existing Long Term Evolution (LTE) Cellular-Vehicle-to-Everything (C-V2X) infrastructure, particularly to support advanced services such as the operation of automated vehicles. It is widely anticipated that the 5th generation (5G) NR system will surpass LTE C-V2X in terms of achieving superior performance in scenarios characterized by high throughput, low latency, and enhanced reliability, especially in the context of congested traffic conditions and a diverse range of vehicular applications. This article will provide a comprehensive literature review on vehicular communications from Dedicated Short Range Communication (DSRC) to NR V2X. Subsequently, it delves into a detailed examination of the challenges and opportunities inherent in NR V2X technology. Finally, we proceed to elucidate the process of creating and analyzing an open-source 5G NR V2X module in network simulation-3 (ns-3) and then demonstrate the NR V2X performance in terms of different key performance indicators implemented through diverse operational scenarios.

The work presents an approach to instrument the load sensing bearings for automotive applications for estimation of the loads acting on the wheels. The system comprises fiber-optic sensors based on addressed fiber Bragg structures (AFBS) with two symmetrical phase shifts. A mathematical model for load-deformation relation is presented, and the AFBS interrogation principle is described. The simulation includes (i) modeling of vehicle dynamics in a split-mu braking test, during which the longitudinal wheel loads are obtained, (ii) the subsequent estimation of bearing outer ring deformation using a beam model with simply supported boundary conditions, (iii) the conversion of strain into central wavelength shift of AFBS, and (iv) modeling of the beating signal at the photodetector. The simulation results show that the estimation error of the longitudinal wheel force from the strain data acquired from a single measurement point was 5.44% with root-mean-square error of 113.64 N. A prototype load sensing bearing was instrumented with a single AFBS sensor and mounted in a front right wheel hub of an experimental vehicle. The experimental setup demonstrated comparable results with the simulation during the braking test. The proposed system with load-sensing bearings is aimed at estimation of the loads acting on the wheels, which serve as input parameters for active safety systems, such as automatic braking, adaptive cruise control, or fully automated driving, in order to enhance their effectiveness and safety of the vehicle.

With the continuous development of Artificial Intelligence technology and Internet of Things engineering, more and more driver-less vehicles have been developed and put into the industrial production. The birth of driver-less vehicles undoubtedly brings new vitality to a large amount of industries, particularly in transportation. For the mining industry, transportation is undoubtedly an extremely important link in the whole production process. If the driver-less vehicles can be applied to the underground mines, it can not only improve the production and transportation capacity of the whole mine, but also can reduce the occurrence of many mine safety accidents. ZigBee WSN technology can play a greater role in the narrow environment like underground mines according to the relevant literature, this concept paper just like a engineering project plan mainly tries to integrate the ZigBee WSN technology and the communication-based train control (CBTC) system to explore the possibility of the driver-less vehicles to be used in the underground mines, which aims to solve practical engineering problems for the engineering projects. As the mining engineers, we put forward the concept of this integrated system in this concept paper, but we need to continue to work hard for the future of the underground mines. This concept paper serves just as a guide to the Tossing out a brick to get a jade gem, has a few implications for the development of underground mine transportation.

Car parking is a challenging part of urban transportation and the traffic violations around it cause many problems for citizens. In recent years, due to the fast growth and development of urbanization, temporary and unauthorized stopping of cars along the streets, especially in large cities, has led to an increased traffic, urban disorders, dangers for citizens, and violation of rules. Studies have shown that there is a direct relationship between vehicle parking violations and urban places. GIScience capabilities and tools play an important role in analysing the spatial distribution of these violations. In this study, we investigated the spatial distribution of vehicle violations in a region of Tehran, Iran that is suffering from a heavy traffic load and heavily polluted air. Although two dissimilar urban segregations exist in the north and south of the study area, our analysis indicates a similar pattern of car parking violations. In both of the areas, about 70% of all curb parks are legal, while the remaining are illegal. Also, spatial analysis reveals a direct relationship between some POIs and the occurrence of car park violations so that the density of legal curb parks is high near some POIs, and less near some others and vice versa. For example, the number of vehicle park violation around the hospitals is more than the average of the study area. However, the number of park violations around the universities is less than the average. Our findings reveal that co-location of certain POIs, for instance a hotel and a supermarket will lead to an increase in the number of park violations. In other words, there is a strong correlation between the type of POIs and curb-parks violations. Our results also show that POIs have an impact radius that leads to violations occurring in that area. For example, the area of the impact of a hospital on the creation of car park violations was estimated at 125 meters. Our presented approach along with the discussed findings along with conclusions can be useful to a large range of stakeholders including urban planner, traffic police departments, local municipalities, law enforcement agencies, and environmentalists to have a better perspective of infrastructure planning.

The copper end paste used in multilayer ceramic capacitors sintered in nitrogen atmosphere will lead to carbon residue of organic vehicle, which will lead to the reduction of electrode conduc-tivity and high scrap rate. With an attempt to leave no residue in the sintering, the compatibility of solvents and thickeners should be improved because it has an important influence on the hi-erarchical volatilization and carbon residue of organic vehicles. In this work, the volatility of different solvents was compared and several solvents were mixed in a definite proportion to prepare an organic vehicle with polyacrylate resins. The hierarchical volatility and solubility parameters of mixed solvents were adjusted effectively by changing proportions of different components, the thermogravimetric curves of resins and organic vehicles were measured by thermogravimetric analyzer, the effect of solubility parameter on the dissolvability of resins in the solvent and the residual of organic vehicles were studied. Results showed that the hierar-chical volatilization of solvents can be obtained by mixing different solvents; the intrinsic vis-cosity of the organic vehicle is higher and the thermal decomposition residue of polyacrylate resins is lower when the solubility parameters of mixed solvents and polyacrylate resins are closer. The low residual sintering of organic vehicles can be achieved by using the mixed solvent with hierarchical volatility and approximate solubility parameters as resins.

This study determines the threshold for the computational rate of actuator motor controllers for unmanned underwater vehicles necessary to accurately follow discontinuous square wave commands. Motors must track challenging square-wave inputs, and identification of key computational rates permit application of deterministic artificial intelligence (D.A.I.) to achieve tracking to a machine-precision degree of accuracy in direct comparison to other state-of-art approaches. All modeling approaches are validated in MATLAB simulations where the motor process is discretized at varying step-sizes (inversely proportional to computational rate). At a large step-size (fast computational rate), discrete D.A.I. shows a mean error more than three times larger than that of a ubiquitous model-following approach. Yet, at a smaller step size (slower computational rate), the mean error decreases by a factor of 10, only three percent larger than that of continuous D.A.I. Hence, the performance of discrete D.A.I. is critically affected by the sampling period for discretization of the system equations and computational rate. Discrete D.A.I. should be avoided when small step-size discretization is unavailable. In fact, continuous D.A.I. has surpassed all modeling approaches which makes it the safest and most viable solution to future commercial applications in unmanned underwater vehicles.

Polyvinyl alcohol-engineering cementitious composites (PVA-ECC) has been widely applied in bridge deck repairing or widening, the common practice for doing this is that a portion of a bridge is left open to traffic while the closed portion is constructed, which expose the early age PVA-ECC to the vehicle-induced vibrations. However, whether vehicle-induced vibrations affect the tensile performance of early age PVA-ECC remains unknow. The purpose of this study was to conduct laboratory test programs on how much vehicle-induced vibrations during early ages affected the tensile performance of PVA-ECC. A self-improved device was used to simulate the vehicle-induced vibrations, and after vibrating with the designed variables, both a uniaxial tensile test and a grey correlation analysis were performed. The results indicated that: the effects of vehicle-induced vibrations on the tensile performance of early age PVA-ECC were significant, and they generally tended to be negative in this investigation. In particular, for all of the vibrated PVA-ECC specimens, the most negative age when vibrated occurred during the period between the initial set and the final set. We concluded that although vehicle-induced vibrations during the setting periods had no substantial effects on the inherent strain-hardening characteristics of PVA-ECC, the effects should not be ignored.

Connected and Autonomous Vehicle (CAV) combines technologies of autonomous vehicle (AV) and connected vehicles (CV) to develop quicker, more reliable and safer traffic. Artificial Intelligence (AI) based CAV solutions play significant roles in sustainable city. The convergence imposes stringent security requirements for CAV safety and reliability. In practice, vehicles are developed with increased automation and connectivity. Increased automation increases the reliance on the sensor-based technologies and decreases the reliance on driver; increased connectivity increases the exposures of vehicles vulnerability and increases the risk for an adversary to implement a cyber-attack. Much work has been dedicated to identifying the security vulnerabilities and recommending mitigation techniques associated with different sensors, controllers, and connection mechanisms, respectively. However, there is an absence of comprehensive and in-depth studies to identify how the cyber-attacks exploit the vehicles vulnerabilities to negatively impact the performance and operations of CAV. In this survey, we set out to thoroughly review the security issues introduced by AV and CV technologies, analyze how the cyber-attacks impact the performance of CAV, and summarize the solutions correspondingly. The impact of cyber-attacks on the performance of CAV is elaborated from both viewpoints of intra-vehicle system and inter-vehicle system. We pointed out that securing the perception and operations of CAV would be the top requirement to enable CAV to be applied safely and reliably in practice. Also, we suggested to utilize cloud and new AI methods to defend against smart cyber-attacks on CAV.

Quadrotor drones have rapidly gained interest recently. Numerous studies are underway for the commercial use of autonomous drones, and especially the distribution businesses are taking serious reviews on drone delivery services. However, there are still many concerns about urban drone operations. The risk of failures and accidents makes it difficult to provide drone-based services in the real world with ease. There have been many studies that introduced supplementary methods to handle drone failures and emergencies. However, we discovered the limitation of the existing methods. The majority of approaches were improving PID-based control algorithms which is the dominant drone control method. This type of low-level approach lacks situation awareness and the ability to handle unexpected situations. This study introduces an event-based control methodology that takes a high-level diagnosing approach that can implement situation awareness via time-window. While leaving the low-level controller to involve in operating the drone for most of the time in normal situations, our controller operates at a higher level and detects unexpected behaviors and abnormal situations of the drone. We tested our method with real-time 3D computer simulation environments with Unreal Engine[15] and AirSim[31]. We were able to verify that our approach can provide enhanced double safety and better ensure safe drone operations. We hope our discovery to possibly contribute to the advance of real-world drone services in the near future.

The Internet of Vehicles (IoV) is an emerging field that has attracted significant attention due to its potential to transform transportation and mobility. IoV enables the development of new services and applications that can improve transportation systems' efficiency, safety, and sustainability. However, ensuring secure and trustworthy communication among the different components of an IoV system is a critical challenge that needs to be addressed. This paper proposes a blockchain-enabled communication framework for secure and trustworthy IoV applications. The proposed framework leverages the security and decentralization features of blockchain technology to provide secure communication channels for different components of the IoV system, including vehicles, infrastructure, and service providers. The proposed framework provides an identity management system to authenticate and authorize users and devices, thereby preventing unauthorized access and data breaches. To evaluate the effectiveness of the proposed framework, we conducted experiments using a real-world IoV scenario, and the results demonstrate that the proposed framework can provide secure and trustworthy communication for IoV applications. The proposed blockchain-enabled communication framework offers a promising approach to address the security and trust challenges in IoV communication systems.

