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Enabling the security of global time in software-defined vehicles (SGTS, MACsec

2024-01-2978To be published on 07/02/2024

The global time that is propagated and synchronized in the vehicle E/E architecture is used in safety-critical, security-critical, and time-critical applications (e.g., driver assistance functions, intrusion detection system, vehicle diagnostics, external device authentication during vehicle diagnostics, vehicle-to-grid and so on). The cybersecurity attacks targeting the global time result in false time, accuracy degradation, and denial of service as stated in IETF RFC 7384. These failures reduce the vehicle availability, robustness, and safety of the road user. IEEE 1588 lists four mechanisms (integrated security mechanism, external security mechanism, architectural solution, and monitoring & management) to secure the global time. AUTOSAR defines the architecture and detailed specifications for the integrated security mechanism "Secured Global Time Synchronization (SGTS)" to secure the global time on automotive networks (CAN, FlexRay, Ethernet). However, there are also external

Kumaraswamy, Pavithra, Rus, Andrei

Cyber Security Approval Criteria: Application of UN R155

2024-01-2983To be published on 07/02/2024

The UN R155 regulation is the first automotive cyber security regulation and has made security a mandatory approval criterion for new vehicle types. This establishes internationally harmonized security requirements for market approval. As a result, the application of the regulation presents manufacturers and suppliers with the challenge of demonstrating compliance. At process level the implementation of a Cyber Security Management System (CSMS) is required while at product level, the Threat Assessment and Risk Analysis (TARA) forms the basis to identify relevant threats and corresponding mitigation strategies. Overall, an issued type approval is internationally recognized by the member states of the UN 1958 Agreement. International recognition implies that uniform assessment criteria are applied to demonstrate compliance and to decide whether security efforts are sufficient. However, as security engineering according to ISO/SAE 21434 follows a risk-based approach, there are currently

Hellstern, Mona, Langhanki, Stefan, Grün, Florian, Kriesten, Reiner, Sax, Eric

Designing a Prototype of a Mobile Charging Robot for Charging of Electric Vehicles

2024-01-2990To be published on 07/02/2024

As the market for electric vehicles grows, so does the demand for appropriate charging infrastructure. The availability of sufficient charging points is essential to increase public acceptance of electric vehicles and to avoid the so-called “charging anxiety”. However, the charging stations currently installed may not be able to meet the full charging demand, especially in areas where there is a general lack of grid infrastructure, or where the fluctuating nature of charging demand requires flexible, high-power charging solutions that do not require expensive grid extensions. In such cases, the use of mobile charging stations provides a good opportunity to complement the existing charging network. This paper presents a prototype of a mobile charging solution that is being developed as part of an ongoing research project, and discusses different use cases. The solution presented consists of a semi-autonomous robotic platform equipped with a high voltage battery and multiple charging

Wessel, Patricia, Faßbender, Max, Gerz, Jonathan, Andert, Jakob

Charging infrastructure for employer parking – Real data analysis and charging algorithms for future customer demands

2024-01-2980To be published on 07/02/2024

The mobility industry and the entire ecosystem is currently striving towards sus-tainable mobility which leads to continuous production ramp-up of electrified vehicles. The parallel increase of the charging infrastructure is faced with various challenges regarding needed investments and the connection into the electricity grid. MAHLE chargeBIG offers centralized and large scaled charging infrastruc-ture with more than 1,800 already installed charging points. This presentation and paper is evaluating the functionality of the system by ana-lyzing backend real data of various employer parking installations. It can be shown and proven that a single-phase charging concept is sufficient and able to manage most customer relevant charging events by considering the needs and limitations of the related electricity grid infrastructure. Smart charging algorithms enable the integration of the charging infrastructure in smart grid company environments

Mehlig, Dennis, Ewert, Sebastian, Gerstadt, Max

Standardized Differential Inductive Positioning System for Wireless Charging of Electric Vehicles

2024-01-2987To be published on 07/02/2024

To shape future mobility MAHLE has committed itself to foster wireless charging for electrical vehicles. The standardized wireless power transfer of 11 kW at a voltage level of 800 V significantly improves the end user experience for charging an electric vehicle without the need to handle a connector and cable anymore. Combined with automated parking and autonomous driving systems, the challenge to charge fleets without user interaction is solved. Wireless charging is based on inductive power transfer. In the ground assembly’s (GA) power transfer coil, a magnetic field is generated which induces a voltage in the vehicle assembly (VA) power transfer coil. To transfer the power from grid to battery with a high efficiency up to 92% the power transfer coils are compensated with resonant circuits. In this paper the Differential-Inductive-Positioning-System (DIPS) to align a vehicle on the GA for parking will be presented. This system utilizes five standardized magnetic fields which are

Boettigheimer, Mike, Grabherr, Philip

Runtime Safety Assurance of Autonomous Last-Mile Delivery Vehicles in Urban-like Environment

2024-01-2991To be published on 07/02/2024

The conventional process of last-mile delivery logistics often leads to safety problems for road users and a high level of environmental pollution. Delivery drivers must deal with frequent stops, search for a convenient parking spot and sometimes navigate through the narrow streets causing traffic congestion and possibly safety issues for the ego vehicle as well as for other traffic participants. This process is not only time consuming but also environmentally impactful, especially in low-emission zones where prolonged vehicle idling can lead to air pollution and to high operational costs. To overcome these challenges, a reliable system is required that not only ensures the flexible, safe and smooth delivery of goods but also cuts the costs and meets the delivery target. In the dynamic landscape of last-mile delivery, LogiSmile, an EU project, introduced a solution to urban delivery challenges through an innovative cooperation between an Autonomous Hub Vehicle (AHV) and an Autonomous

Aslam, Iqra, Aniculaesei, Adina, Buragohain, Abhishek, Zhang, Meng, Bamal, Daniel, Rausch, Andreas

Design of an Alternative Hardware Abstraction Layer for Embedded Systems with Time-Controlled Hardware Access

