Hongbin Ren

• Beijing Institute of Technology

With consideration of the nonlinearity of semi-active suspensions and to enhance the accuracy of nonlinear state observers while achieving the automatic tuning of parameters, the Marine Predators Algorithm (MPA) is applied to the noise covariance tuning process of the Unscented Kalman Filter (UKF) based on a seven-degree-of-freedom nonlinear vehicl...

The control performance of model predictive control (MPC) strongly depends on the accuracy of the model description. To better capture and predict the dynamic behaviors of the controlled plant, a non-parametric model which is regressed by the Gaussian Process (GP) is proposed in this paper to evaluate the unknown deviation between the nominal model...

The accurate trajectory prediction of surrounding vehicles plays an important role for safe and comfortable driving of autonomous vehicles. An interaction-based trajectory prediction approach is proposed in this paper, which integrates online driving maneuvers recognition by using the self-attention mechanism combined with the feature extraction ne...

To solve the final critical parking process of automated valet parking, for the common vertical, parallel, and oblique parking scenarios, the hybrid A* path planning algorithm which combines the A* algorithm and the Reeds-Shepp curve is used. The algorithm also contains the collision detection method which combines the circular collision detection...

The controller design of vehicle systems depends on accurate reference index input. Considering information fusion and feature extraction based on existing data settings in the time domain, if reasonable input is selected for prediction to obtain accurate information of future state, it is of great significance for control decision-making, system r...

Many numerical and measuring approaches are widely used in predicting and analysing the acoustic performances of laminated materials for noise control applications. However, numerical methods generally require a set of non-acoustic parameters, and the measuring methods are not available for exceedingly thick materials. The main aim of this article...

State‐of‐charge (SOC) of battery is one of the important evaluation indexes for the battery management system (BMS) application and driving range estimation of electric vehicles. However, acquiring accurate battery SOC information is subject to the indeterminacy of initial SOC value, as well as uncertainties and inconsistencies of the battery pack....

A novel control strategy is proposed for the autonomous vehicle equipped with the front and rear independent steering systems to enhance the capability of collision avoidance and improve path tracking and handling stability under critical maneuvers. The novel control system includes a path replanning controller, a path tracking controller, and a st...

The information of vehicle attitude and tire force under complex environment and maneuver condition is of great significance for system risk prediction and active control system intervention. In order to collect the accurate system states, the coupling vehicle dynamics model and moving horizon estimation method are employed to solve the online opti...

In this paper, we present an optimal path planning and speed control strategy for motion planning of unmanned ground vehicles to follow the desired path in various driving environments. The novelty of this work is that it integrates the longitudinal speed and lateral motion control by maximizing the longitudinal progression and minimizing the later...

Accurate battery state information is essential for battery management system application and safety monitoring. However, it is a challenge task to obtain satisfied estimation results due to the uncertainties and inconsistencies of battery packs caused by aging. To solve this challenge, an optimization-based moving horizon estimation approach is pr...

In this paper, a new approach for an observer based controller for semi-active suspension systems is presented. The observer part is a feedback linearization Kalman filter which is based on differential geometry. The original nonlinear system is transferred to a linear system by certain coordinate transfer after the verification of observability an...

The new type of transportation based on intelligent driverless vehicles will bring great changes to people’s travel modes and put forward higher requirements for the ride comfortability of vehicles. This paper presents a new observing algorithm to estimate the suspension states in real time and cooperate with sliding mode controller to improve the...

Battery modeling plays an important role in remaining range prediction and battery management system development. An accurate and realistic battery model is essential to design an efficient electric storage system. The goal of this paper is to investigate the performance of different circuit topologies for diffusion process in the equivalent circui...

the power delivery performance of series and parallel strings connected battery modules or packs is restricted by the worst cells in the string. Each cell has a slightly different capacity and terminal voltage due to manufacturing tolerances and operating conditions. The cell strings tend to loss balance during charging and discharging process. The...

In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of...