This study aims to develop a hybrid approach based on backpropagation Artificial Neural Network (ANN) and spatial analysis techniques to predict particulate matter of size 2.5 µm (PM2.5) from vehicle exhaust emissions in the State of California using Aerosol Optical Depth (AOD) and several climatic indicators (relative humidity, temperature, precipitation, and wind speed). The PM2.5 data were generated using Motor Vehicle Emission Simulator (MOVES), the measured climatic variables and AOD were obtained from the California Irrigation Management Information System (CIMIS), and NASA’s Moderate Resolution Spectroradiometer (MODIS). The data were resampled to a seasonal format and downscaled over grids of 10 by 10 to 150 by 150, and precipitation was determined to be the most important independent variable. Coefficient of determination ( ), Mean Absolute Percentage Error (MAPE), and Root Mean Square Error (RMSE) were used to assess the quality of the ANN prediction model. The model peaked at winter seasons with = 0.984, RMSE = 0.027, and MAPE = 25.311, whereas it had the lowest performance in summer with = 0.920, RMSE = 0.057, and MAPE = 65.214. These results indicate that the ANN model can accurately predict the PM2.5 concentration and can be used to forecast future trends.

This paper presents a study on the influence of the frequency variation of a nonlinear1 control allocation technique execution, developed by the author [1], named by Fast Control2 Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The3 Loop (SITL) simulation, the proposed work considers the use of Gazebo, QGroundControl, and4 Matlab applications, where different frequencies of the FCA can be implemented separated in5 Matlab, always analyzing the QTR stability conditions from the virtual environment performed in6 Gazebo. TheresultsshowedthattheFCAneedsatleast200HzoffrequencyfortheQTRsafeflight7 conditions, i. e., 2 times smaller than the main control loop frequency, 400 Hz. Lower frequencies8 than this one would case instability or crashes during the QTR Operation.

This paper describes research on a unique propulsion system design for a low-speed Biomimetic Unmanned Underwater Vehicle (BUUV). It is biomimetic in the sense that it mimics the movement of aquatic organisms. The undulating propulsion system has numerous advantages over the rotary impeller and is becoming more popular in underwater robotics. The analysis of an artificial seal’s propulsion system with two tail fins is described here. The contrast between the previous undulating propulsion system and the new one is detailed using mathematical analysis and experimental data. The experimental comparison was carried out on a laboratory test stand equipped with specialist sensor equipment to determine the energy efficiency of various types of propulsion systems. Due to a patent procedure, the innovative propulsion system presented in this work has never been published previously. The fins have extra joints, which is the subject of patent claims. The extra joint is intended to improve energy efficiency and reduce fatigue wear on the fins.

The environmental safety of a car is currently one of the most important indicators of the vehicle competitiveness and quality in the consumer market. Currently, the assessment of the ecological properties of vehicles can be made based on various criteria. In the case of combustion-powered cars, the most attention is usually paid to the values characterizing their use, and in the environmental assessment, first of all to pollutant emissions and operational fuel consumption. The proposed article considers the possibility of using the life cycle assessment to analyze the ecological properties of a passenger car during its operation. A simplified LCA method of the vehicle was presented, which in strictly defined cases can be used for the analysis of environmental impacts and the assessment of the energy analysis related to its operation. For this purpose, a vehicle life cycle model was developed. Data on the operation of 33 passenger cars of different manufacturers with similar operational characteristics, coming from different production periods, were analyzed in detail. The obtained results were found to be highly sensitive to the assumptions made in the article.

This study examines the activities conducted at the archaeological site of Aptera in Crete, Greece. The research was part of the DIACHRONIC LANDSCAPES International Design Workshop, organized by the CAM (Center for Mediterranean Architecture), TUC (Technological University of Crete School of Architecture), and UNIFE (University of Ferrara Department of Architecture). This article outlines the methods used for data acquisition and processing on a territorial scale, which generated digital outputs necessary for the analysis and design phases of the workshop, as well as for further examination of the results. The collected data, obtained through low-cost aerial photogrammetric surveying and GNSS terrestrial coordinate detection, were integrated in a Structure from Motion workflow that led to the creation and exportation of various digital outputs, such as point clouds, DTM, DSM, orthophotos, and contour lines. An accuracy analysis was performed to evaluate the effectiveness and efficiency of the digital models compared to the implemented surveying strategies, including the Ground Control Point and Quality Check Point marker positioning strategy. The resulting digital models proved to be valuable assets for analysis and design within the workshop and provided insightful prospects for future research and territorial-scale projects.

The utilization of fuel cells (FC) in automotive technology has experienced significant growth in recent years. Fuel cell hybrid electric vehicles (FCHEVs) are powered by a combination of fuel cells, batteries, or/and ultracapacitors (UCs). By integrating power converters with these power sources, the FCHEV system can overcome the limitations of using them separately. The performance of an FCHEV is influenced by the efficiency of the power electronics converter controller, as well as the technical efficiency of the power sources. FCHEVs need intricate energy management systems (EMSs) to function effectively. Poor EMS can lead to low efficiency and accelerated fuel cell and battery degradation. The literature discussed various types of EMSs, such as equivalent consumption minimization strategy, classical PI controller, fuzzy logic controller, and Mutative Fuzzy Logic Controller (MFLC). However, comparing different EMSs can be challenging due to the varying vehicle and system parameters, which might lead to false claims being made regarding system performance. This research aims to categorize and discuss the various topologies of FCHEVs, highlighting their pros and cons, and comparing several EMSs based on performance metrics such as State of Charge (SOC) and FC deterioration.

Aiming at the problem of low charging efficiency caused by the scattered sensor nodes in traditional wireless rechargeable sensor networks (WRSNs), a UAV-assisted WRSN Online Charging Strategy Based on Dynamic Queue and Improved K-means (UOCS) is proposed. The scheme assumes that the energy consumption of nodes is unpredictable, and only generates charging requests when the energy is lower than a threshold, and performs on-demand responses to nodes that issue charging requests. The scheme combines the characteristics of one-to-one charging of UAVs, the selection and allocation timing of waiting queues and the number of UAVs, and the improved K-means partitioning based on space-time coordination(SPKM), which simplifies the problem of coordinated charging of multiple UAVs and maximizes energy. Using the efficiency and charging success rate, the optimal charging trajectory can be found under the constraint that the node will not starve to death due to power shortage. Finally, a simulation comparison experiment is carried out with the existing UAV charging scheduling strategy. UOCS achieves the optimal node survival rate with low algorithm complexity.

The problems of operating range and costs are the two most critical bottlenecks restricting the extensive application of electric vehicles at home and abroad. There are also some prominent problems in China's electric vehicles, such as slow improvement of electric vehicle's operating range, difficulty in charging, slow charging, low utilization efficiency of charging resources, and high battery cost for electric vehicles, which lead to poor competitiveness of electric vehicles compared with traditional internal combustion engine (I.C.E.) vehicles. This paper analyzes the key factors restricting the development and popularization of electric vehicles in China from the aspects of strategic policy, sales situation and self problems. Through summarizing the experience and lessons of French standardization development strategy and electric vehicle development mode, this paper puts forward the hypothesis leading the development of electric vehicles through standardization to enhance their competitiveness, gives the specific suggestions, and briefly analyzes the feasibility from the aspects of product situation. The research content of this paper provides a certain basis and ideas for the future research work.

Vehicle HVAC systems can accumulate and recirculate highly infectious respiratory diseases via aerosols. Integrating UVC to complement automobile HVAC systems can protect occupants from developing allergies, experiencing inflammatory problems, or acquiring respiratory infectious diseases by inactivating pathogenic organisms. UVC can add little to no static pressure with minimal space, unlike mercury lamps which are larger and heavier. Additionally, UVC LEDs are effective at low voltage and have no mercury or glass. While previous experiments have shown UVC LED technology can reduce bacteriophage Phi6 concentrations by 1 log in 5 minutes (selected as the average time to clean the cabin air), those studies had not positioned LED within the HVAC itself or studied the susceptibility of the surrogate at the specific wavelength. This study aimed to assess the disinfection performance of UVC LEDs in automotive HVAC systems and determine the dose-response curve for bacteriophage Phi6, a SARS-CoV-2 surrogate. To achieve this, UVC LEDs were installed in a car HVAC system. To determine inactivation efficacy, a model chamber of 3.5 m3, replicating the typical volume of a car, containing the modified automobile HVAC system was filled with bacteriophage Phi6, and the HVAC was turned on with and without the UVC LEDs being turned on. The results revealed that HVAC complemented with UVC reduced bacteriophage Phi6 levels significantly more than the HVAC alone and reduced the viral concentration in the cabin by more than 1 LRV (90% viral reduction) in less than 5 minutes. The performance after 5 minutes is expected to be significantly better against SARS-CoV-2 because of its higher sensitivity to UVC, especially at lower wavelengths (below 270 nm). HVAC alone could not achieve a 90% viral reduction of bacteriophage Phi6 in 15 minutes. Applying UVC LEDs inside an HVAC system is an effective means of quickly reducing the number of aerosolized viral particles in the chamber, by inactivating microorganisms leading to improved cabin air quality.

Vehicle-to-Vehicle (V2V) communication plays a pivotal role in modern intelligent transportation systems, enabling seamless information exchange among vehicles to enhance road safety, traffic efficiency, and overall driving experience. However, the secure transmission of sensitive data between vehicles remains a critical concern due to potential security threats and vulnerabilities. This research paper focuses on investigating the security protocols employed in Vehicle-to-Vehicle communication systems. A comprehensive review and analysis of relevant literature and research papers is conducted to gather information on existing V2V communication security protocols and techniques. The analysis encompasses key areas, including authentication mechanisms, encryption algorithms, key management protocols, and intrusion detection systems specifically applicable to V2V communication networks. Within the context of real-world V2V environments, this study delves into the challenges and limitations associated with implementing these protocols. Moreover, to foster a deeper understanding, the paper investigates present communication protocols in the field of Internet of Things (IoT) that are tailored for V2V. Various parameters, such as band-width consumption, energy consumption, latency, and message size, are considered during the evaluation of these protocols to gauge their effectiveness. The research outcomes aim to provide a comprehensive understanding of the strengths and weaknesses of the current V2V communication security protocols. Furthermore, based on the findings, this paper will propose improvements and recommendations to enhance the security measures of the V2V communication protocol. Ultimately, this research will contribute to the development of more secure and reliable V2V communication systems, propelling the advancement of intelligent transportation technology.

Vehicle identification is an important task in traffic monitoring because it allows for efficient inference and provides a cause for action. Vehicle classification via deep learning and other approaches such as segmentation is a critical tool for re-identification. In this paper, instance segmentation is used to identify vehicle makes with license plate detection, allowing for better unique vehicle recognition for re-identification. A dataset is annotated and modified, for example, by segmenting it with polygonal bounding boxes that capture the vehicle's unique frontal features. In addition, license plate localization is performed. The results showed improved classification as well as a high mAP for the dataset when compared to previous approaches based on CNN and deformed CNN. Furthermore, a deep residual network and fully connected layer-based classification were utilized as the backbone for feature representation. Instance segmentation detects objects by segmenting and classifying regions of interest. The imbalance in the dataset is resolved using a mosaic-tiled approach, which produces greater precision than other approaches.

Under the goal of carbon peak and carbon neutrality, the carbon emission reduction of the automobile industry has attracted more and more attention in recent years. Electric vehicle has the dual attributes of power load and energy storage unit. With the increase of the number of electric vehicles, reducing carbon emissions through the collaborative interaction between electric vehicle and power network will become an important way to control carbon emissions in the automotive field. In this study, an optimization model of emission reduction benefits based on integrated development of electric vehicle and power grid is proposed, which explores the best technical way of synergy between power grid and electric vehicle, achieves the best carbon reduction effect and provides a model basis for large-scale demonstration application. Numerical simulations based on the real case in Beijing are conducted to validate the effectiveness of the proposed method.