2024-01-2989To be published on 07/02/2024

This paper proposes a novel approach to the design of a Hardware Abstraction Layer (HAL) specifically tailored to embedded systems, placing a significant emphasis on time-controlled hardware access. The general concept and utilization of a HAL in industrial projects are widespread, serving as a well-established method in embedded systems development. HALs enhance application software portability, simplify underlying hardware usage by abstracting its inherent complexity and reduce overall development costs through software reusability. Beyond these established advantages, this paper introduces a conceptual framework that addresses critical challenges related to debugging and mitigates input-related problems often encountered in embedded systems. This becomes particularly pertinent in the automotive context, where the intricate operational environment of embedded systems demands robust solutions. The HAL design presented in this paper mitigates these issues. The design is structured as a

Simmann, Gabriel, Veeranna, Vinay, Kriesten, Reiner

Traceability E-Fuels 2035

2024-01-3022To be published on 07/02/2024

EU legislation provides for only local CO2 emission-free vehicles to be allowed in individual passenger transport by 2035. In addition, the directive provides for fuels from renewable sources, i.e. defossilised fuels. This development leads to three possible energy sources or forms of energy for use in individual transport. The first possibility is charging with electricity generated from renewable sources, the second possibility is hydrogen generated from renewable sources or blue production path. The third possibility is the use of renewable fuels, also called e-fuels. These fuels are produced from atmospheric CO2 and renewable hydrogen. Possible processes for this are, for example, methanol or Fischer-Tropsch synthesis. The production of these fuels is very energy-intensive and large amounts of renewable electricity are needed. Thus, national production of these fuels in the EU is inefficient in terms of cost and carbon footprint due to the low utilisation rate of renewable energy

Stoll, Tobias, Kulzer, Andre, Berner, Hans-Juergen

How Can a Sustainable Energy Infrastructure based on Renewable Fuels Contribute to Global Carbon Neutrality

2024-01-3023To be published on 07/02/2024

Abstract. With the COP28 decisions the world is thriving for a future net-zero-CO2 society and the and current regulation acts, the energy infrastructure is changing in direction of renewables in energy production. All industry sectors will extend their share of direct or indirect electrification. The question might arise if the build-up of the renewables in energy production is fast enough. Demand and supply might not match in the short- and mid-term. The paper will discuss the roadmaps, directions and legislative boundary parameter in the regenerative energy landscape and their regional differences. National funding on renewables will gain an increasing importance to accelerate the energy transformation. The are often competing in attracting the same know-how on a global scale. In addition the paper includes details about energy conversion, efficiency as well as potential transport scenarios from production to the end consumer. Technologies are compared in respect of their TLR level

Rothbart, Martin

Set-up of an in-car system for investigating driving style on the basis of the 3D-method

2024-01-3001To be published on 07/02/2024

Investigating human driver behavior enhances the acceptance of the autonomous driving and increases road safety in heterogeneous environments with human-operated and autonomous vehicles. The previously established driver fingerprint model, focuses on the classification of driving style based on CAN bus signals. However, driving styles are inherently complex and influenced by multiple factors, including changing driving environments and driver states. To comprehensively create a driver profile, an in-car measurement system based on the Driver-Driven vehicle-Driving environment (3D) framework is developed. The measurement system records emotional and physiological signals from the driver, including ECG signal and heart rate. A Raspberry Pi camera is utilized on the dashboard to capture the driver's facial expressions and a trained convolutional neural network (CNN) recognizes emotion. To conduct unobtrusive ECG measurements, an ECG sensor is integrated into the steering wheel

Ji, Dejie, Flormann, Maximilian, Warnecke, Joana M., Henze, Roman, Deserno, Thomas M.

Automated Park and Charge: Concept and Energy Demand Calculation

2024-01-2988To be published on 07/02/2024

In this paper we are presenting the concept of automated park and charge functions in different use scenarios. The main scenario is automated park and charge in production and the other use scenario is within automated valet parking in parking garages. The automated park and charge in production is developed within the scope of the publicly funded project E-Self. The central aim of the project is the development and integration of automated driving at the end-of-line in the production at Ford Motor Company's manufacturing plant in Cologne. The driving function thereby is mostly based upon automated valet driving with an infrastructure based perception and action planning. Especially for electric vehicles the state of charge of the battery is critical, since energy is needed for all testing and driving operations at end-of-line. In addition long shipping times require in combination with a specific state-of-charge requirement at customer delivery a recharging within the production

Sturm, Axel Wolfgang, Kascha, Marcel, Mejri, Mohamed Amine, Henze, Roman, Heister, Laura, Mueck, Alexander

Next-gen battery strategies 2027+: Potentials and challenges for future battery designs and diversification in product portfolios to serve a large bandwidth of market applications

2024-01-3018To be published on 07/02/2024

The pace of innovations in battery development is revolutionizing the landscape and opportunities for energy storage applications leading to a stronger market segmentation enabling a better suitability to fulfill specific application requirements. For automotive applications, several approaches to increase energy densities, to improve fast charging performance, and to reduce cost on a pack level are considered. Among them, a promising example is the direct integration of battery cells into the battery pack (Cell-to-pack; CTP) or vehicle (Cell-to-chassis, CTC) to increase energy densities and to reduce costs, as already commercialized by Tesla, CATL and others. In the pack development, especially Asian players are one of the frontrunners, where e.g., hybrid cell battery systems with a mixture of cells with different cathode chemistries as introduced by NIO, are experiencing a high interest of the market. Furthermore, the implementation of battery swapping concepts is gaining stronger

Miller, Ines

Graph based cooperation strategies for automated vehicles in mixed traffic

2024-01-2982To be published on 07/02/2024

In the context of urban smart mobility, vehicles have to communicate with each other, surrounding infrastructure, and other traffic participants. By using Vehicle2X communication, it is possible to exchange the vehicles’ position, driving dynamics data, or driving intention. This concept yields the use for cooperative driving in urban environments. Based on current V2X-communication standards, a methodology for cooperative driving of automated vehicles in mixed traffic scenarios is presented. Initially, all communication participants communicate their dynamic data and planned trajectory, based on which a prioritization is calculated. Therefore, a decentralized cooperation algorithm is introduced. The approach is that every traffic scenario is translatable to a directed graph, based in which a solution for the cooperation problem is computed via an optimization algorithm. This solution is either computed decentralized by various traffic participants, who share and compare their

