Vehicles

Urbanisation and the increasing concentration of populations in cities present significant challenges for achieving sustainable mobility and advancing the energy transition. Private vehicles, particularly those powered by internal combustion engines, remain the primary contributors to urban air pollution and greenhouse gas emissions. This situation has prompted the European Union to accelerate transport decarbonisation through comprehensive policy frameworks, notably the “Fit for 55” package, which aims to reduce net greenhouse gas emissions by 55% by 2030. These measures underscore the urgency of shifting towards low-emission transport modes. In this context, electric vehicles (EVs) play a key role in supporting Sustainable Development Goal 7 by promoting cleaner and more efficient transport solutions, and Sustainable Development Goal 11, aimed at creating more sustainable and liveable cities. Despite growing policy attention, the adoption of EVs remains constrained by users’ concerns regarding purchase costs, driving range, and the availability of charging infrastructure, as shown by the findings of this study. In this context, this study explores the determinants of EV adoption in Italy by employing a combined methodological approach that integrates a stated preference (SP) survey with discrete choice modelling. The analysis aims to quantify the influence of economic, technical, and infrastructural factors on users’ willingness to switch to EVs, providing insights for policymakers and industry stakeholders to design effective strategies for accelerating the transition toward the sustainable mobility. Full article

The design-related behaviour of structural dynamics for electric-assisted bicycle (e-bike) drive units significantly influences the mechanical system—e.g., vibrations and durability, stresses and loads, or functionality and comfort. Identifying the underlying mechanical principles opens up optimisation possibilities, such as improved e-bike design and user experience. Despite its potential to enhance the system, the structural dynamics of the drive unit have received little research attention to date. To improve the current situation, this paper uses a flexible multibody modelling approach, enabling new insights through virtual trials and analyses that are not feasible solely from measurements. The incorporation of the drive unit’s system-level topology regarding mass, moment of inertia, stiffness, and damping enables the analysis of critical system states. Experiments accompany the analysis and validate the model by demonstrating a load-dependent shift of the first torsional mode around 35 Hz to 60 Hz, capturing comparable resonance frequency ranges up to 6 kHz, and yielding qualitatively consistent peak positions in both steady-state and ramp-up analyses (mean deviations of 0.03% and 0.06%, respectively). Theoretical considerations of the multibody system highlight the effects, and the stated modelling restrictions make the method’s limitations transparent. The key findings are that the drive unit’s structural dynamic behaviour exhibits solely one structural mode until 0.5 kHz, and further 27 modes up to 10 kHz, solely originating due to the multibody arrangement of the drivetrain. These modes are also load-dependent and lead to resonances during operation. In summary, the approach enables engineers, for the first time, to significantly improve the structural dynamics of the e-bike drive unit using a full-scale system model. Full article

The automotive industry is currently undergoing significant transformations driven by challenges such as fierce competition, supply chain disruptions, and stringent legislative regulations aimed at reducing pollutant emissions. The research employs a combination of theoretical analysis and numerical modeling to investigate the manufacturing processes of stamped automotive components. Data collection methods include experimental testing of materials, LS-DYNA simulations, and non-contact scanning for dimensional analysis. The study also utilizes a workflow diagram to illustrate the various phases involved in the design and validation of automotive assemblies. The findings detail the critical role of digital transformation in the automotive industry, particularly in enhancing the accuracy and reliability of manufacturing processes. Implementing digital twins improves product quality and reduces product development time. The experimental results were compared with simulation data, and a good correlation was identified, showing, for the numerical model with complete history (thickness and stress), a difference of $1.6\%$. Furthermore, to simplify the process of developing the numerical models for the initial iterations, a scale factor of $~1.1$ is proposed for the testing load. This factor is not limited to the current design, as the manufacturing stages are similar for this range of products. Full article

Some European Heavy Duty (HD) vehicle manufacturers have adopted Open Crankcase Ventilation (OCV) systems to improve reliability and performance. The emission compliance of HD vehicles both during certification and In-Service Conformity (ISC) testing need to also account for the crankcase ventilation. Despite that, the contribution of crankcase emissions to the overall emissions profile of modern trucks remains underexplored. This study experimentally characterizes the crankcase emissions of a Euro VI Step E HD truck equipped with an OCV system under controlled conditions on a chassis dynamometer. Emissions were measured over the World Harmonized Vehicle Cycle (WHVC) and an ISC-compliant driving cycle at two test cell temperatures. The results indicate that crankcase emissions account for up to 4% and 8% of the current regulatory limits for nitrogen oxides (NO_x) and 23 nm solid particle number (SPN₂₃), respectively. The tightening of NO_x limits under Euro 7 regulations would increase these contributions to approximately 11%. SPN₁₀ crankcase emissions were found to be on the order of 10¹¹ (11% of the Euro 7 limit). Real-time SPN₁₀ and SPN₂₃ measurements revealed that the fraction of nanosized particles increases significantly during cold start, suggesting increased oil combustion within the cylinder. These findings highlight the need to refine crankcase emissions measurement procedures within regulatory frameworks. A systematic investigation of measurement setups and ageing effects, taking into account variations in OCV system designs and piston ring wear, is essential to determine whether characterization during certification is sufficient or if ISC testing throughout the vehicle’s useful life will be required. Full article