Battery-powered electric vehicles (EVs) have emerged as an environmentally friendly and efficient alternative to traditional internal combustion engine vehicles, while their single-charge driving distances under cold conditions are significantly limited due to the high energy consumption of heating systems. Heat pumps can provide an effective heating solution for EVs, but their coefficient of performance (COP) is hampered by heat transfer deterioration due to frost accumulation. This study proposes a solution to this issue by introducing a microchannel heat exchanger (MHE) with superhydrophobic surface treatment (SHST) as a heat pump evaporator. A computational-fluid-dynamics MHE model and a dynamic heat pump model are developed and rigorously validated to examine the detrimental impact of frost accumulation on heat transfer, airflow resistance, and heat pump performance. When the frost layer thickness is 0.8 mm at a given air-side velocity of 1.0 m/s, the air-side heat transfer coefficient can be reduced by about 75%, and the air-side pressure drop sharply increases by 28.4 times. As frost thickness increases from 0 to 0.8 mm, the heating effect drops from 3.97 to 1.82 kW, and the system COP declines from 3.17 to 2.30. Experimental results show that the frost thickness of the MHE with SHST reaches approximately 0.4 mm after 30 minutes, compared to that of 0.8 mm of the MHE without SHST, illustrating the defrosting capability of the superhydrophobic coating. The study concludes by comparing the performance of various heating methods in EVs to highlight the advantages of SHST technology. As compared to traditional heat pumps, the power consumption of the proposed system is reduced by 48.7% due to the defrosting capability of the SHST. Moreover, the single-charge driving distance is extended to 327.27 km, an improvement of 8.99% over the heat pump without SHST.

In the last decades, technological advances related to RNA manipulation enabled and expanded its application in vaccine development. This approach comprises synthetic single-stranded mRNA molecules that direct the translation of the antigen responsible for activating the desired immune response. The success of RNA vaccines depends on the delivery vehicle employed. Among the systems, yeasts emerge as a new approach to a natural delivery platform. The presence of β-glucans and mannans in its wall is responsible for the adjuvant action of this system. Yeasts are already employed to deliver protein antigens, with success and efficacy demonstrated through pre-clinical and clinical trials. Yeast β-glucan capsules, microparticles, and nanoparticles are capable of modulating host immune responses and have a high capacity to carry RNA and small molecules, with bioavailability upon oral immunization and with targeting to receptors present in anti-gen-presenting cells (APCs). Besides, yeasts are interesting vehicles for the protection and specific delivery of therapeutic vaccines based on shRNA or dsRNA. In this review, we present an overview of the attributes of yeast or its derivatives for the delivery of RNA-based vaccines, discussing their current challenges and prospects for using this promising strategy.

This paper develops a two-layer optimization approach that provides energy-optimal control for vehicles and traffic signal controllers. The optimizer in the first layer computes the traffic signal timings to minimize the total energy consumption levels of approaching vehicles from upstream traffic. The traffic signal optimization can be easily implemented in real-time signal controllers, and it overcomes the issues in the traditional Webster’s method of overestimating the cycle length when the traffic volume-to-capacity ratio exceeds 50 percent. The second layer optimizer is the vehicle speed controller, which calculates the optimal vehicle brake and throttle levels to minimize the energy consumption of individual vehicles. The A-star dynamic programming is used to solve the formulated optimization problem in the second layer to expedite the computation speed so that the optimal vehicle trajectories can be computed in real-time and can be easily implemented in simulation software for testing. The proposed integrated controller is first tested on an isolated signalized intersection, and then an arterial network with multiple intersections to investigate the performance of the proposed controller under various traffic demand levels. The test results demonstrate that the proposed integrated controller can greatly improve energy efficiency with fuel savings up to 17.7%, at the same time enhancing traffic mobility by up to 47.18% reduction in traffic delay and up to 24.84% reduction in vehicle stops.

The development of autonomous vehicles is becoming increasingly popular and gathering real world data is considered a valuable task. Many datasets have been published recently in the autonomous vehicle sector, with synthetic datasets gaining particular interest due to availability and cost. For a real implementation and correct evaluation of vehicles at higher levels of autonomy it is also necessary to consider human interaction, which is precisely something that lacks in existing datasets. In this article the UPCT dataset is presented, a public dataset containing high quality, multimodal data obtained using state of the art sensors and equipment installed onboard the UPCT’s CICar autonomous vehicle. The dataset includes data from a variety of perception sensors including 3D LiDAR, cameras, IMU, GPS, encoders, as well as driver biometric data and driver behaviour questionnaires. In addition to the dataset, the software developed for data synchronisation and processing has been made available. The quality of the dataset was validated using an end-to-end neural network model with multiple inputs to obtain speed and steering wheel angle and obtained very promising results.

This paper presents a cooperative parallel tabu search meta-heuristic for the vehicle routing problem with time windows. It is based on the scheme in which several search threads cooperate by asynchronously exchanging information on the best solutions identified. The exchanges are performed through a mechanism called adaptive memory which holds and manages a pool of solutions. This enforces the asynchronous strategy of information exchanges and ensures the independence of the individual search threads. Each of these independent threads implements a tabu search meta-heuristic. Comprehensive computational experiments and comparisons to best known solutions show that the proposed cooperative parallel tabu search algorithm is able to achieve 48 new best solutions on VRPTW benchmark instances.

The use of logistic regression models in data analysis and machine learning has expanded in recent years and has become the primary preference of researchers in risk assessment studies across a wide range of scientific fields. From the assessment of credit risk in financial institutions to the estimation of risk factors for traffic accidents or the identification of etiological factors for chronic diseases. All logistic models are natural extensions of the simple binary model, and their interpretation is based on it. Using the data of a cross-sectional study on the risk factors of traffic collisions, the two main extended models of logistic techniques, multinomial and ordinal logistic regression, are presented in the article in detail. Emphasis is placed on the use of ordinal regression since the outcome variable of the collision data is defined as ordinal measurement reflecting a latent continuous scale.

The purpose of this research is to present a thorough evaluation of the energy management system, which consists of hybrid energy storage systems, and its control algorithms, which may be used in electric vehicles. This paper outlines the characteristics of electric vehicles, research methods, analysis of the hybrid energy storage system architecture, converter topology, and energy management techniques. The strength and co-occurrence of keywords over the past ten years are shown in this study using a systematic research framework for performing a literature review and using keyword analysis techniques. The study reveals a pattern of recently and frequently used terms in works of literature. Consequently, their suitability, benefits, and drawbacks are assessed. In this study, the hybrid energy storage system and converter circuit architecture are evaluated and rated. Non-isolate DC-DC converter converter connected to SC is a suitable configuration for the hybrid converter because it is simple to build, reliable, and has minimal loss/weight/cost, which improves vehicle performance. In terms of the application of control strategies, it is shown that deterministic and fuzzy rule-based control techniques are successfully assessed using real-scale vehicle experiments and selected for manufacturing. On the other hand, real-time optimization-based energy management techniques have been effectively shown in lab-scale tests and may be used in a future real-scale vehicle.

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and release chemical dispersants used during ocean cleanup missions to break-up oil molecules. Firstly, the mathematical models of the Medusa class of marine robots and quadrotor aircrafts are introduced, followed by the design of single vehicle motion controllers that allow these vehicles to follow a parameterized path individually using Lyapunov based techniques. At a second stage, a distributed controller using event triggered communications is introduced, enabling the vehicles to perform cooperative path following missions according to a pre-defined geometric formation. In the next step, a real time path planning algorithm is developed that makes use of a camera sensor, installed on-board the quadrotor. This sensor enables the detection in the image of which pixels encode parts of a chemical spill boundary and use them to generate and update in real time a set of smooth B-spline based paths for all the vehicles to follow cooperatively. The performance of the complete system is evaluated by resorting to 3-D simulation software, making it possible to simulate visually a chemical spill. Results from real water trials are also provided for parts of the system, where two Medusa vehicles are required to perform a static lawn-mowing path following mission cooperatively at the surface of the water.

The use of unmanned aerial aircrafts (UAVs) is governed by strict regulatory frameworks that prioritize safety. To guarantee safety, it is necessary to acquire and maintain situational awareness (SA) throughout the operation. Existing Canadian regulations require pilots to operate their aircrafts in visual line-of-sight. Therefore, the task of acquiring and maintaining SA primary falls to the pilots. However, the development of aerial transport is entering a new era with the adoption of a highly dynamic and complex system known as advanced air mobility (AAM), which involves UAV operating autonomously beyond visual line-of-sight. SA must therefore be acquired and maintained primarily by each UAV through specific technologies and procedures. In this paper, we review these technologies and procedures in order to decompose the SA of the UAV in the AAM. We then use the system modeling language to provide a high-level structural and behavioral representation of the AAM as a system having UAV as its main entity. In a case study, we analyze one of the flagships UAVs of our industrial partner. Results show that this UAV doesn’t have all the technologies and methodologies necessary to achieve all the identified SA goals identified for the safety of the AAM. This work is a theoretical framework intended to contribute to the realization of the AAM, and we also expect to impact the future design and utilization of UAVs.

Cooperative localization under complex urban environments has become a solution to replace the Global Navigation Satellite System (GNSS) positioning. Due to utilizing distance measured and information exchanged between vehicles, cooperative localization results in high computational complexity and heavy communication overhead. This paper proposes a cooperative localization method based on evolutionary coalitional game theory, which implements vehicles' location estimation with less communication cost. We select the neighboring vehicles to form a coalition based on the node's square position error bound and communication cost. The location is obtained via exchanging information between vehicles. It is evident from the simulations and results that the proposed method holds low communication overhead while maintaining localization accuracy.

End-of-life electric vehicle (EV) batteries can be reused to reduce their environmental impact and economic costs. However, the growth of a second-life market is limited by the lack of information on the characteristics and performance of these batteries. As the volume of end-of-life EVs may exceed the amount of batteries needed for stationary applications, investigating the possibility of repurposing them in mobile applications is also necessary. This article presents an experimental test that can be used to collect the data necessary to fill a battery passport. The proposed procedure can facilitate the decision making process regarding the suitability of a battery for reuse at the end of its first life. Once the battery passport has been completed, the performance and characteristics of the battery are compared with the requirements of several mobile applications. Mobile charging stations and forklift trucks were identified as relevant applications for the reuse of high capacity prismatic cells. Finally, a definition of a state of health (SoH) is proposed to track the suitability of the battery during use in the second life application considering not only energy but also power and efficiency of the battery. This SoH shows that even taking into account accelerated ageing data, a repurposed battery can have an extended life of 11 years at 25~°C. It has also been shown that energy fade is the most limiting performance for lifetime and that cell-to-cell variation should be tracked as it has been shown to have a significant impact on battery life.

This paper provides a comprehensive overview of recent advancements in autonomous electric vehicle (AEV) within the specified region. It elaborates on the progress and comparative analysis of diverse subsystems, including energy storage, cell balancing for battery systems, vehicle charger layouts, electric vehicle motor mechanisms, and braking systems. Furthermore, this paper showcases several prototype autonomous electric vehicles as conclusive study findings.