Flormann, Maximilian, Henze, Roman

FMCW Lidar Simulation with Ray Tracing and Standardized Interfaces

2024-01-2977To be published on 07/02/2024

In pursuit of safety validation of automated driving functions, efforts are being made to accompany real world test drives by test drives in virtual environments. To be able to transfer highly automated driving functions into a simulation, models of the vehicle’s perception sensors such as lidar, radar and camera are required. In addition to the classic pulsed time-of-flight (ToF) lidars, the growing availability of commercial frequency modulated continuous wave (FMCW) lidars sparks interest in the field of environment perception. This is due to advanced capabilities such as directly measuring the target’s relative radial velocity based on the Doppler effect. In this work, an FMCW lidar sensor simulation model is introduced, which is divided into the components of signal propagation and signal processing. The signal propagation is modeled by a ray tracing approach simulating the interaction of light waves with the environment. For this purpose, an ASAM Open Simulation Interface (OSI

Hofrichter, Kristof, Linnhoff, Clemens, Elster, Lukas, Peters, Steven

Simulating Cloud Environments of Connected Vehicles for Anomaly Detection

2024-01-2996To be published on 07/02/2024

The emergence of connected vehicles is driven by increasing customer and regulatory demands. To meet these, more complex software applications, some of which require service-based cloud and edge backends, are developed. Due to the short lifespan of software, it becomes necessary to keep these cloud environments and their applications up to date with security updates and new features. However, as new behavior is introduced to the system, the high complexity and interdependencies between components can lead to unforeseen side effects in other system parts. As such, it becomes more challenging to recognize whether deviations to the intended system behavior are occurring, ultimately resulting in higher monitoring efforts and slower responses to errors. To overcome this problem, a simulation of the cloud environment running in parallel to the system is proposed. This approach enables the live comparison between simulated and real cloud behavior. Therefore, a concept is developed mirroring

Weiß, Matthias, Stümpfle, Johannes, Dettinger, Falk, Jazdi, Nasser, Weyrich, Michael

Current and Torque Harmonics Analysis of Triple Three-Phase Permanent-Magnet Synchronous Machines with Arbitrary Phase Shift Based on Model-in-the-Loop

2024-01-3025To be published on 07/02/2024

Multiple three-phase machines have become popular in recent due to their reliability, especially in the ship and airplane propulsions. These systems benefit greatly from the robustness and efficiency provided by such machines. However, a notable challenge presented by these machines is the growth of harmonics with an increase in the number of phases, affecting control precision and inducing torque oscillations. The phase shift angles between winding sets are one of the most important causes of harmonics in the stator currents and machine torque. Traditional approaches in the study of triple-three-phase or nine-phase machines mostly focus on specific phase shift, lacking a comprehensive analysis across a range of phase shifts. This paper discusses the current and torque harmonics of triple-three-phase permanent magnet synchronous machines (PMSM) with different phase shifts. It aims to analyze and compare the impacts of different phase shifts on harmonic levels. To verify the assumption

Li, Yu, Shi, Bufan, Andert, Jakob

Environment-Adaptive Localization based on GNSS, Odometry and LiDAR Systems

2024-01-2986To be published on 07/02/2024

In the evolving landscape of automated driving systems, the critical role of vehicle localization within the autonomous driving stack is increasingly evident. Traditional reliance on Global Navigation Satellite Systems (GNSS) proves to be inadequate, especially in urban areas where signal obstruction and multipath effects degrade accuracy. Addressing this challenge, this paper details the enhancement of a localization system for autonomous public transport vehicles, focusing on mitigating GNSS errors through the integration of a LiDAR sensor. The approach involves creating a 3D map using the factor graph-based LIO-SAM algorithm based on GNSS, vehicle odometry, IMU and LiDAR data. The algorithm is adapted to the use-case by adding a velocity factor and altitude data from a Digital Terrain model. Based on the map a state estimator is proposed, which combines high-frequency LiDAR odometry based on FAST-LIO with low-frequency absolute multiscale ICP-based LiDAR position estimation. The

Kramer, Markus, Beierlein, Georg

What is going on around the Automotive PowerNet - An overview of state-of-the-art PowerNet, insights into the new trends, and a simulation solution to keep pace with architectural changes

2024-01-2985To be published on 07/02/2024

The automotive PowerNet is facing a major transformation. The three main drivers are: • Increasing power • Availability requirements • PowerNet complexity and cost reduction These driving factors result in a wide variety of possible future PowerNet topologies. The increasing power demand is among others caused by the progressive electrification of formerly mechanical components and the trend of increasing number of comfort loads. This leads to a steady increase in installed electrical power. X-by-wire systems and autonomous driving functions result in higher availability requirements. As a result, the power supply of all safety-critical loads must always be kept sufficiently stable. To reduce costs and increase reliability, the car manufacturers aim to reduce the complexity of the PowerNet System, including the wiring harness and the controller network. The wiring harness e.g., is currently one of the costliest parts of modern cars. These challenges are met with different concepts. To

Jagfeld, Sebastian Michael Peter, Weldle, Richard, Knorr, Rainer, Fill, Alexander, Birke, Kai Peter

Towards Future Vehicle Diagnostics in Software-Defined Vehicles

2024-01-2981To be published on 07/02/2024

Software will lead the development and life cycle of vehicles in the future. Nowadays, more and more software is being integrated into a vehicle, evolving it into a Software-Defined Vehicle (SDV). Automotive High Performance Computers (HPCs) serve as enablers by providing more computing infrastructure which can be flexibly used inside a vehicle. However, this leads to a complex vehicle system that needs to function today and in the future. Detecting and rectifying failures as quickly as possible is essential, but existing diagnostic approaches based on Diagnostic Trouble Codes (DTCs) are not designed for such complex systems and lack of flexibility. DTCs are predefined during vehicle development and changes to vehicle diagnostics require a large amount of modification work. Moreover, diagnostics are not intended to handle dynamically changing software systems and have shortcomings when applied to in-vehicle software systems. In the Cloud, there are already established approaches to