Accurate battery state-of-charge is essential for both driver notification and battery management units reliability in electric vehicle/hybrid electric vehicle. It is necessary to develop a robust state of charge (SOC) estimation approach to cope with nonlinear dynamic battery systems. This paper proposed an estimation method to identify the SOC on...

A new longitudinal speed control strategy is proposed. It used the lateral jerk information as the feedback to predict the longitudinal acceleration and deceleration, which is especially beneficial to a sharp curve turning at a high driving speed. The performance of the controller is validated with Matlab/Simulink. The simulation results indicate t...

In this paper, a novel approach to estimate vehicle vibration state information in real time is proposed; it is based on unscented Kalman filter (UKF) theory. The UKF is based on the unscented transfer technique which considers high order terms during the measurement and update stage during the estimation. The proposed observer uses easily accessib...

This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle...

In this paper, a semi-active suspension control system based on Magneto-Rheological (MR) damper is designed for a commercial vehicle to improve the ride comfort and driving stability. A mathematical model of MR damper based on the Bouc-Wen hysteresis model is built. The mathematical model could precisely describe the characteristics of MR damper co...

This paper proposed an improved virtual reference model for semi-active suspension to coordinate the ride comfort and handling stability of a vehicle. The reference model combines the virtues of sky-hook and ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the han...

The vehicle state information plays an important role in the vehicle active safety systems; this paper proposed a new concept to estimate the instantaneous vehicle speed, yaw rate, tire forces, and tire kinemics information in real time. The estimator is based on the 3DoF vehicle model combined with the piecewise linear tire model. The estimator is...

Vehicle stability and active safety control depend heavily on tyre forces available on each wheel of a vehicle. Since tyre forces are strongly affected by the tyre–road friction coefficient, it is crucial to optimise the use of the adhesion limits of the tyres. This study presents a hybrid method to identify the road friction limitation; it contrib...

This paper proposes an effective nonlinear bicycle model including longitudinal, lateral, and yaw motions of a vehicle. This bicycle model uses a simplified piece-wise linear tire model and tire force tuning algorithm to produce closely matching vehicle trajectory compared to real vehicle for wide vehicle operation ranges. A simplified piece-wise t...

The paper introduced the theory and the structure of the magneto-rheological (MR) absorber, based on the parallel plate flow model and Bingham model, a mathematic model of the damper force was presented as the basic theory for the structure design of the damper. By way of the bench test for the MR damper, the damping-displacement and speed characte...

The paper proposed a 3-DoF bicycle model, that considering the longitudinal acceleration or deceleration motion, the lateral motion and the yaw motion of the vehicle. A simplified piecewise tire model is proposed to improve the precise of the tire force. The bicycle model uses the wheel rolling speed information from the real car that is usually us...

The paper estimates the power dissipation of the traditional passive suspension under the different work condition, and the practicability of regenerative shock absorber is proved. Based on the fact, a novel scheme of electromagnetic regenerative shock absorber is proposed. The damper and electronic characteristics of the regenerative shock absorbe...

Considering nonlinear characteristics of springiness and damping element, the quarter-car suspension nonlinear dynamic model is established with ADAMS. The simulation model of suspension established, and the simulation curve of nonlinear suspension is gotten by using the numerical simulation methods. The target parameters of the piecewise linear th...

Based on the theory of inverse fast Fourier transform (IFFT), the time domain excitation model of left and right tracks is discussed and studied in this research. Considering the coherence of left and right tracks of the vehicle, a method to numerically fitting the right wheel could be given and the excitation of left and right wheels was proposed....

in this paper, a fuzzy logical controller for semi-active suspension based on the nonlinear half-car model is proposed. Firstly, the damping characteristics of MR shock absorber was studied on the bench test, and established the mathematic model of the MR damping force. Afterwards, based on nonlinear half-car model, the fuzzy logical control algori...

Based on the theory of Inverse Fast Fourier Transform (IFFT), the method of the time domain model of four road tracks is suggested. In addition to considering the coherence of left track and right track as well as the fact of time delay between rear track and front one of the vehicle, a method of the excitation of four wheels is derived. Through th...