Rapid advancements in the fifth generation (5G) communication technology and mobile edge computing (MEC) paradigm lead to the proliferation of unmanned aerial vehicles (UAV) in urban air mobility (UAM) networks, which provide intelligent services for diversified smart city scenarios. Meanwhile, the widely deployed internet of drones (IoD) in smart cities also brings up new concerns on performance, security, and privacy. The centralized framework adopted by conventional UAM networks is not adequate to handle high mobility and dynamicity. Moreover, it is necessary to ensure device authentication, data integrity, and privacy preservation in UAM networks. Thanks to characteristics of decentralization, traceability, and unalterability, Blockchain is recognized as a promising technology to enhance security and privacy for UAM networks. In this paper, we introduce LightMAN, a lightweight microchained fabric for data assurance and resilience-oriented UAM networks. LightMAN is tailored for small-scale permissioned UAV networks, in which a microchain acts as a lightweight distributed ledger for security guarantees. Thus, participants are enabled to authenticate drones and verify the genuineness of data that is sent to/from drones without relying on a third-party agency. In addition, a hybrid on-chain and off-chain storage strategy is adopted that not only improves performance (e.g,.latency and throughput) but also ensures privacy preservation for sensitive information in UAM networks. A proof-of-concept prototype is implemented and tested on a Micro Air Vehicle Link (MAVLink) simulator. The experimental evaluation validates the feasibility and effectiveness of the proposed LightMAN solution.

This manuscript compares deterministic artificial intelligence to model following control applied to DC motor control, including evaluation of the threshold computation rate to let unmanned underwater vehicles correctly follow the challenging discontinuous square wave command signal. The approaches presented in the main text are validated in MATLAB®, where the motor process is discretized at multiple step sizes, which is inversely proportional to the computation rate. The performance is evaluated by the error mean and standard deviation. With a large step size, discrete deterministic artificial intelligence shows a larger error mean than the model-following self-turning regulator approach (benchmark selection). However, the performance gets optimized with the step size decreased. The error mean is close to the continuous deterministic artificial intelligence when the step size is reduced to 0.2 seconds, which means that the computation rate and the sampling period restrict discrete deterministic artificial intelligence. In that case, the continuous deterministic artificial intelligence is the most feasible and reliable selection for future applications on unmanned underwater vehicles since it is superior to all the approaches with multiple computation rates.

Electrical microgrids are deemed to be the future of modern power systems. Microgrids are sophisticated, decentralized, and self-sufficient small-scale power systems consisting of various resources ranging from wind turbines, solar photovoltaics, electric vehicles, smart energy storage, and complex communication infrastructure. However, renewable energy sources such as solar photovoltaics and wind-based generators are highly intermittent, and if not appropriately planned, they can compromise the stability of the grid. Formal methods can define and analyze the functionality and behavior of any system and show if the system design is correct before the actual system is implemented. Although formal methods have been around for many years, it is surprising that little to none are utilized in the design of safety-critical electrical power systems. Currently, in modeling microgrids, few to no attempts of formalization are being used to improve the design reliability and reduce system operating costs and time. This work demonstrates how complex systems such as microgrids can be modeled elegantly using a formal specification method. In this work, the Z state-based formal specification language (Z-Method) is used to model and verify microgrid designs. In this work, 3-interconnected microgrid systems with a high penetration level of solar and wind-based renewable energy sources with plugin hybrid electric vehicles (PHEV) as battery energy storage systems (BESS) are modeled using the Z-method. To the best of authors, the knowledge presented formal method is one of the first reported attempts in modeling microgrid communities using Software Engineering formalism.

This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

In order to reduce the large damage caused by train derailment, protective facilities of various shapes and conditions can be installed on railroad tracks. These protective facilities are referred to as derailment containment provisions (DCPs) and three different types are used worldwide. However, there are no clear standards for DCPs design such as installation location, size, and design load, and performance verification of DCPs installed in the actual railway field is not sufficiently performed. In this paper, the functionality of DCPs is analyzed through the full-scale derailment test. In order to propose a method for estimating the collision load acting on the DCP type I after derailment, the experimental results and simulation results are compared. The function of DCP type I according to the change of the vehicle's center of gravity is identified through comparative analysis of the post derailment behavior.

Electro-mechanical braking(EMB) which represents development direction of autonomous and intelligent braking plays very useful role on enhancing the braking response performance and intelligence level for mine underground electric trackless rubber-tired vehicle (ETRV). However,there is no Electro-Mechanical Brake system applied practically in coal mine UTRV until now.The accurate control of braking clamping force can determine the length and precision of braking distance of mine ETRV.In addition,because of poor working conditions in underground coal mine tunnel ,braking clamping force sensor may be easy to occur failure,which may cause vital accident.Therefore,A cascaded three-closed-loop EMB system with a positive clamping force sensor or force estimator built for ETRV is established to achieve autonomous elimination and reset of braking clearance and reliable braking force tracking ability via utilizing the electro motor rotor angle displacement and hysteresis effect of mechanical components in this EMB.The results of simulation and experiment indicate that clamping force response is faster than traditional hydraulic disk braking system and proposed force estimator presents good fault-tolerant ability when sensor is fault.This EMB can replace the current hydraulic brake system to enhance automation level of braking control for ETRVs and braking force response performance, reduce oil pollution and cost of maintenance, which is also key technology support for really precise motion control of mine autonomous driving vehicles.

This paper presents a new methodology to evaluate the performance of an electric vehicle hybrid power system consisting of a fuel cell and a supercapacitor. The study compares the results with those obtained for a battery-electric vehicle. The methodology extends to three driving modes, ECO, NORMAL, and SPORT, corresponding to conservative, moderate, and aggressive acceleration, and three driving conditions, low, medium, and high energy demand. We develop a simulation process to evaluate the energy consumption and the energy rate of a specific electric vehicle used as a prototype for the study. The methodology applies to a driving route that includes acceleration, deceleration, braking, and constant speed segments reproducing standard driving conditions in urban journeys. The proposed method considers combined driving modes, ECO, NORMAL, and SPORT, in each acceleration process, with variable fractions, 0% to 100%, for each mode. This methodology optimizes the simulation results as it fits the current driving way in urban environments. The simulation results show an average reduction in energy consumption of 37% and 27.1% in vehicle weight, contributing to lower energy use. The study concludes that using a hybrid power system, fuel cell/supercapacitor, instead of a battery in electric vehicles is beneficial, especially in journeys with frequent acceleration processes.

With the automotive industry moving towards automated driving, sensing is increasingly important in enabling technology. The virtual sensors allow data fusion from various vehicle sensors and provide a prediction for measurement that is hard or too expensive to measure in another way or in the case of demand on continuous detection. In this paper, virtual sensing is discussed for the case of vehicle suspension control, where information about the relative velocity of the unsprung mass for each vehicle corner is required. The corresponding goal can be identified as a regression task with multi-input sequence input. The hypothesis is that the state-of-art method of Bidirectional Long-Short Term Memory (BiLSMT) can solve it. In this paper, a virtual sensor has been proposed and developed by training a neural network model. The simulations have been performed using an experimentally validated full vehicle model in IPG Carmaker. Simulations provided the reference data which was used for Neural Network (NN) training. The extensive dataset covering 26 scenarios has been used to obtain training, validation and testing data. The Bayesian Search was used to select the best neural network structure using root mean square error as a metric. The best network is made of 167 BiLSTM, 256 fully connected hidden units and 4 output units. Error histograms and spectral analysis of the predicted signal compared to the reference signal are presented. The results demonstrate the good applicability of neural network-based virtual sensors to estimate vehicle unsprung mass relative velocity.

This article presents a state-of-the-art literature review to understand people’s perceptions and opinions of Autonomous Vehicles (AVs) and the factors that influence AV adoption. A strategic literature search was conducted to select articles for this review. Most of the articles were published within the last five years and they used a household questionnaire survey to collect data. Mostly, they used statistical and econometric methods to evaluate the factors that affect people’s intentions to adopt AVs. The results show that psychological factors often appear as the most important internal factors of people’s willingness to adopt AVs. Additionally, other internal factors such as the socioeconomic profile of individuals and their household, and knowledge and familiarity with AV technologies would affect AV adoption tendencies. User attributes also indirectly affect AV adoption by influencing the psychological factors of users. We identify several critical external factors such as opportunities (e.g., safety and security, low congestion, energy use) and challenges (e.g., system failure, privacy breach, and legal issues), while another influential group includes transportation factors (e.g., travel mode, distance, and time), urban form (e.g., urban/rural, density, land use diversity), affinity to new technology, and the institutional regulatory environment. We discuss some recommendations for policy makers, auto industries, and private stakeholders to formulate policies and strategies to increase market share of AVs. Finally, we identify some limitations of previous studies and provide a blueprint for future research on AV adoption.

With the continuous improvement and observable benefits of electric vehicles (EVs), major logistic companies are introducing more EVs into their conventional fleets. This gives rise to a new type of vehicle routing problem with mixed vehicles, where heterogeneous internal combustion vehicles (ICVs) and electric vehicles are considered in route planning. In addition, certain deliveries that are not efficient on any type of vehicles, are outsourced to third-party common carriers. In this paper, we define this problem as a mixed vehicle routing problem with common carriers (MVRPC). The objective of such problems is to minimize the transportation costs by considering routes with ICVs and EVs, the possibility of visiting recharging stations, outsourcing options, and drivers’ layover regulations. This variant of the vehicle routing problems has many practical applications, particularly in the design of long-haul transportation and last-mile delivery services. Effective MVRPC solutions play a key role in promoting the going Green image and optimally allocating resources. The problem has received limited attention in the literature likely because addressing all the needed aspects is especially challenging. To solve the large-scale problem, we develop a branch-and-cut pricing framework that relies on strong cuts and customized labeling algorithms. Numerical experiments highlight the effectiveness of our algorithm. This success can be attributed to tailored critical resources, dynamically bounded bidirectional labeling procedures, strong dominance criteria, and implementation strategies.

As V2X technology develops, acute problems related to reliable and secure information exchange between network objects in real time appear. The article aims to solve the scientific problem of building a network architecture for reliable delivery of correct and uncompromised data within the V2X concept to improve the safety of road users, using blockchain technology and mobile edge computing (MEC). The authors present a formalized mathematical model of the system, taking into account the interconnection of objects and V2X information channels, and an energy-efficient algorithm of traffic offloading to the MEC server. The paper presents the results of application of blockchain technologies and mobile edge computing in the developed system, their description, evaluation of advantages and disadvantages of the implementation.

The connectivity level of last-generation vehicles is constantly on the rise. The combined use of Vehicle-To-Everything (V2X) connectivity and autonomous driving can provide remarkable benefits through the optimization of the route and speed trajectory. In this framework, this paper focuses on vehicle eco-driving optimization in a connected environment. The virtual test rig of a premium segment passenger car was used for generating the simulation scenarios. The benefits, in terms of energy and time savings, that the introduction of V2X communication, integrated with cloud computing, can have in a real-world scenario were assessed. The Reference Scenario is a pre-defined Real Driving Emissions (RDE) compliant route, while the simulation scenarios were generated by assuming two different penetration levels of V2X technologies. The associated energy minimization problem is formulated and solved by means of a global optimization algorithm, i.e., Dynamic Programming (DP). The optimization framework includes information coming from the surrounding environment, e.g., traffic lights state, speed limits, distance to travel, etc. The simulations show that introducing a smart infrastructure along with optimizing the vehicle speed in a real-world route can potentially reduce the required energy by 54% while shortening the travel time by 38%. Finally, a sensitivity analysis is performed on the bi-objective optimization cost function to find a set of Pareto optimal solutions, between energy and travel time minimization.