Bickelhaupt, Sandra, Hahn, Michael, Morozov, Andrey, Weyrich, Michael

Optimal and Prototype Dimensioning of Electrified Drives for Automated Driving

2024-01-3021To be published on 07/02/2024

Electrified drives will change significantly in the wake of the further introduction of automated driving functions. Precise drive dimensioning, taking automated driving into account, opens up further potential in terms of drive operation and efficiency as well as optimal component design. Central element for unlocking the dimensioning potentials is the knowledge about the driving functions and their application. In this paper the implications of automated driving on the drive and component design are discussed. A process and a virtual toolchain for electric drive development from concept optimization to detailed component dimensioning is presented. The process is subdivided into a concept optimization part for finding the optimal drive topology and layout and a detailed prototype dimensioning process, where the final detailed drive dimensioning is carried out. Furthermore. the detailed simulation allows the drive investigation in representative customer operation as well as automated

Sturm, Axel Wolfgang, Brandes, Gerrit, Sander, Marcel, Henze, Roman, Küçükay, Ferit

Additively Manufactured Wheel Suspension System with Integrated Conductions and Optimized Structure

2024-01-2973To be published on 07/02/2024

Increasing urbanisation and the growing environmental awareness in society require new and innovative vehicle concepts. In the present work, the design freedoms of additive manufacturing (AM) are used to develop a front axle wheel suspension for a novel modular vehicle concept. The development of the suspension components is based on a new method using industry standard load cases for the strength design of the components. To design the chassis components, first the available installation space is determined and a suitable configuration of the chassis components is defined. Furthermore, numerical methods are used to identify component geometries that are suitable for the force flow. The optimisation setup is selected in a way that allows to integrate information, energy and material-carrying conductors into the suspension arms. The conductors even serve as load-bearing structures because of the matching design of the components. High-strength light metals are used to minimise the

Weitz, Fabian, Debnar, Christian, Frey, Michael, Gauterin, Frank

Enhancing Urban AEB Systems: Simulation-Based Analysis of Error Tolerance in Distance Estimation and Road-Tire Friction Coefficients

2024-01-2992To be published on 07/02/2024

Autonomous Emergency Braking (AEB) systems are critical in preventing collisions, yet their effectiveness hinges on accurately estimating the distance between the vehicle and other road users, as well as understanding road conditions. Errors in distance estimation can result in premature or delayed braking and varying road conditions alter road-tire friction coefficients, affecting braking distances. Advancements in sensor technology and deep learning have improved vehicle perception and real-world understanding. The integration of advanced sensors like LiDARs has significantly enhanced distance estimation. Cameras and deep neural networks are also employed to estimate the road conditions. However, AEB systems face notable challenges in urban environments, influenced by complex scenarios and adverse weather conditions such as rain and fog. Therefore, investigating the error tolerance of these estimations is essential for the performance of AEB systems. Determining the actual distances

Wang, Yifan, Iatropoulos, Jannes, Thal, Silvia, Henze, Roman

Analysis of human driving behavior with focus on vehicle lateral control

2024-01-2997To be published on 07/02/2024

The optimization and further development of automated driving functions offers great potential to relieve the driver in various driving situations and increase road safety. Simulative testing in particular is an indispensable tool in this process, allowing conclusions to be drawn about the design of automated driving functions at a very early stage of development. In this context, the use of driving simulators provides support so that the driving functions of tomorrow can be experienced in a very safe and reproducible environment. The focus of the acceptance and optimization of automated driving functions is particularly on vehicle lateral control functions. As part of this paper, a test person study was carried out regarding manual vehicle lateral control on the dynamic vehicle road simulator at the Institute of Automotive Engineering. The basic block for this is the route generation as a result of the evaluation of curve radii from several hundred thousand kilometers of real

Iatropoulos, Jannes, Panzer, Anna, Henze, Roman

Thermal Management System for Battery Electric Heavy-Duty Trucks

2024-01-2971To be published on 07/02/2024

On the path to decarbonizing road transport, electric commercial vehicles will play a significant role. The first applications were directed to the smaller trucks for distribution traffic with relatively moderate driving and range requirements, but meanwhile, the first generation of a complete portfolio of truck sizes is developed and available on the market. In these early applications, many compromises were accepted to overcome component availability, but meanwhile, the supply chain can address the specific needs of electric trucks. With that, the optimization towards higher usability and lower costs can be moved to the next level. Especially for long-haul trucks, efficiency is a driving factor for the total costs of ownership. Besides the propulsion system, all other systems must be optimized for higher efficiency. This includes thermal management since the thermal management components consume energy and have a direct impact on the driving range. The main function is to protect the

Gajowski, Daniel, Wenzel, Wolfgang, Hütter, Matthias

Enhancing BEV Energy Management: Neural Network-Based System Identification for Thermal Control Strategies

2024-01-3005To be published on 07/02/2024

Modeling thermal systems in Battery Electric Vehicles (BEVs) is crucial for enhancing energy efficiency through predictive control strategies, thereby extending vehicle range. A major obstacle in this modeling is the often limited availability of detailed system information. This research introduces a methodology using neural networks for system identification, a powerful technique capable of approximating the physical behavior of thermal systems with minimal data requirements. By employing black-box models, this approach supports the creation of optimization-based operational strategies, such as Model Predictive Control (MPC) and Reinforcement Learning-based Control (RL). The system identification process is executed using MATLAB Simulink, with virtual training data produced by validated Simulink models to establish the method's feasibility. The neural networks utilized for system identification are implemented in MATLAB code. This study conducts a comparative analysis between

Franke, Kai, Hemkemeyer, David, Schutzeich, Patrick, Schäfers, Lukas, Pischinger, Stefan

Investigation of Stator Cooling Concepts of an Electric Machine for Maximization of Continuous Power