This study presents a predictive maintenance framework for hybrid electric vehicles (HEVs) based on emissions behaviour under laboratory-simulated driving conditions. Vehicle speed, road gradient, and ambient temperature were selected as the principal input variables affecting emission levels. Using simulated datasets, three machine learning model, specifically Linear Regression, Multilayer Perceptron (MLP), as well as Random Forest, were trained and evaluated. Within that set, the Random Forest model demonstrated the best performance, achieving an R² score of 0.79, Mean Absolute Error (MAE) of 12.57 g/km, and root mean square error (RMSE) of 15.4 g/km, significantly outperforming both Linear Regression and MLP. A MATLAB-based graphical interface was developed to allow real-time classification of emission severity using defined thresholds (Normal ≤ 150 g/km, Warning ≤ 220 g/km, Critical > 220 g/km) and to provide automatic maintenance recommendations derived from the predicted emissions. Scenario-based validation confirmed the system’s ability to detect emission anomalies, which might function as early indicators of mechanical degradation when interpreted relative to operating conditions. The proposed framework, developed using laboratory-simulated datasets, provides a practical, interpretable, and accurate solution for emissions-based predictive maintenance. Although the results demonstrate feasibility, the framework should be further confirmed with real-world on-road data prior to large-scale use. Full article

To improve recognition accuracy, convergence speed, and numerical stability in estimating the road adhesion coefficient for distributed-drive electric vehicles, a nonlinear seven-degree-of-freedom vehicle dynamics model was developed based on a modified Dugoff tire model. Using the Unscented Kalman Filter (UKF) as a foundation, a Square-Root Unscented Kalman Filter (SR-UKF) algorithm was derived through covariance-square-root processing and Singular Value Decomposition (SVD). A co-simulation platform was built with CarSim and Simulink, and a vehicle speed-following model was developed for simulation analysis. The results show that the SR-UKF algorithm for road identification consistently maintains matrix positive definiteness, ensures numerical stability, speeds up convergence, and fully utilizes measurement information. Simulations under various road conditions (high-adhesion, low-adhesion, split-μ, and opposite-μ) and driving scenarios demonstrate that, compared to the traditional UKF, the SR-UKF converges faster and provides higher estimation accuracy, enabling real-time, accurate estimation of the road adhesion coefficient across multiple scenarios. Final results confirm that the SR-UKF exhibits excellent estimation accuracy and robustness on low-adhesion surfaces, confirming its superiority under high-risk conditions. This offers a dependable basis for improving vehicle active safety. Full article

Traffic accidents pose unpredictable and severe social and economic challenges. Rapid and accurate accident detection, along with reliable severity classification, is essential for timely emergency response and improved road safety. This study proposes DSGF-YOLO, an enhanced deep learning framework based on the YOLOv13 architecture, developed for automated road accident detection and severity classification. The proposed methodology integrates two novel components: the DS-C3K2-FasterNet-Block module, which enhances local feature extraction and computational efficiency, and the Grouped Channel-Wise Self-Attention (G-CSA) module, which strengthens global context modeling and small-object perception. Comprehensive experiments on a diverse traffic accident dataset validate the effectiveness of the proposed framework. The results show that DSGF-YOLO achieves higher precision, recall, and mean average precision than state-of-the-art models such as Faster R-CNN, DETR, and other YOLO variants, while maintaining real-time performance. These findings highlight its potential for intelligent transportation systems and real-world accident monitoring applications. Full article