Recently, inter-vehicle communication, which helps to avoid collision accidents (by driving safety support system) and facilitate self-driving (by dissemination of road and traffic information), has attracted much attention. In this paper, in order to efficiently collect road / traffic information in the request / response manner, first a basic method, Content-centric network (CCN) for Vehicular network (CV), is proposed, which applies CCN cache function to inter-vehicle communication. Content naming and routing, which take vehicle mobility into account, are investigated. On this basis, the CV method is extended (named as ECV) to avoid the cache miss problem caused by vehicle movement, and is further enhanced (named as ECV+) to more efficiently exploit cache buffer in vehicles, caching content according to a probability decided by channel usage rate. Extensive evaluations on network simulator Scenargie, with realistic open street map, confirm that the CV method and its extensions (ECV, ECV+) effectively reduce the average number of hops of data packets (by up to 47%, 63%, 83% respectively) and greatly improve the content acquisition success rate (by up to 356%, 444%, 689%, respectively), compared to the method without cache mechanism.

Recent empirical work has revealed that drivers have different lane change strategies. These strategies help to understand driver heterogeneity and decision stochasticity, which are both often lacking in microscopic models. In this paper we generalize the lane change strategies in a theory for social interactions. The theory introduces a mechanism by which two new driver traits, ego-speed sensitivity and socio-speed sensitivity, endogenously influence other driver traits that govern lane change behaviour such as desired speed, desired headway and lane change desire. A key concept in this mechanism is that drivers are not just affected by what happens in front of them, but also by what they observe in their rear-view mirrors. The idea is that drivers reduce their headways to exert (social) pressure onto leading drivers (on the same or adjacent lanes), which may force them to increase speed, change lanes, or conversely, to refrain from changing lanes. We refer to this reduction of the headway as tailgating. Through an example implementation of the theory, we demonstrate that these social interactions may have a profound impact on several key (mesoscopic) traffic flow characteristics. Our results show that these new driver interactions influence the number of lane changes, platoon lengths, and headway variance. As such, the theory improves our description and understanding of traffic flow and consequently it paves the path for more realistic traffic models.

This research proposes a roof-mounted auxiliary power supply (APS) system for 600VDC low-floor light rail vehicle (LRV). The proposed APS system consists of five parallel-connected dc-ac inverter modules (modules 1-5). The inverter modules 1 and 2 are three-phase dc-ac inverters for compressor motors of the cooling system, and the inverter modules 3 and 4 are three-phase dc-ac inverters for air pump motors of the braking system. The inverter module 5 is single-phase dc-ac inverter for 220VAC power supply for onboard electric loads. Simulations and experiments were carried out under variable load torque and output frequency for modules 1 – 4; and under full and no resistive loads for the inverter module 5. The measured total input current and total input power of the proposed APS system under full load condition are 118.76A and 71.25kW. Essentially, the proposed APS system is operationally applicable to the 600VDC low-floor RLV. Besides, the novelty of this research lies in the use of five parallel-connected inverter modules, unlike in the conventional APS systems which require three-phase output transformer or isolated dc-dc converter. Specifically, the proposed APS system requires neither three-phase output transformer nor isolated dc-dc converter.

In this study, the external magnetic field emitted by a wireless power transfer (WPT) system and the internal electric field induced into human body models during recharging operations of a compact electric vehicle (EV) are evaluated. To this aim an ad-hoc formulation for the source modeling is coupled with a commercial software that performs numerical dosimetry. Specifically, two realistic anatomical models both in a driving position and in a standing posture are considered, and the chassis of the EV is modeled either as a currently employed aluminum alloys and as a futuristic carbon fiber composite panel. Aligned and misaligned coil configurations of the WPT system are considered as well. The analysis of the obtained results shows that the ICNIRP reference levels are exceeded in the driving position, especially for the carbon fiber chassis, whereas no exceedance is observed in terms of basic restrictions, at least for the considered scenarios.

The vehicles number continuously growing lead to increasingly intense and congested traffic and it will additionally demand the braking system, and drivers behave more aggressively and as result is required that the braking system to be durable and efficient. For this is necessary the study the braking system behavior in conditions of intense and moderate traffic to increase the safety of traffic participants, respectively to demonstrate the need for more frequent replacement of some braking system elements. Thus, on a vehicle were performed a series of successive tests, through which the degree of wear of the brake pads and discs was monitored periodically and as a result the efficiency evolution of the braking system. The tests were carried out both in laboratory (on dynamometer) and in traffic to establish the efficiency of the braking system according to some parameters considered essential. The experimental tests showed that the recommendations regarding the frequency of replacement of brake pads and disks are inconsistent with their actual wear. Therefore, the aim of this paper is the establishment of the braking system efficiency of an auto-vehicle, subject to testing depending on the auto-vehicle mass, travel speed, distance driven, and braking time, based on experimental on stand and in-traffic tests, according the road safety regulations.

Contract violations, uncontracted load, and the alternating nature of electricity are the key causes of the frequency irregularity and Unscheduled Interchange (UI) / Deviation Settlement pricing in a restructured organized smart grid. These variations cause the frequency to fluctuate. The topic of frequency variation is discussed in this paper under various market circumstances. To correct frequency discrepancies under various market conditions, a fleet of electrical vehicles (EV) is offered as a distributed energy storage (DES). A bidirectional charger with a PI controller is suggested for the EV bidirectional power transfer. It is suggested to use a fuzzy logic (FL) controller to modify the proportional-integral (PI) controller gains. It has been noted that utilizing such a new approach lowers the UI prices.

The evolution of transportation has been inextricably tied to the progress of civilization. Through innovation, the automobile business has been working to improve safety, quality, and compliance with environmental regulations. Electric vehicles have made significant strides in this area, but optimizing their efficiency requires a special focus because they expend energy that can be recovered in a variety of ways. Energy harvesting, a cutting-edge technology that captures wasted energy from vehicles, has recently received a lot of attention as it constitutes a means to improve the efficiency of electric vehicles. Dissipated energy can be converted into electricity using regenerative energy recovery systems and put to various uses. This study tenders a thorough examination into energy recovery technologies which could be applied to the various types of energy dissipated in electric vehicles. Firstly, the paper investigates the possible sources of energy recoverable from an electric vehicle, as well as the various types of energy dissipated. Secondly, the article examines the energy recovery technologies most frequently used in vehicles, categorizing them according to the type of energy and application. Finally, it determines that with further research and development, energy harvesting holds considerable potential for improving the energy efficiency of electric vehicles. New and innovative methods for capturing and utilizing wasted energy in electric vehicles can be established. The potential benefits of applying energy recovery systems in electric vehicles is a vital issue for the automobile industry to focus on due to the potential benefits involved. The ongoing progress currently being made in this field is expected to play a significant role in shaping the future of transportation.

To enable the deployment of battery-electric vehicles (BEV) as passenger cars in the private transport sector, a suitable charging infrastructure is crucial. In this paper a methodology for efficient spatial distribution of charging infrastructure is evaluated by investigating a scenario with a market penetration of BEVs of 100 percent (around 1.3 million vehicles). It aims towards the development of various charging infrastructure scenarios - including public and private charging - which are suitable to cover the charging demand. Therefore, these scenarios are investigated in detail with focus on number of public charging points, their spatial distribution, the available charging power and the necessary capital costs. For the creation of those charging infrastructure scenarios a placement model is developed. It uses the data of a MATSim (Multi-Agent Transport Simulation) traffic simulation of the metropolitan area of Berlin to evaluate and optimize different distributions of charging infrastructure. The model uses a genetic algorithm and the principle of multi-objective optimization. The capital cost of the charging points and the mean detour car drivers must cover additionally are used as optimization criteria. Using these criteria should lead to cost efficient infrastructure solutions which provide high usability at the same time. The main advantage of the method selected is that multiple optimal solutions with different characteristics can be found and suitable solutions can be selected by using other criteria subsequently. The optimized charging infrastructure solutions show capital costs between 624 and 2950 million euro. Users must cover an additionally mean detour of 254m to 590m per charging process to reach an available charging point. According to the results a suitable ratio between charging points and vehicles is between 11:1 and 5:1. A share of fast charging infrastructure (&gt;50kW) of less than ten percent seems to be sufficient, if it is situated at main traffic routes and highly frequented places.

This study focuses on the recently emerged Internet of Vehicles (IoV) concept to provide an integrated agricultural vehicle/machinery tracking system through two leading low power wide area network (LPWAN) technologies, namely LoRa and NB-IoT. The main aim is to investigate the theoretical coverage limits by considering the urban, suburban, and rural environments. Two vehicle tracking units (VTUs) have been designed for LoRa and NB-IoT connectivity technologies that can be used as reference hardware in coverage analysis. On this basis, the closed-form explicit analytical expressions of the maximum transmission range have been derived using the Hata path loss model. Besides, the computer simulation results have been validated via the maps from XIRIO online radio planning tool. In light of the obtained findings, several evaluations have been made to enhance the LPWAN-based agricultural vehicle tracking feasibility in smart farms.

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtained at each position with the error information from the INS, the posterior Cram\'er-Rao bound (PCRB) of GAINS is derived in this paper. The PCRB is the estimated lower bound of position variance for navigation along the planned trajectory. And the sum of PCRB is used as the minimum cost from the initial state to the current state in the state space, and the position error prediction variance of inertial navigation system (INS) is used as the minimum estimated cost of the path from the current state to the goal state in the A* algorithm. Thus, a path planning method with optimal navigation accuracy is proposed. According to simulation results, traveling along the path planed by the proposed method can rapidly improve the positioning accuracy while consuming just slightly more distance. Even when measuring noise changes, the planned path can still maintain optimal positioning accuracy, and high positioning accuracy is possible for any trajectory located within a certain range of the planned path.

The performance of a small reconfigurable unmanned aerial vehicle (UAV) is evaluated, 1 combining a multidisciplinary approach in computational analysis of additive manufactured struc- 2 tures, fluid dynamics, and experiments. Reconfigurable UAVs promise cost savings and efficiency 3 without sacrificing performance, while demonstrating versatility to fulfill different military mission 4 profiles. The use of computational fluid dynamics (CFD) in UAV design produces higher accuracy 5 aerodynamic data, which is particularly important for complex aircraft concepts such as blended 6 wing bodies. To address challenges relating to anisotropic materials, the Tsai-Wu failure criterion is 7 applied to structural analysis, using CFD solutions as load inputs. Aerodynamic performance results 8 show the low-speed variant attains an endurance of 1 hour, 48 minutes, whereas for its high-speed 9 counterpart, it is 29 minutes at 66.7% higher cruise speed. Each variant serves different aspects of 10 small UAS deployment in combat, with low-speed envisioned for close surveillance, and high-speed 11 for incursions. Experimental and simulation results suggest room for design iteration, in wing area 12 and geometry adjustments. Structural simulations demonstrated the need for airframe improvements 13 in the low-speed configuration. This paper highlights the potential of reconfigurable UAVs to disrupt 14 the industry, advocating for further research and design improvements.

The goal of this paper is to investigate the aerodynamic and aerothermodynamic behaviour of the Schiaparelli capsule after the deployment of the supersonic disk-gap-band (DGB) parachute during its re-entry phase into the Martian atmosphere. Large-Eddy Simulations of compressible flows have been performed over the capsule and the flexible DGB parachute to analyse the behaviour of the turbulent wake behind the capsule and its interaction with the parachute flow-field. The simulations are performed at an altitude of 10 km and a Mach number around 2, i.e., a regime in which large canopy-area oscillations are observed. These simulations have shown a strong interaction between the bow shock, the recompression and expansion waves, high pressure, density and temperature gradients, heat flux towards the airstream and the body implying turbulence generation, ingestion, and amplification through the shock waves. This nonlinear turbulence flowfield explains the non-axisymmetric behaviour around and behind the parachute that caused the uncontrolled capsule oscillation and the mission failure.