2024-01-3014To be published on 07/02/2024

With the automotive industry's increasing focus on electromobility and the growing share of electric cars, new challenges are arising for the development of electric motors. The requirements for torque and power of traction motors are constantly growing, while installation space, costs and weight are increasingly becoming limiting factors. Moreover, there is an inherent conflict in the design between power density and efficiency of an electric motor. Thus, a main focus in today's development lies on space-saving and yet effective and innovative cooling systems. This paper presents an approach for a multi-physical optimization that combines the domains of electromagnetics and thermodynamics. Based on a reference machine, this simulative study examins a total of nine different stator cooling concepts varying the cooling duct positions and end-winding cooling concepts. To ensure the highest possible comparability, the rotor geometry as well as the overall dimensions in terms of outer

Reinecke, Mike, Karayel, Akif, von Schöning, Hendrik, Schaefer, Uwe, Moullion, Matthias, Faessler, Victor, Lehmann, Robert

A computational study of hydrogen direct injection using a pre-chamber in an opposed-piston engine

2024-01-3010To be published on 07/02/2024

Opposed-piston two-stroke engines offer numerous advantages over conventional four-stroke engines, both in terms of fundamental principles and technical aspects. The reduced heat losses and large volume-to-surface area ratio inherently result in a high thermodynamic efficiency. Additionally, the mechanical design is simpler and requires fewer components compared to conventional four-stroke engines. When combining this engine concept with alternative fuels such as hydrogen and pre-chamber technology, a potential route for carbon-neutral powertrains is observed. To ensure safe engine operation using hydrogen as fuel, it is crucial to consider strict safety measures to prevent issues such as knock, pre-ignition, and backfiring. One potential solution to these challenges is the use of direct injection, which has the potential to improve engine efficiency and expand the range of load operation. In order to achieve compression ignition with hydrogen, it is necessary to either have high

Menaca, Rafael, Moreno Cabezas, Kevin, Shakeel, Mohammad Raghib, Vorraro, Giovanni, Turner, James W. G., Im, Hong G.

Automated AI-based Annotation Framework for 3D Object Detection from LIDAR Data in Industrial Areas

2024-01-2999To be published on 07/02/2024

Autonomous Driving is being utilized in various settings, including indoor areas such as industrial halls. Additionally, LIDAR sensors are currently popular due to their superior spatial resolution and accuracy compared to RADAR, as well as their robustness to varying lighting conditions compared to cameras. They enable precise and real-time perception of the surrounding environment. Several datasets for on-road scenarios such as KITTI or Waymo are publicly available. However, there is a notable lack of open-source datasets specifically designed for industrial hall scenarios, particularly for 3D LIDAR data. Furthermore, for industrial areas where vehicle platforms with omnidirectional drive are often used, 360° FOV LIDAR sensors are necessary to monitor all critical objects. Although high-resolution sensors would be optimal, mechanical LIDAR sensors with 360° FOV exhibit a significant price increase with increasing resolution. Most existing AI models for 3D object detection in point

Abdelhalim, Gina, Simon, Kevin, Bensch, Robert, Parimi, Sai, Qureshi, Bilal Ahmed

Neural Network Modeling of Black Box Controls for Internal Combustion Engine Calibration

2024-01-2995To be published on 07/02/2024

The calibration of Engine Control Units (ECUs) for road vehicles is challenged by stringent legal and environmental regulations, coupled with short development cycles. The growing number of vehicle variants, although sharing similar engines and control algorithms, requires different calibrations. Additionally, modern engines feature increasingly number of adjustment variables, along with complex parallel and nested conditions within the software, demanding a significant amount of measurement data during development. The current state-of-the-art (White Box) model-based ECU calibration proves effective but involves considerable effort for model construction and validation. This is often hindered by limited function documentation, available measurements, and hardware representation capabilities. This article introduces a model-based calibration approach using Neural Networks (Black Box) for two distinct ECU functional structures with minimal software documentation. The ECU is operated on

Meli, Matteo, Wang, Zezhou, Bailly, Peter, Pischinger, Stefan

On-Center Steering Model for Realistic Steering Feel based on Real Measurement Data

2024-01-2994To be published on 07/02/2024

Driving simulators allow the testing of driving functions, vehicle models and acceptance assessment at an early stage. For a real driving experience, it's necessary that all immersions are depicted as realistically as possible. When driving manually, the perceived haptic steering wheel torque plays a key role in conveying a realistic steering feel. To ensure this, complex multi-body systems are used with numerous of parameters that are difficult to identify. Therefore, this study shows a method how to generate a realistic steering feel with a nonlinear open-loop model which only contains significant parameters, particularly the friction of the steering gear. This is suitable for the steering feel in the most driving on-center area. Measurements from test benches and real test drives with an Electric Power Steering (EPS) were used for the Identification and Validation of the model. The open-loop architecture on steering rack level shows adequate results and generate a nearly delay-free

Dieing, Andreas, Reuss, Hans-Christian, Schlüter, Marco

Measurements in the Recirculation Path of a Fuel Cell System

2024-01-3009To be published on 07/02/2024

When using "green" hydrogen, fuel cell technology plays a key role in emission-free mobility. A powertrain based on fuel cells (FC) shows its advantages over battery-electric powertrains when the requirement profile primarily demands high performance over a longer period of time, high flexible availability and short refueling times. In addition, FC achieves higher effi-ciencies than the combustion of hydrogen in a gas engine, meaning that the chemical energy is used more efficiently than with established combustion engines. When using FC technology, numerous companies in Baden-Württemberg can contribute their specific expertise from the traditional automotive construction and supplier business. This includes auxiliary units in the air (cathode) and hydrogen (anode) path, such as the air compressor, the H2 recycling pump, humidifier, cooling system, power electronics, valve and pressure tank technology as well as components of the fuel cell stack itself. The periphery of the media paths

Allmendinger, Frank, Martin, Benedikt, Schmidtmann, Marlen

Evaluation and simulation of wheel steering functionality on a Road to Rig test bench

2024-01-3000To be published on 07/02/2024

The automotive industry is continuously evolving, demanding innovative approaches to enhance testing methodologies and preventive identify potential issues. This paper proposes an advancement test approach in the area of the overall vehicle system included steering system and power train on a “Road to Rig” test bench. The research aims to revolutionize the conventional testing process by identifying faults at an early stage and eliminating the need to rely solely on field tests. The motivation behind this research is to optimize the test bench setup and bring it even closer to real field tests. Key highlights of the publication include the introduction of an expanded load spectrum, incorporating both steering angle and speed parameters along the test track. The load includes different route and driving profiles like on a freeway, overland and city drive in combination with the steering angles. Furthermore, for the first time, specific driving manoeuvres such as slalom driving and