This paper presents an experimental study of the Automatic Emergency Braking (AEB) system, focusing on three essential testing phases: verifying the match between calculated and actual brake actuator operation time, validating the forecasted vs. real-time stabilized deceleration onset duration, and comparing the theoretically computed braking distance derived from mathematical models with its actual measurement. Standard instrumentation coupled with an original test procedure was utilized during the experiments. A full-scale experimental campaign was conducted on a specialized proving ground, thus substantiating the validity and robustness of the computational models used for assessing the AEB system parameters. The empirical outcomes confirmed that current-generation AEB systems offer dependable predictions regarding braking dynamics and exhibit prompt responsiveness to imminent collisions. However, it should be noted that variations in road conditions, driver behavior, and sensor precision may affect their performance. Consequently, additional efforts aimed at optimizing existing AEB solutions are required to minimize potential errors and enhance overall reliability. Finally, the significance of complying with design specifications and continuously upgrading AEB systems to meet evolving road safety standards is emphasized. Full article

This study confronts the significant challenges inherent in Traffic State Estimation (TSE) for rural arterial networks, where sparse sensor coverage and complex, dynamic traffic flows complicate effective management and safety assurance. Traditional TSE methodologies, often dependent on single-source data streams, fail to accurately model the intricate spatiotemporal dependencies present in such environments. This fundamental limitation precipitates critical safety hazards, including pervasive over speeding and dangerous queue spillback phenomena at intersections. To address these deficiencies, we introduce a novel hybrid intelligence framework that synergistically combines a Graph Attention Temporal Convolutional Network (GAT-TCN) with advanced Kalman Filter variants, specifically the Extended, Unscented, and Sliding Window Kalman Filters. The GAT-TCN component is engineered to excel at learning complex, non-linear correlations across both space and time through multi-source data fusion. Empirical validation conducted on a real-world rural toll corridor demonstrates that our proposed model achieves a statistically significant superiority over conventional benchmarks, as rigorously quantified by substantial reductions in both Mean Absolute Error (MAE) and Root Mean Square Error (RMSE). Beyond mere predictive accuracy, the framework delivers transformative safety enhancements by facilitating the proactive identification of hazardous events, enabling earlier detection of over speeding and queue spillback compared to existing methods. Consequently, this research provides a scalable and robust framework for proactive rural traffic management, fundamentally shifting the paradigm from achieving incremental predictive improvements to generating decisive, safety-actionable insights for infrastructure operators. Full article

The air–ground integrated Internet of Vehicles (IoV), which incorporates unmanned aerial vehicles (UAVs), is a key component of a three-dimensional intelligent transportation system. Task offloading is crucial to improving the overall efficiency of the IoV. However, blackhole attacks and false-feedback attacks pose significant challenges to achieving secure and efficient offloading for heavily loaded roadside units (RSUs). To address this issue, this paper proposes a reputation-aware, multi-objective task offloading method. First, we define a set of multi-dimensional Quality of Service (QoS) metrics and combine K-means clustering with a lightweight Proximal Policy Optimization variant (Light-PPO) to realize fine-grained classification of offloading data packets. Second, we develop reputation assessment models for heterogeneous entities—RSUs, vehicles, and UAVs—to quantify node trustworthiness; at the same time, we formulate the RSU task offloading problem as a multi-objective optimization problem and employ the Non-dominated Sorting Genetic Algorithm II (NSGA-II) to find optimal offloading strategies. Simulation results show that, under blackhole and false-feedback attack scenarios, the proposed method effectively improves task completion rate and substantially reduces task latency and energy consumption, achieving secure and efficient task offloading. Full article

Collisions with fallen pedestrians pose a lethal challenge to current advanced driver-assistance systems. This paper introduces and quantitatively validates the Advanced Falling Object Detection System (AFODS), a novel safety framework designed to mitigate this risk. AFODS architecturally integrates long-wave infrared, near-infrared stereo and ultrasonic sensors, processed through a novel artificial intelligence pipeline that combines YOLOv7-Tiny for object detection with a recurrent neural network for proactive threat assessment, thereby enabling the system to predict falls before they are complete. In a rigorous controlled study using simulated adverse conditions, AFODS achieved a 98.2% detection rate at night, a condition where standard systems fail. This paper details the system’s ISO 26262-aligned architecture and validation results, proposing a framework for a new benchmark in active vehicle safety, demonstrated under controlled test conditions. Full article