In response to reducing the energy cost of unmanned surface vehicles (USVs) while overcoming the low accuracy problem in surface target detection, a lightweight detection algorithm with multi-scale feature fusion is proposed. Based on the popular one-stage lightweight Yolov7-tiny target detection model, a lightweight extraction module is designed first by introducing the multiscale residual module to reduce the number of parameters and computational complexity while improving accuracy. The Mish and SiLU activation functions are used to enhance network feature extraction. Second, the path aggregation network employs coordinate convolution to strengthen spatial information perception. Finally, the dynamic head, which is based on the at-tention mechanism, improves the representation ability of object detection heads without any computational overhead. According to the experimental findings, the proposed model has 22.1% fewer parameters than the original model, 15% fewer GFLOPs, a 6.2% improvement in mAP@0.5, a 4.3% rise in mAP@0.5:0.95, and it satisfies the real-time criteria. According to the research, the suggested lightweight water surface detection approach includes a lighter model, a simpler computational architecture, more accuracy, and a wide range of generalizability. It performs bet-ter in a variety of difficult water surface circumstances.

With Unmanned Aerial Vehicles (UAV), a swift response to urgent needs like search \& rescue missions or medical deliveries can be realized. Simultaneously, the legislator is establishing so-called geographical zones, which restrict UAV operations to mitigate the air and ground risk to third parties. These geographical zones serve a particular safety interest, but they may also hinder the efficient usage of UAVs on time-critical missions with a range-limiting battery capacity. In this study, we address a facility location problem for up to two UAV hangars with a robust optimization model considering demand hotspots, geographical zones as restricted areas, a standard mission to satisfy battery capacity constraints, and the impact of wind scenarios. To this end, water rescue missions are used exemplary, for which positive and negative location factors for UAV hangars and areas of increased drowning risk as demand points are derived from open-source georeferenced data. Optimal UAV mission trajectories are computed with an A* algorithm considering five different restriction scenarios. As this pathfinding is very time-consuming, binary occupancy grids and image processing algorithms accelerate the computation by identifying either entirely inaccessible or restriction-free connections beforehand. For the optimal UAV hangar locations, we maximize accessibility while minimizing the service time to the hotspots, resulting in a decrease from the average service time of 570.4 s for all facility candidates to 351.1 s for one and 287.2 s for two optimal UAV hangar locations.

Recently, the number of vehicles on the road, especially in urban centers, has increased dramatically due to the increasing trend of individuals towards urbanization. As a result, manual detection and recognition of vehicles (i.e., license plates and vehicle manufacturer) become an arduous task and beyond human capabilities. In this paper, we have developed a system using transfer learning-based DL techniques for automatic identification of Jordanian vehicles. The YOLOv3 (You Only Look Once) model was re-trained using transfer learning to accomplish the license plate detection, character recognition, and vehicle logo detection. While VGG16 (Visual Geometry Group) model was retrained to accomplish the vehicle logo recognition. To train and test these models, four datasets have been collected. The first dataset consists of 7,035 Jordanian vehicle images, the second dataset consist of 7,176 Jordanian license plates, and the third dataset consists of 8,271 Jordanian vehicle images. These datasets have been used to train and test the YOLOv3 model for Jordanian license plate detection, character recognition, and vehicle logo detection, respectively. While the fourth dataset consists of 158,230 vehicle logo images used to train and test the VGG16 model for the vehicle logo recognition. Text measures were used to evaluate the performance of our developed system. Moreover, mean average precision (mAP) measure was used to evaluate the YOLOv3 model of the detection tasks (i.e., license plate detection and vehicle logo detection). For license plate detection, the precision, recall, F-measure, and mAP were 99.6%, 100%, 99.8%, and 99.9%, respectively. While for character recognition, the precision, recall, and F-measure were 100%, 99.9%, and 99.95%, respectively. The performance of license plate recognition stage was evaluated by evaluating these two sub-stages as a sequence, where the precision, recall, and F-measure were 99.8%, 99.8%, and 99.8%, respectively. Furthermore, for vehicle logo detection, the precision, recall, F-measure, and mAP were 99%, 99.6%, 99.3%, and 99.1%, respectively, while for vehicle logo recognition, the precision, recall, F-measure were 98%, 98%, and 98%, respectively. The performance of vehicle logo recognition stage was evaluated by evaluating these two sub-stages as a sequence, where the precision, recall, and F-measure were 95.3%, 99.5%, and 97.4%, respectively.

The paper presents the measurement campaign carried out on a real-world motorway stretch of Hungary with the participation of both industrial and academic partners from Austria and Hungary. The measurement included vehicle based as well as infrastructure based sensor data. The obtained results will be extremely useful for future automotive R&amp;D activities due to the available ground truth for static and dynamic content. The aim of the measurement campaign was twofold. On the one hand, road geometry was mapped with high precision in order to build Ultra High Definition (UHD) map of the test road. On the other hand, the vehicles - equipped with differential Global Navigation Satellite Systems (GNSS) for ground truth localization - carried out special test scenarios while collecting detailed data using different sensors. All test runs were recorded by both vehicles and infrastructure. As a complementary task, the available 5G network was monitored and tested. The paper also showcases application examples based on the measurement campaign data, in which the added value of having access to the ground truth labeling and the created UHD map of the motorway section becomes apparent. In order to present our work transparently, a part of the measured data have been shared openly such that interested automotive as well as academic parties may use it for their own purposes.

The application of deep learning in the detection of Synthetic Aperture Radar (SAR) targets has been primarily limited to large objects such as ships and airplanes, with much less popularity in detecting SAR vehicles. The complexities of SAR imaging make it difficult to distinguish small vehicles from the background clutter, creating a barrier to data interpretation and the development of Automatic Target Recognition (ATR) in SAR vehicles. The scarcity of datasets has inhibited progress in SAR vehicle detection in the data-driven era. To address this, we introduce a new synthetic dataset called Mix MSTAR, which mixes target chips and clutter backgrounds with original radar data at the pixel level. Mix MSTAR contains 5,392 objects of 20 fine-grained categories in 100 high-resolution images, predominantly 1478x1784 pixels. The dataset includes various landscapes such as woods, grasslands, urban buildings, lakes, and tightly arranged vehicles, each labeled with Oriented Bounding Box (OBB). Notably, Mix MSTAR presents fine-grained object detection challenges by using the Extended Operating Condition (EOC) as a basis for dividing the dataset. Furthermore, we evaluate 9 benchmark rotated detectors on Mix MSTAR and demonstrate the fidelity and effectiveness of the synthetic dataset. To the best of our knowledge, Mix MSTAR represents the first public multi-class SAR vehicle dataset designed for rotated object detection in large-scale scenes with complex background. Mix MSTAR is available at: https://github.com/TheGreatTreatsby/Mix-MSTAR-mmrotate.

Since the 1990’s, studies and pilot tests have been conducted to reduce traffic, accidents, and pollution due to urban freight transport (UFT). These ended up in several policies, regulations, and restrictions for UFT, such as low emission zones, delivery time windows, and vehicle size and weight restrictions. However, issues in UFT under regulatory measures still persevere. This study introduces an optimization framework for deriving an optimal combination of various types of vehicles with different capacities for vehicle replacement in UFT. This framework allows an understanding of how an urban freight company with a limited budget efficiently satisfies its freight demand within an urban area in the presence of regulatory measures by urban administrators. The introduced formulation, which is a mixed-integer linear programming, will assist the operator in choosing the best investment strategy for introducing new vehicles of certain types and sizes, for operation in different zones, into its fleet while gaining economic benefits and having a positive impact on the liveability of the urban area. Furthermore, a sensitivity analysis is performed to consider the effects of specific uncertain parameters on the total cost. The numerical results show that the share of electric vehicles in the fleet increases, and they are more competitive than diesel vehicles.

Carsharing has become increasingly popular in recent years as a sustainable transportation solution, offering individuals access to shared vehicles on a short-term basis. One-way carsharing, in particular, presents unique challenges due to its flexible nature, allowing users to pick up and drop off vehicles at different locations within a designated service area. This flexibility increases the service ridership but comes at the expense of vehicle imbalance among the stations, as some stations may have excess vehicles while other stations have vehicle shortages. Therefore, carsharing companies need to decide on strategies to ensure a balanced distribution of vehicles among the stations. This is essential as unbalanced vehicle distribution can lead to the unavailability of vehicles when needed or, conversely, result in an increased number of unnecessary rebalancing trips, thereby exacerbating traffic congestion and environmental pollution. Such issues can potentially undermine the overall contribution of carsharing to urban sustainability. To this end, this paper reviews the vehicle imbalance problem that arises in this field and the solution algorithms that solve them.

The predominance of traffic lights in urban settings often induces fluctuations in traffic patterns and energy utilization among vehicles. To counteract the adverse effects of traffic lights on the energy efficiency of electric vehicles (EVs), a Multi-Intersections-Based Eco-Approach and Departure strategy (M-EAD) is proposed. This strategy aims to enhance vehicle energy efficiency, traffic flow, and battery longevity, all while upholding satisfactory driving comfort. The M-EAD strategy unfolds in two distinct stages: the optimization of an eco-friendly green signal window and the refinement of speed trajectories. The initial stage tackles the optimization of traffic light green signal windows, underpinned by the minimization of travel delays via solving the shortest path problem. In the subsequent stage, a receding horizon framework takes center stage, leveraging an iterative dynamic programming algorithm to tackle the speed optimization challenge. The objective here is to curtail energy consumption and reduce battery wear by finding an optimal speed trajectory. Furthermore, the real-world efficacy of this approach is substantiated through on-road vehicle tests, attesting to its viability in actual road scenarios.

The energy stored in an electric vehicle's battery would be drawn and distributed to the electrical grid to better drive energy consumption within a microgrid that includes a renewable generator(s) managed by a specific energy management strategy. This concept, known as vehicle-to-grid technology: V2G, makes the energy stored in the electric vehicle's battery more beneficial by discharging it to the public grid during periods of high demand. In this study, we will consider a vehicle system connected to a microgrid, which includes a photovoltaic generator reported from the <<PROPRE.MA>> project in the city of Tangier. We will elaborate the study of a strategy of the car connected to this V2G network. This allows electricity to be stored when rates are low (off-peak hours) and then used when prices rise (peak hours). Otherwise, the solar energy will cover the owner's needs, and the surplus will be injected into the distribution network. This strategy will manage the solar power, the load power, the state of charge of the EV battery, the time of day and the driving scenario. Using two driving profiles, we will show the performance of the proposed energy management strategy and the percentage contribution of the photovoltaic array of the <<PROPRE.MA>> project in the city of Tangier.

Seasonal variations in atmospheric ultrafine particulate matter (PM0.1) were monitored in Bangkok, Thailand, from 2016 to 2017. PM0.1 bound organic carbon (OC), and elemental carbon (EC) were collected by a cascade air sampler that can collect PM0.1 and estimated by a thermal-optical carbon analyzer following the IMPROVE-TOR protocol. The annual average PM0.1 in Bangkok was 14.5 ± 4.7 µg/m3, higher than in large Asian cities like Shanghai and Hanoi. Biomass burning from neighboring areas was shown to increase the particle concentration. Apparent risings in carbon species as OC, EC, and OC/EC ratios in the wet and dry seasons were observed, and Char-EC/Soot-EC displayed that the PM0.1 in the Bangkok atmosphere was influenced mainly by the vehicle exhaust, even though the influence of biomass burning was more sensitive during the dry season. The effective carbon ratio (ECR) displays that carbonaceous aerosol is light-absorbing; the dry season increase contributed to climate and air quality. The finding of this work is of great importance to air pollutants control policies in urban areas.