Kopp, Lennart, Harfmann, Patrick, Niederberger, Lucas, Schwämmle, Timm, Kley, Markus

Electromagnetic Compatibility Assessment of Electric Vehicles During DC-Charging with European Combined Charging System

2024-01-3008To be published on 07/02/2024

The ongoing energy transition will have a profound impact on future mobility, with electrification playing a key role. Battery electric vehicles (EVs) are the dominant technology, relying on the conversion of alternating current (AC) from the grid to direct current (DC) to charge the traction battery. This process involves power electronic components such as rectifiers and DC/DC converters operating at high switching frequencies in the kHz range. Fast switching is essential to minimize losses and improve efficiency, but it might also generate electromagnetic interferences (EMI). Hence, electromagnetic compatibility (EMC) testing is essential to ensure reliable system operations and to meet international standards. During DC charging, the AC/DC conversion takes place off-board in the charging station, allowing for better cooling and larger components, resulting in increased power transfer, currently up to 350 kW. The EMC requirements for this charging method are outlined in IEC 61851-21

Supa Stölben, Inti Runa, Beltle, Michael, Tenbohlen, Stefan

Numerical Investigation of the Effect of Piston Geometry on the Performance of a Ducted Fuel Injection Engine

2024-01-3024To be published on 07/02/2024

Ducted Fuel Injection (DFI) engines have emerged as a promising technology in the pursuit of a clean and efficient combustion process. This article aims at elucidating the effect of piston geometry on the engine performance and emissions of a metal DFI engine. Three different types of pistons were investigated and the main piston design features including the piston bowl diameter, piston bowl slope angle, duct angle and the injection nozzle position were examined. To achieve the target, computational fluid dynamics (CFD) simulations were conducted coupled to a reduced chemical kinetics mechanism. Extensive validations were performed against the measured data from a conventional diesel engine. To calibrate the soot model, genetic algorithm and machine learning methods were utilized. The simulation results highlight the pivotal role played by piston bowl diameter and fuel injection angle in controlling soot emissions of a DFI engine. An increase in piston bowl diameter increases the room

Shakeel, Mohammad Raghib, Liu, Xinlei, Nyrenstedt, Gustav, Mueller, Charles J., Im, Hong

Probabilistically Extended Ontologies a basis for systematic testing of ML-based systems

2024-01-3002To be published on 07/02/2024

Autonomous driving is a hot topic in the automotive domain, and there is an increasing need to prove its reliability. They use machine learning techniques, which are themselves stochastic techniques based on some kind of statistical inference. The occurrence of incorrect decisions is part of this approach and often not directly related to correctable errors. The quality of the systems is indicated by statistical key figures such as accuracy and precision. Numerous driving tests and simulations in simulators are extensively used to provide evidence. However, the basis of all descriptive statistics is a random selection from a probability space. The difficulty in testing or constructing the training and test data set is that this probability space is usually not well defined. To systematically address this shortcoming, ontologies have been and are being developed to capture the various concepts and properties of the operational design domain. They serve as a basis for the specification

Wiesbrock, Hans Werner, Grossmann, Jürgen

Turbocharging system selection for a hydrogen-fuelled spark-ignition internal combustion engine for heavy-duty applications

2024-01-3019To be published on 07/02/2024

Nowadays, green hydrogen can play a crucial role in a successful clean energy transition, thus reaching net zero emissions in the transport sector. Moreover, hydrogen exploitation in internal combustion engines is favoured by its suitable combustion properties and quasi-zero harmful emissions. High flame speeds enable a lean combustion approach, which provides high efficiency and reduces NOx emissions. However, high air flow rates are required to achieve the load levels typical of heavy-duty applications. In this framework, the present study aims to investigate the required boosting system of a 6-cylinder, 13-liter heavy-duty spark ignition engine through 1D numerical simulation. A comparison among various architectures of the turbocharging system and the size of each component is presented, thus highlighting limitations and potentialities of each architecture and providing important insights for the selection of the best turbocharging system

Pucillo, Francesco, Millo, Federico, Piano, Andrea, Giordana, Sergio, Rapetto, Nicola, Paulicelli, Fabio

Low NOx Emissions Performance after 800,000 Miles Aging Using CDA and an Electric Heater

2024-01-3011To be published on 07/02/2024

Engine and aftertreatment solutions have been identified to meet the upcoming ultra-low NOX regulations on heavy duty vehicles in the United States and Europe. These standards will require changes to current conventional aftertreatment systems for dealing with low exhaust temperature scenarios while increasing the useful life of the engine and aftertreatment system. Previous studies have shown feasibility of meeting the US EPA and California Air Resource Board (CARB) requirements. This work includes a 15L diesel engine equipped with cylinder deactivation (CDA) and an aftertreatment system that was fully DAAAC aged to 800,000 miles. The aftertreatment system includes an e-heater (electric heater), light-off Selective Catalytic Reduction (LO-SCR) followed by a primary aftertreatment system containing a DPF and SCR. To explore the low power potential in combination with CDA and to minimize the fuel and CO2 penalty, the e-heater was set to both a 2.5 and a 5 kW limit, even though it was

Kramer, Jan, Rice, Michael, Zavala, Bryan, Sharp, Christopher, McCarthy, James, Karrer, Ben

Numerical Investigation of Injection and Mixture Formation in Hydrogen Combustion Engines by Means of Different 3D-CFD Simulation Approaches

2024-01-3007To be published on 07/02/2024

For the purpose of achieving carbon-neutrality in the mobility sector by 2050, hydrogen can play a crucial role as an alternative energy carrier, not only for direct usage in fuel cell-powered vehicles, but also for fueling internal combustion engines. This paper focuses on the numerical investigation of high-pressure hydrogen injection and the mixture formation inside a high-tumble engine with a conventional liquid fuel injector for passenger cars. Since the traditional 3D-CFD approach of simulating the inner flow of an injector requires a very high spatial and temporal resolution, the enormous computational effort, especially for full engine simulations, is a big challenge for an effective virtual development of modern engines. An alternative and more pragmatic lagrangian 3D-CFD approach offers opportunities for a significant reduction in computational effort without sacrificing reliability. The detailed and the lagrangian approach are both validated against optical measurements