The straightness of rail joints is one of the critical factors affecting passenger comfort in high-speed railways, and investigating its influence on the dynamic performance of the vehicle–track system and riding comfort is of great significance. In this study, long-term field measurements were conducted at a turnout joint of a newly constructed high-speed railway in China, combined with multibody dynamics simulations, to systematically analyze the long-term evolution of rail joint straightness under various conditions, including pre- and post-grinding, joint commissioning, official operation, and extreme weather. Based on normalized data processing, the root mean square (RMS) index of joint straightness was extracted for feature quantification. Together with vertical acceleration and the Sperling index obtained from vehicle–track coupled dynamics simulations, a quantitative relationship between straightness and comfort was established. The results indicate that the cubic polynomial fitting method can effectively characterize the nonlinear mapping between the RMS of joint straightness and the Sperling index, further revealing a critical threshold at approximately 0.4 mm RMS beyond which vehicle running stability deteriorates and ride comfort significantly worsens. This study provides a reliable theoretical basis and engineering reference for the evaluation of rail joint quality and the optimization of maintenance strategies. Full article

The optimization of clutch engagement strategies is of great significance for improving vehicle power performance, fuel economy, and driving comfort. Traditional control strategies are difficult to adapt to complex working conditions and lack coordinated optimization of fuel and clutch. This paper proposes a multi-objective optimization method for clutch engagement strategies based on the Deep Deterministic Policy Gradient (DDPG) algorithm. A simulation environment is constructed, which includes a vehicle longitudinal dynamics model, clutch state switching logic, and a reinforcement learning agent. A multi-dimensional state space and action space are designed, and a composite reward function combining power performance, fuel economy, and comfort is developed to achieve multi-objective optimization of the fuel–clutch coordination curve. Experimental results show that the optimized engagement strategy significantly reduces sliding friction power (by 94.07%), power interruption speed (by 8.75%), and jerk (with a maximum reduction of 35.6%), while the average fuel consumption per distance is reduced by 0.39%. Through weight sensitivity analysis, it is found that when the weight of fuel economy is 0.3 and the weight of power performance is 0.5 (Scheme P5E3), the optimal balance among multiple objectives can be achieved. This study provides a new theoretical framework and engineering practice reference for the intelligent control of clutches. Full article

As typical dynamic loads, electric vehicles (EVs) introduce significant uncertainty into distribution network operations due to the randomness of their travel behavior and charging demand. To achieve precise spatiotemporal forecasting of charging loads, this paper constructs a multi-dimensional transportation network model that accounts for dynamic road impedance factors and introduces a unit-distance energy consumption calculation method based on road impedance. By integrating the division of urban multifunctional zones and differentiated state-of-charge (SOC) threshold distributions across various EV types, a mapping model between travel chains and charging behaviors is established. Subsequently, large-scale travel and charging events are generated using an origin–destination (OD) probability matrix and Monte Carlo sampling to derive the spatiotemporal distribution of regional EV charging loads. Simulation results for a representative city in southwest China show that the predicted charging loads exhibit a dual-peak pattern, with significant differences across regions and vehicle types, and align well with observed load trends, validating the effectiveness and engineering applicability of the proposed method. Full article

This study investigates drivers’ visual attention strategies during naturalistic urban driving using mobile eye-tracking (Pupil Labs Neon). A sample of experienced drivers participated in a realistic traffic scenario to examine fixation behaviour under varying traffic conditions. Non-parametric analyses revealed substantial variability in fixation behaviour attributable to driver identity (H(9) = 286.06, p = 2.35 × 10⁻⁵⁶), stimulus relevance (H(7) = 182.64, p = 5.40 × 10⁻³⁶), and traffic density (H(4) = 76.49, p = 9.64 × 10⁻¹⁶). Vehicles and pedestrians elicited significantly longer fixations than lower-salience categories, reflecting adaptive allocation of visual attention to behaviourally critical elements of the scene. Compared with the fixed-rule method, which produced inflated anomaly rates of 7.23–14.84% (mean 12.06 ± 2.71%), the DSGP algorithm yielded substantially lower and more stable rates of 1.62–3.33% (mean 2.48 ± 0.53%). The fixed-rule approach over-classified anomalies by approximately 4–6×, whereas DSGP more accurately distinguished contextually appropriate fixations from genuine attentional deviations. These findings demonstrate that fixation behaviour in driving is strongly shaped by individual traits and environmental context, and that driver-specific modelling substantially improves the reliability of attention monitoring. Therefore DSGP framework offers a robust, personalised alternative evaluated at the proof-of-concept level to fixed thresholds and represents a promising direction for enhancing driver-state assessment in future ADAS. Full article