This study presents a dynamic model of a passenger vehicle and analyzes its dynamic characteristics and responses. A dynamic vehicle model with seven degrees of freedom was established to analyze the behavior of a driving vehicle. The vehicle model had three degrees of freedom for the motion of the sprung mass and four degrees of freedom for the unsprung masses. For this model, the equations of motion were derived using Lagrange’s equation. To verify the model, the suspension deformations computed using the model were compared with the deformations measured through three actual vehicle driving tests which are the slalom, double lane change, and step steer tests. Furthermore, we investigated the effects of suspension stiffness, suspension damping, and anti-roll bar torsional stiffness on the dynamic characteristics and responses of the vehicle model. The developed dynamic vehicle model may help vehicle designers predict the dynamic responses of a vehicle through simulation without performing a driving test.

Personal Mobility Vehicle (PMV) which has an inward tilting angle turns with the lateral force due to large camber angle, so it is necessary to consider the lateral movement of the tire vertical load axis during turning. Although the steering torque mechanism are very different from those of automobiles, there are not many examples which studied the steering torque mechanism of PMV. In this paper, based on the effects of six components force acting on the tires, a method for setting the steering axis specifications is derived, including the geometrical minimization of steering moment disturbance due to the vertical load reaction force during turning. Although, automobile tires have a significant ground camber angle when traveling on rutted roads, they do not have it on slant roads because the vehicle body tilts along the road surface. On the other hand, in PMV, the vehicle body always keeps upright when traveling both on slanted roads and on rutted roads. Therefore, the tires have ground camber angles on both types of road surface. We study the straight running ability under such road surface disturbances based on the geometrical minimization of steering moment disturbance due to the vertical load reaction force during turning. This straight running ability can be a remarkable strong point of PMV with an inward tilt mechanism.

This work focuses on addressing the dynamic positioning and trajectory tracking problem for a 4 degree-of-freedom (DOF) unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. To tackle this problem, a disturbance observer-based control (DOBC) scheme is proposed. The scheme is structured around the model predictive control (MPC) method integrated with an extended active observer (EAOB). Compared to the conventional disturbance observer, the EAOB has the unique ability to handle both external disturbances and system/measurement noises simultaneously. The EAOB leverages a combination of sensor measurements and a system dynamic model to estimate disturbances in real-time, which allows continuous estimation and compensation of time-varying disturbances back to the controller. The proposed disturbance observer-based MPC (DOBMPC) is implemented by feeding the estimated disturbances back into the MPC’s prediction model, which forms a robust adaptive controller with a parameter-varying model. The proposed control strategy is validated through simulations in a Gazebo and Robot Operating System (ROS) environment. The results show that it can effectively reject unpredictable disturbances and improve the UUV’s control performance.

This paper attempts to develop a Dynamic Mode Decomposition (DMD) based Reduced Order Model (ROMs) which can quickly but accurately predict the forces and moments experienced by a road vehicle such that they be used by an on-board controller to determine the vehicle's trajectory. DMD can linearize a large dataset of high-dimensional measurements by decomposing them into low-dimensional coherent structures and associated time-dynamics. This ROM then also can be applied to predict the future state of the fluid flow. Existing literature on DMD is limited to low Reynolds number applications. This paper presents DMD analyses of the flow around an idealized road vehicle, called the Ahmed body, at a Reynolds number of 2.7E6. The high dimensional dataset used in this paper was collected from a computational fluid dynamics (CFD) simulation performed using Menter's shear stress transport (SST) turbulence model within the context of Improved Delayed Detached Eddy Simulations (IDDES). The DMD algorithm, as available in literature, was found to suffer nonphysical dampening of the medium-to-high frequency modes. Enhancements to the existing algorithm were explored, and a modified DMD approach is presented in this paper which includes: (a) a requirement of higher sampling rate to obtain higher resolution of data, and (b) a custom filtration process to remove spurious modes. The modified DMD algorithm thus developed was applied to the high Reynolds number, separation dominated flow past the idealized ground vehicle. The effectiveness of the modified algorithm was tested by comparing future predictions of force and moment coefficients as predicted by the DMD-based ROM to the reference CFD simulation data, and found to offer significant improvement.

In current electric vehicles, the traction battery is intended to store energy. When designing this battery different parameters must be taken into account in order to arrange the battery/module/cells in the mechanically and thermally safest configuration. Moreover, the battery layout must have a correct dynamic behavior in possible collisions. In the present study, different battery configurations plus added energy absorbers are analyzed. In order to do that, an internal combustion vehicle modeled with finite elements is applied as the reference model. The structural behavior of the different battery configurations in the event of a side collision is examined. Firstly, the safest arrangement is stablished, both with respect to cabin intrusion and thermal runaway propagation. Secondly, the safest arrangement that guarantees the safety of the occupants in the event of a side collision is analyzed but using the MADYMO. This software includes experimentally validated dummies which allow have an insight in the stresses experienced by occupants. On the one hand, the analysis states that the battery pack inclusion in the vehicle increases the stiffness of the car floor, resulting in fewer intrusions in the passenger compartment. Therefore, a greater safety for the occupants is reached. On the other hand, none of the configurations analyzed has shown enough safety against the phenomenon of Thermal Runaway.

Abstract: The Micro-Electro-Mechanical System (MEMS) LiDAR point cloud in autonomous vehicles has a large deflection range, which results in slow registration speed and poor applicability. To maximize speed, an improved NDT (Normal Distribution Transform) method that integrates point cloud density features has been proposed. First, the point cloud is reduced using a modified voxel filter and a pass-through filter. Next, the ISS (Intrinsic Shape Signature) algorithm is utilized to analyze the point cloud features and extract keypoints, the 4PCS (4-Point Congruent Sets) algorithm is then employed to calculate the initial pose under the constraints of the keypoint set to complete the coarse registration. Finally, the self-adaptive segmentation model is constructed by using KD-tree to obtain the density features of keypoints, and the NDT algorithm is combined with this model to form an SSM-NDT algorithm, which is used for fine registration. Each algorithm was compared on the autonomous vehicle dataset PandaSet and actual collected data sets, the results show that the novel method increases the speed by at least 60% and takes into account good registration accuracy and strong anti-interference.

Consistent increment of road traffic in cities is remained a threat to traffic performance and causes confliction. The researcher repeatedly emphasized the connected autonomous vehicles (CAVs) as stronger solution to deal with traffic related issues. While having autonomous system in the dedicated lanes is found to be safe by many investigators because of predictable surrounding maneuvers, in contrast, the mixed lane states remain questionable. Different methodologies are being used to study the effects of autonomous vehicles (AVs) in the mixed traffic. Microscopic simulation tools are popular in such cases as it offers scope to experiment in cheap, robust, and optimistic way. One interesting methodology to deal with CAVs is considering it as conventional human driven vehicles and predict its possible characteristics based on the simulation inputs. One big challenge is, as there is no regular real-world data to calibrate and to validate the simulated model for CAVs. This is where conventional human driven vehicles from real world, come to aid as benchmark to offer the measure of effectiveness (MoE) for the calibration and validation. For the three most common driving modules, a sensitivity analysis of the driving behaviors of autonomous vehicles (AVs) and an effect assessment of CAVs in a mixed traffic environment were done to explore the human alike autonomous technology. The findings show that, up to a point, which is directly related to the quantity of interacting vehicles, the impact of CAVs is typically favorable. This study supports earlier research by demonstrating that CAVs outperform AVs in traffic. In addition, the sensitivity analysis has shown that technical and infrastructural advances are necessary to achieve the greatest benefits.

Transportation electrification has been identified as a crucial shift to be made for achieving energy security and emission reduction targets. Electric Vehicles (EVs) play a significant role in achieving these targets; therefore, there is a growing trend to develop new EV technologies and associated infrastructure. Along with these developments, EVs' Quality of Service (QoS) aspects should be enhanced to increase the number of EVs on the road. Various QoS factors are defined to assess the QoS of EVs, and one of the two aims of this paper is to provide a comprehensive review of these factors. The other aim is to review recent developments of associated communication technologies which are essential for exchanging information between EVs and charging stations. This paper serves as a comprehensive review and useful reference for researchers working on QoS aspects of EVs and associated communication systems aiming to enhance the QoS.

In recent years, unmanned aerial vehicles (UAVs) have become a valuable platform for many applications, including communication networks. UAV-enabled wireless communication faces challenges in complex urban and dynamic environments. UAVs can suffer from power limitations and path losses caused by non-line-of-sight connections, which may hamper better communication performance. To address these issues, reconfigurable intelligent surfaces (RIS) have been proposed as a helpful tool to enhance UAV communication networks. However, due to the high mobility of UAV, complex channel environments, and dynamic RIS configurations, it is challenging to estimate the link quality of ground users. In this paper, we propose a link quality estimation model using a gated recurrent unit (GRU) to assess the link quality of ground users for a multi-user RIS-assisted UAV-enabled wireless communication system. Our proposed framework uses a time series of user channel data and RIS phase shift information to estimate the quality of the link for each ground user. Simulation results showed that the proposed GRU model effectively and accurately estimates the link quality of the ground users in the RIS-assisted UAV-enabled wireless communication network.

Beginning with navigation system design, this paper presents a comprehensive strategy for enhancing the search and rescue capabilities of agile mobile robots. Towards this, the autonomous ground vehicle (AGV) utilizes surface classification to determine and prioritize the terrain it is traversing. Our developed system design incorporates real-time terrain data with task objectives at a high level, ensuring that the robot can effectively navigate complex and ever-changing environments. This design, in conjunction with the introduction of a novel lightweight surface classification model, forms the basis of our adaptive terrain perception and decision-making systems, enabling robots such as Jackal to adapt rapidly and make the decisions necessary to complete the task. Subsequently, we exhaustively validated these systems through a series of extensive experiments in a variety of terrains, including normal and mixed terrains, demonstrating their robustness and efficacy in real-life situations.

This paper proposes a high-performance and low-cost in-flight collision avoidance system based on background subtraction for unmanned aerial vehicles (UAVs). The pipeline of proposed in-flight collision avoidance system is as follows: (i) dynamic background subtraction to remove the background and to detect moving objects, (ii) denoise using morphology and binarization methods, (iii) Euclidean clustering to cluster the moving object and to remove noise blobs, (iv) distinguish independent objects and track the movement using Kalman filter, and (v) collision avoidance using proposed decision-making techniques. This work focuses on the design and the demonstration of a vision-based fast moving object detection and tracking system with decision-making capabilities to perform evasive maneuvers to replace high vision system such as event camera. The development of high-performance, low-cost unmanned aerial vehicles paired with rapid progress in vision-based perception systems herald a new era of autonomous flight systems with mission-ready capabilities. One of the key features of an autonomous UAV is a robust mid-air collision avoidance strategy. The novelty of our method lies in the motion-compensating moving object detection framework, which accomplishes the task with background subtraction via 2-D transformation approximation. Clustering and tracking algorithms process detection data to track independent objects, and stereo-camera-based distance estimation is conducted to estimate the 3-D trajectory, which is then used during decision-making procedures. The examination of the system is conducted with a quadrotor UAV test vehicle, and appropriate algorithm parameters for various requirements are deduced.