Schmelcher, Robin, Kulzer, Andre, Gal, Thomas, Vacca, Antonino, Chiodi, Marco

Impact of AdBlue Composition and Water Purity on Particle Number Increase

2024-01-3012To be published on 07/02/2024

Previous studies have shown that dosing AdBlue into the exhaust system of diesel engines to reduce nitrogen oxides can lead to an increase in the number of particles (PN). In addition to the influencing factors of exhaust gas temperature, exhaust gas mass flow and dosing quantity, the dosed medium itself (AdBlue) is not considered as a possible influence due to its regulation in ISO standard 22241. However, as the standard specifies limit value ranges for the individual regulated properties and components for newly sold AdBlue, in reality there is still some margin in the composition. This paper investigates the particle number increase due to AdBlue dosing using several CPCs. The increase in PN is determined by measuring the number of particles after DPF and thus directly before dosing as well as tailpipe. Several AdBlue products from different sources and countries are measured and their composition is also analyzed with regard to the limit values regulated in the standard. This

Herold, Tim, Noone, Patrick, Beidl, Christian, Boldt, Thomas, Hochholzner, Michael, Kontin, Sinisa

Radar-based Approach for Side-Slip Gradient Estimation

2024-01-2976To be published on 07/02/2024

In vehicle ego-motion estimation, vehicle control, and advanced driver assist systems the vehicle dynamics are described by a few key parameters. The side-slip gradient, being one of them, is used to model the lateral behavior of the vehicle. This parameter is rarely known precisely, since it depends on the vehicle’s mass distribution, its tires, and even the chassis setup. Thus, an online-estimation of the side-slip gradient is beneficial, especially in serial applications. Estimating the side-slip gradient with conventional vehicle sensors such as wheel-speed, steering, and inertial sensors poses a significant challenge since considerable dynamic excitation of the vehicle is required, which is uncommon in normal driving. Here, radar sensors open new opportunities in the estimation of such vehicle dynamics parameters since they allow for an instantaneous measurement of the lateral velocity. The use of radar for lateral velocity and parameter estimation has been proposed in literature

Diener, Luis, Kalkkuhl, Jens, Schirle, Thomas

Towards a New Approach for Reducing the Safety Validation Effort of Driving Functions Using Prediction Divergence

2024-01-3003To be published on 07/02/2024

An essential component in the approval of advanced driver assistance systems (ADAS) and automated driving systems (ADS) is the quantification of residual risk, which demonstrates that hazardous behavior (HB) occurs less frequently than specified by a corresponding acceptance criterion. In the case of HB with high potential impact severity, only very low accepted frequencies of occurrence are tolerated. To avoid uncertainties due to abstractions and simplifications in simulations, the proof of the residual risk in systems such as advanced emergency braking systems (AEBS) is often partially or entirely implemented as system-level field test. However, the low rates and high confidence required, common for residual risk demonstrations, result in a significant disadvantage of these field tests: the long driving distance required. In this publication, the prediction divergence principle (PDP) is presented as an approach that has the potential to reduce the testing effort in the future

Betschinske, Daniel, Schrimpf, Malte, Lippert, Moritz, Peters, Steven

Software-supported Processes for Aerodynamic Homologation of Vehicles

2024-01-3004To be published on 07/02/2024

Homologation is an important process in vehicle development and aerodynamics a main data contributor. The process is heavily interconnected: Production planning defines the available assemblies. Construction defines their parts and features. Sales defines the assemblies offered in different markets, where Legislation defines the rules applicable to homologation. Control engineers define the behavior of active, aerodynamically relevant components. Wind tunnels are the main test tool for the homologation, accompanied by surface-area measurement systems. Mechanics support these test operations. The prototype management provides test vehicles, while parts come from various production and prototyping sources and are stored and commissioned by logistics. Several phases of this complex process share the same context: Production timelines for assemblies and parts for each chassis-engine package define which drag coefficients or drag coefficient contributions shall be determined. Absolute and

Jacob, Jan D.

Approach for an Assistance System for E-Bikes to Implement Rider-Adaptive Support

2024-01-2979To be published on 07/02/2024

When riding an e-bike, riders are faced with the question of whether there is enough energy left in the battery to reach the destination with the desired level of support. E-bike users therefore have an existential range anxiety. Specifically, this describes the fear that the battery charge will be exhausted before there is an opportunity to recharge it and that it will no longer be possible to use the electric support. However, e-bike riders have so far had to decide for themselves whether the available battery charge is sufficient for riding the planned route or whether the desired destination can be reached. In this context, the challenge is to decide how much support can be used so that an appropriate amount of effort can be achieved for the entire journey. In order to assist e-bike riders with this problem, the objective of this paper is to present an approach towards an assistance system that provides rider-adaptive support over the entire journey of a defined route. This

Rauch, Yannick, Kriesten, Reiner

A Novel Approach for the Safety Validation of Emergency Intervention Functions using Extreme Value Estimation

2024-01-2993To be published on 07/02/2024

As part of the safety validation of advanced driver assistance systems (ADAS) and automated driving (AD) functions, it is necessary to demonstrate that the frequency at which the system exhibits hazardous behavior (HB) in the field is below an acceptable threshold. This is typically tested by observation of the system behavior in a field operational test (FOT). For situations in which the system under test (SUT) actively intervenes in the dynamic driving behavior of the vehicle, it is assessed whether the SUT exhibits HB. Since the accepted threshold values are generally small, the amount of data required for this strategy is usually very large. This publication proposes an approach to reduce the amount of data required for the evaluation of emergency intervention systems with a state machine based intervention logic by including the time periods between intervention events in the validation process. For this purpose, a proximity measure that indicates how close the system is to an