Traditional low-cost DC drives, such as Buck converter-fed DC drives, do not take into consideration the power quality requirements regarding the total harmonic distortion (THD) and the input power factor (PF). This paper proposes a high-performance one-quadrant DC drive based on the ultra-sparse matrix rectifier (USMR). The scheme is suitable for single-quadrant applications such as DC pumping systems. The proposed system leverages the advantages of the USMR, such as the accomplishment of the IEEE standards requirements related to harmonic limits and distortions of the AC currents and operation at (or near) unity PF. Two pulse width modulation (PWM) techniques were investigated: the hysteresis current controller with a tolerance band and the triangular carrier-based PWM modulator. The system was studied under different operating conditions. The obtained results demonstrate the high performance of the USMR system with both types of PWM techniques. A comparative study with the one-quadrant Buck converter-based DC drive was conducted. The USMR-based DC drive outperforms the conventional scheme in power quality issues. The quantitative assessment proves the validity and suitability of the USMR for developing high-performance DC drives for single-quadrant applications. Full article

Stable attitude control of unmanned or autonomous operations of vehicles moving in three spatial dimensions is essential for safe and reliable operations. Rigid body attitude control is inherently a nonlinear control problem, as the Lie group of rigid body rotations is a compact manifold and not a linear (vector) space. Prior research has shown that the largest possible domain of convergence is provided by smooth attitude feedback control laws are obtained using a Morse function on $\mathrm{SO}\left(3\right)$ as a measure of the attitude stabilization or tracking error. A polar Morse function on $\mathrm{SO}\left(3\right)$ has four critical points, which precludes the possibility of global convergence of the attitude state. When used as part of a Lyapunov function on the state space (the tangent bundle $\mathrm{TSO}\left(3\right)$) of attitude and angular velocity, it gives a globally continuous state-dependent feedback control scheme with the minimum of the Morse function as the almost globally asymptotically stable (AGAS) attitude state. In this work, we explore the use of explicitly time-varying gains for Morse functions for rigid body attitude control. This strategy leads to discrete switching of the indices of the three non-minimum critical points that correspond to the unstable equilibria of the feedback system. The resulting time-varying feedback controller is proved to be AGAS, with the additional desirable property that the time-varying gains destabilize the (locally) stable manifolds of these unstable equilibria. Numerical simulations of the feedback system with appropriate time-varying gains show that a trajectory starting from an initial state close to the stable manifold of an unstable equilibrium, converges to the desired stable equilibrium faster than the corresponding feedback system with constant gains. Full article

Traffic congestion continues to pose a significant challenge to contemporary urban transportation systems, exerting substantial effects on economic productivity, environmental sustainability, and the overall quality of life. This systematic literature review thoroughly explores the development of traffic congestion forecasting methodologies from 2014 to 2024 by analyzing 100 peer-reviewed publications according to the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. We examine the technological advancements from traditional machine learning (achieving 75–85% accuracy) through deep learning approaches (85–92% accuracy) to recent large language model (LLM) implementations (90–95% accuracy). Our analysis indicates that LLM-based systems exhibit superior performance in managing multimodal data integration, comprehending traffic events, and predicting non-recurrent congestion scenarios. The key findings suggest that hybrid approaches, which integrate LLMs with specialized deep learning architectures, achieve the highest prediction accuracy while addressing the traditional limitations of edge case management and transfer learning capabilities. Nonetheless, challenges remain, including higher computational demands (50–100× higher than traditional methods), domain adaptation complexity, and constraints on real-time implementation. This review offers a comprehensive taxonomy of methodologies, performance benchmarks, and practical implementation guidelines, providing researchers and practitioners with a roadmap for advancing intelligent transportation systems using next-generation AI technologies. Full article

The paper primarily focuses on the control strategy of an electric dump truck equipped with an M100 methanol range extender. In response to the significant adverse impact of the constant power control strategy on the lifespan of power batteries and the large rotational speed fluctuations of range extenders under the power-following control strategy, a constant-speed and variable-torque range extender control strategy based on the rule-based control strategy is proposed. This strategy enables power following within the range of 70 kW to 130 kW and fixed-point operation at 50 kW and 150 kW. Through co-simulation using AVL Cruise and MATLAB R2022b/Simulink, the results indicate that under the China Heavy-duty Commercial Vehicle Test Cycle-Dynamic (CHTC-D), with an average vehicle speed of 23.19 km/h, the constant-speed and variable-torque range extender control strategy achieves a higher methanol saving rate compared to both the constant power control strategy and the power-following control strategy, thereby demonstrating better fuel economy. The methanol consumption per 100 km for the dump truck using the constant power control strategy, the power-following control strategy, and the constant-speed and variable-torque control strategy are 62.89 L, 64.49 L, and 62.53 L, respectively. Compared with the same type of diesel range-extended electric dump truck, its fuel usage cost has a significant advantage. Full article