Wearable assistant devices play an important role in daily life for people with disabilities. Those who are hearing impaired may face dangers while walking or driving on the road. The major danger is their inability to hear warning sounds from cars or ambulances. Thus, the goal of this study is to develop a wearable assistant device for the hearing impaired to recognize emergency vehicle sirens on the road using edge computing. An EfficientNet-based fuzzy rank-based ensemble model was proposed to classify seven audio sounds, including human vocalizations and emergency vehicle sirens. This model was embedded in an Arduino Nano 33 BLE Sense development board. The audio files were respectively obtained from the CREMA-D dataset and Large Scale Audio dataset of emergency vehicle sirens on the road, with a total number of 8756 files. The seven audio sounds included neutral vocalization, anger vocalization, fear vocalization, happy vocalization, car horn sound, siren sound, and ambulance siren sound. The audio signal was converted into a spectrogram by the short-time Fourier transform as the feature. When one of the car horns, sirens, or ambulance sirens was detected, the wearable assistant device presented alarms through vibration and messages on the OLED panel. The performances of the EfficientNet-based fuzzy rank-based ensemble model in offline computing achieved an accuracy of 97.1%, precision of 97.79%, sensitivity of 96.8%, and specificity of 97.04%. In edge computing, the results were an accuracy of 95.2%, precision of 93.2%, sensitivity of 95.3%, and specificity of 95.1%. Thus, the proposed wearable assistant device has the potential benefit of helping the hearing impaired avoid traffic accidents.

Navigation is the most challenging issue in autonomous vehicles. Researchers in the current era have developed many Artificial Intelligence techniques to navigate, generate paths, and avoid obstacles for optimum path planning for autonomous vehicles. Different studies have investigated bio-inspired techniques to overcome the navigation issue, including obstacle avoidance. This paper uses new meta-heuristic optimization techniques called Dragonfly Algorithm (DA) to set the goal by detecting and avoiding obstacles with minimum human interference. For effective results, the Dragonfly-Fuzzy hybrid algorithm is analyzed over the unstructured environment because individual techniques may not be sure of an optimal solution over all configurations. The main advantage of the proposed hybrid controller is that it combines the multiple features of different approaches into a single controller. This paper compares simulation and experimental findings over various environmental conditions to the individual algorithm. Regarding time and path optimization, the hybrid Dragonfly-Fuzzy controller performs better than the respective controller.

A modular approach to the construction of electric machines, drive systems, power supply systems is a new direction of modern technology development. Especially, the modular approach is promising for electric vehicles due to such positive aspects as increased efficiency, fault tolerance, overall reliability, safety, enhanced control capabilities, etc. In this work, the modular approach is comprehensively applied to an EV powertrain system, which includes a dual three-phase (DTP) BLDC motor with two machine modules of an asymmetric configuration, two battery modules and a supercapacitor module (SCM). The proposed H–H configuration of modular EV powertrain system includes four voltage source inverters that combine the power modules with the open ends of the windings (OEW) of the module machine armature, and provide control of their operation. Based on the developed mode system of the OEW machine module operation for EV traction and braking, a general control algorithm for the proposed configuration of the modular EV powertrain system has been developed. It combines the control of the operating modes with the functions of maintaining the required SOC level of the SCM and equalizing the SOCs of the two battery modules. The conducted simulation and experimental studies confirmed the workability and effectiveness of the proposed solutions.

This paper develops a methodology to control the navigation of an autonomous ship robot from an initial state to a final. To solve the problem the following approach is used: The ship robot system is modelled as a control system of six ordinary differential equations involving six state variables and three control variables. After having computed the system Hamiltonian, the feasible controls for optimality are derived from the normal equations of optimality as functions of the state and costate variables. Such controls are substituted into the state and the costate equations and give a combined control-free state-costate system of ordinary differential equations which is solved numerically by using a developed Matlab computer program. Associated computational simulations are designed and provided to show the reliability of the approach.

Disassembly is a pivotal technology to enable the circularity of electric vehicle batteries by applying circular economy strategies that extend the life cycle of their components, like remanufacturing and repurposing, or by using efficient recycling to reintegrate the gained materials in producing new battery systems. This paper aims to develop a multi-method self-configuring simulation model for investigating disassembly scenarios while considering the battery design as well as the configuration and layout of the disassembly station. We demonstrate the developed model in a case study using a battery of Mercedes-Benz and the automated disassembly station of the project DeMoBat at Fraunhofer IPA. Furthermore, we introduce two disassembly scenarios, the component-oriented and the accessibility-oriented disassembly, and compare them using the simulation model to determine several indicators, such as the frequency of tool change, the number and distribution of robot routes, the tool utilization, and the disassembly time.

This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.

The number of people owning vehicles has been steadily growing, resulting in increased numbers of vehicles on the roads, making roads more congested, and increasing the risk of accidents. In addition, heavy rain, snow, and fog have increased due to abnormal weather caused by global warming. These bad weather conditions can also affect the safety of vehicles and drivers. The need to disseminate safety messages on the social internet of vehicles due to these problems has been steadily increasing. In this paper, we propose an efficient safety message dissemination scheme that focuses on urban environments with high vehicle density and mobility to address these problems. The proposed scheme reduces packet loss by considering frequent cluster departures and subscriptions through an efficient cluster management technique. In a vehicle-to-vehicle environment, the dissemination of safety messages is divided into an intra-cluster and an inter-cluster emergency as well as general safety message dissemination technique. In a vehicle to infrastructure environment, the proposed scheme reduces the number of processing requests and duplicate messages made to roadside units (RSUs) through a request operation process for each vehicle and an RSU scheduling technique. We conducted several performance evaluations of message packet loss and the number of RSU processing requests to demonstrate the superiority of the proposed scheme.

Underwater robotics equipped with visual detection systems have the function of detecting un-derwater artifacts, which is of great significance to deep-sea archaeology. Underwater artifacts are located in complex environments with poor imaging conditions, and the targets have chal-lenging problems such as breakage, stacking, and sediment burial, which causes the marine cul-tural target detection failures. To solve these problems, this paper proposes an underwater cul-tural target detection algorithm based on the deformable deep aggregation network model for underwater robotics exploration. To fully extract the target feature information of underwater targets in complex environments, this paper designs a multi-scale deep aggregation network with deformable convolutional layers. Besides, the BAM attention module is designed for fea-ture optimization, which enhances the potential feature information of the target while weak-ening the background interference information. Finally, the target prediction is achieved through feature fusion at different scales. The proposed algorithm has been extensively validat-ed and analyzed on the collected underwater artifact datasets, and the precision, recall, and mAP of the algorithm have reached 93.1%, 91.4%, and 92.8%, respectively. In addition, the present al-gorithm has been practically deployed on the underwater robotics. In the deep-sea tests, the ar-tifact detection frame rate reaches up to 19 fps, which satisfies the real-time target detection。

Objective: The future mobility challenges leads to considering new safety systems to protect vehicle passengers in non-standard and complex seating configurations. The objective of this study is to assess the performance of a brand new safety system called nanobag and to compare it to the traditional airbag performance in the frontal sled test scenario. Methods: The nanobag technology is assessed in the frontal crash test scenario and compared with the standard airbag by numerical simulation. The previously identified material model is used to assemble the nanobag numerical model. The paper exploits an existing validated human body model to assess the performance of the nanobag safety system. Using both the new nanobag and the standard airbag, the sled test numerical simulations with the variation of human bodies are performed in 30 km/h and 50 km/h frontal impacts. Results: The sled test results for both the nanobag and the standard airbag based on injury criteria shows a good and acceptable performance of the nanobag safety system compared to the traditional airbag. Conclusion: The results show that the nanobag system has its performance compared to the standard airbag, which means that thanks to the design, the nanobag safety system has a high potential and extended application for multi-directional protection against impact.

Efficient processing of end-of-life lithium-ion batteries of electric vehicles is important and a pressing challenge for a circular economy. Regardless of whether the processing strategy is recycling, repurposing or remanufacturing, the first processing step would usually involve disassembly. As battery disassembly is a dangerous task, efforts have been made to robotise it. In this paper, a robotic disassembly platform using four industrial robots is proposed to automate the non-destructive disassembly of a plug-in hybrid electric vehicle battery pack into modules. The work was conducted as a case study to demonstrate the concept of autonomous disassembly of an electric vehicle battery pack. A two-step object localisation method based on visual information is used to overcome positional uncertainties from different sources and is validated by experiments. Also, the unscrewing system is highlighted, and its functions, such as handling untightened fasteners, loosening jammed screws, and changing the nutrunner adapters with square drives, are detailed. Furthermore, the time required for each operation is compared with that taken by human operators. Finally, the limitations of the platform are reported and future research directions are suggested.

The use of sensors in monitoring of lateral accelerations in delivery van transport focuses on measuring lateral accelerations on routes with roundabouts and curves to increase road safety. Using microelectromechanical system (MEMS) sensors, it measures the lateral accelerations acting on the vehicle and the load being transported during the test drives to study vehicle dynamics for cargo securing. Using an accelerometer and position tracking, accelerations can be detected when traversing curves and roundabouts at selected locations on the vehicle. The level of accelerations on the roof of the vehicle was found to be like those occurring on a lashed load with limited movements, where regression analysis can be used to determine the relationship between lateral accelerations at different sensor positions. If we compare the mean values of the lateral accelerations of the individual events between the sensors, the sensor on the side of the vehicle body at the height of the sensor on the load had approximately 5% lower mean values than the sensor on the roof. The sensor on the load measured approximately 5% higher mean values than the sensor on the roof. Hence, the mean lateral accelerations of the individual events for the sensor on the load are 10% higher than for the sensor at the same height on the vehicle body. From the above testing, we can say that the values of the mean lateral accelerations of the van from the sensor on the roof of the vehicle, are closer to the values of the accelerations of the sensor on the load than to the values of the sensor on the body of the vehicle at the same height.

Drone imagery has the potential to enrich urban planning and preservation, especially where it converges with the growing creation and use of 3D models. The authors have conducted a systematic literature review of articles published between 2002 and 2022, drawing from reputable academic repositories including Science Direct, Web of Science, and China National Knowledge Infrastructure (CNKI), to identify current gaps in existing research in the application of UAVs to the creation of 3D models in urban planning and preservation. Findings indicate five research shortcomings: limited participation of planning experts, research focus imbalance, lack of usage for special scenarios, lack of integration with smart city planning, and limited interdisciplinary collaboration. The study also acknowledges current limitations with UAV applications and discusses possible countermeasures as well as future prospects.

In this paper, particular attention is paid to an advanced variant of the plug-in hybrid engine, known as PHEV, which combines two functionalities: the vehicle's internal combustion engine (ICEV) and the electric engine (BEV). The paper also presents the assumptions of the DEVS model, which allows for the estimation of vehicle’s energy consumption. The study described herein also presents the influence of factors such as ambient temperature and constant speed on the PHEV’s energy consumption. It has been shown that the vehicle’s range estimated based on its electronic control module (ECU) is about 20% shorter per annum on average for its year-round operation in every-day driving conditions. When analyzing the energy consumption based on the vehicle’s unit energy consumption model, attention was paid to values that are strongly correlated with the traffic volume and weather conditions affecting the moving vehicle. In addition, the authors emphasized that the estimated total energy consumption of an electric (BEV) or hybrid (PHEV) vehicle, relative to the normative values arising from the type approval test cycle, deviate from the actual values arising from real driving conditions and often vary substantially. In extreme cases, the actual range of a hybrid vehicle is 75% shorter.