Schrimpf, Malte, Betschinske, Daniel, Peters, Steven

Challenges of measuring low levels of CO2 and NOx on H2-ICE

2024-01-2998To be published on 07/02/2024

Society is moving towards climate neutrality where hydrogen fuelled combustion engines (H2 ICE) could be considered a main technology. These engines run on hydrogen (H2) so carbon-based emission are only present at a very low level from the lube oil. The most important pollutants NO and NO2 are caused by the exhaust aftertreatment system as well as CO2 coming from the ambient air. For standard measurement technologies these low levels of CO2 are hard to detect due to the high water content. Normal levels of CO2 are between 400-500 ppm which is very close or even below the detection limit of commonly used non-dispersive-infrared-detectors (NDIR). As well the high water content is very challenging for NOx measuring devices, like chemiluminescence detectors (CLD), where it results in higher noise and therefore a worse detection limit. Even for Fourier-transformed-infrared-spectroscopy-analysers (FT-IR) it is challenging to deal with water content over 15% without increased noise. The goal

Jakubec, Philipp, Roiser, Sebastian

Supercharger Boosting on H2 ICE for Heavy Duty applications

2024-01-3006To be published on 07/02/2024

Commercial vehicle powertrain is called to respect a challenging roadmap for CO2 emissions reduction, quite complex to achieve just improving technologies currently on the market. In this perspective alternative solutions are gaining interest, and the use of green H2 as fuel for ICE is considered a high potential solution with fast and easy adoption. NOx emission is still a problem for H2 ICE and can be managed operating the engine with lean air fuel ratio all over the engine map. This combustion strategy will challenge the boosting system as lean H2 combustion will require quite higher air flow compared to diesel for the same power density in steady state. Similar problem will show up in transient response particularly when acceleration starts from low load and the exhaust gases enthalpy is very poor and insufficient to spin the turbine. The analysis presented in this paper will show and quantify the positive impact that a supercharger has on both the above mentions problems. It is

Andrisani, Nicola, Bagal, Nilesh

Miller Cycle and Internal EGR in Diesel Engines Using Alternative Fuels

2024-01-3020To be published on 07/02/2024

The Single Cylinder Research Engine (SCRE) at the Institute of Internal Combustion Engines and Powertrain Systems is equipped with a variable valve train that allows to switch between regular intake valve lift and early intake valve closing (Miller). On the exhaust side, a secondary valve lift on each valve is possible with adjustable back pressure and thus the possibility of realising internal EGR. In combination with alternative fuels, even if they are Drop-In capable as HVO, properties differ and can influence the emission and efficiency behaviour. The investigations of this paper are focusing on regenerative Drop-In fuel (HVO), fossil fuel (B7), and an oxygenate (OME), that needs adaptions at the engine control unit, but offers further emission potential. By commissioning a 2-stage boost system, it is possible to fully equalize the air mass in Miller mode compared to the normal valve lift. This enables a comprehensive analysis of the behavior of the fuels under different boundary

Knost, Friedemar, Beidl, Christian

Sustainable Propulsion in a Post-Fossil Energy World: Life-Cycle Assessment of Renewable Fuel and Electrified Propulsion Concepts

2024-01-3013To be published on 07/02/2024

Faced with one of the greatest challenges of humanity – climate change – the European Union has set out a strategy to achieve climate neutrality by 2050 as part of the European Green Deal. To date, extensive research has been conducted on the CO2 life cycle analysis of mobile propulsion systems. However, achieving absolute net-zero CO2 emissions requires the adjustment of the relevant key performance indicators for the development of mobile propulsion systems. In this context, research is presented that examines the ecological and economic sustainability impacts of a hydrogen-fueled mild hybrid vehicle, a hydrogen-fueled 48V hybrid vehicle, a methanol-fueled 400V hybrid vehicle, a methanol-to-gasoline-fueled plug-in hybrid vehicle, a battery electric vehicle, and a fuel cell electric vehicle. For this purpose, a combined Life-Cycle Assessment (LCA) and Life-Cycle Cost Assessment was performed for the different propulsion concepts. This assessment follows the methodology of DIN EN ISO

Kexel, Jannik, Pischinger, Stefan, Balazs, Andreas, Schroeder, Benedikt, Wegner, Hagen

Reduction of Flow-induced Noise in Refrigeration Cycles

2024-01-2972To be published on 07/02/2024

In electrified vehicles, auxiliary units can be a dominant source of noise, one of which is the refrigerant scroll compressor. Compared to vehicles with combustion engines, e-vehicles require larger refrigerant compressors, as in addition to the interior, also the battery and the electric motors have to be cooled. Currently, scroll compressors are widely used in the automotive industry, which generate one pressure pulse per revolution due to their discontinuous compression principle. This results in speed-dependent pressure fluctuations as well as higher-harmonic pulsations that arise from reflections. These fluctuations spread through the refrigeration cycle and cause the vibration excitation of refrigerant lines and heat exchangers. The sound transmission path in the air conditioning heat exchanger integrated in the dashboard is particularly critical. Various silencer configurations can be used to dampen these pulsations. This paper compares the acoustic and thermodynamic performance

Saur, Lukas, Heidegger, Patrick, Naeger, Christoph, Becker, Stefan

Fitting Automotive Quality and Safety Expectations to Free and Open Source Software

2024-01-2984To be published on 07/02/2024

Due to manifold benefits compared to proprietary software solutions, free and open source software (FOSS) in general, and Linux especially becomes more and more relevant for embedded solutions in the automotive domain, especially in High Performance Computing Platforms (HPC). However, taking over liability and warranty for a FOSS software-based problem raises the problem of software quality assurance, and thus respectively risk control. In order to control and minimize the residual risk of a product or service, the traditional and well-accepted measure in the automotive domain is to assess the engineering processes and resulting work products via a process assessment model given by the ASPICE maturity model, as well as requirements from functional safety standards for safety related functions. The underlying process reference model of ASPICE assumes software development performed and controlled by an organization. However, this assumption is not given by and even contrary to the nature

Schlosser, Joachim, Kirchmaier, Ulrich, Armbruster, Michael, Lindner, Wolfgang

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