Unmanned ground vehicles (UGVs) have great potential in the application of both civilian and military fields, and have become the focus of research in many countries. Environmental perception technology is the foundation of UGVs, which is of great significance to achieve a safer and more efficient performance. This article firstly introduces commonly used sensors for vehicle detection, lists their application scenarios and compares the strengths and weakness of different sensors. Secondly, related works about one of the most important aspects of environmental perception technology—vehicle detection—are reviewed and compared in detail in terms of different sensors. Thirdly, several simulation platforms related to UGVs are presented for facilitating simulation testing of vehicle detection algorithms. In addition, some datasets about UGVs are summarized to achieve the verification of vehicle detection algorithms in practical application. Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.
Abstract. In order to prevent the aggravation of global environmental problems, all industries are facing the challenge of green development. In the automotive field, the development of “new-energy vehicles” (plug-in electric vehicles) is particularly necessary. Hybrid electric vehicles (HEVs) have been proven to be an efficient way of solving environmental and energy problems. As the core of HEVs, the energy management strategy (EMS) plays an important role in fuel economy, power performance, and drivability. However, considering the randomness of actual driving conditions, there are great challenges involved in the establishment
of an EMS. Therefore, it is critical to develop an efficient and adaptable EMS. This paper presents a systematic review of EMSs for HEVs. First, different
issues that can affect the performance of EMSs are summarized. Second, recent studies on EMSs for HEVs are reviewed. Third, the advantages and disadvantages of
different categories of EMSs are compared in detail. Finally, promising EMS research topics for future study are put forward.
Skid-steered wheeled vehicles can be applied in military, agricultural, and other fields because of their flexible layout structure and strong passability. The research and application of vehicles are developing towards the direction of “intelligent” and “unmanned”. As essential parts of unmanned vehicles, the motion planning and control systems are increasingly demanding for model and road parameters. In this paper, an estimation method for tire and road parameters is proposed by combining offline and online identification. Firstly, a 3-DOF nonlinear dynamic model is established, and the interaction between tire and road is described by the Brush nonlinear tire model. Then, the horizontal and longitudinal stiffness of the tire is identified offline using the particle swarm optimization (PSO) algorithm with adaptive inertia weight. Referring to the Burckhardt adhesion coefficient formula, the extended forgetting factor recursive least-squares (EFRLS) method is applied to identify the road adhesion coefficient online. Finally, the validity of the proposed identification algorithm is verified by TruckSim simulation and real vehicle tests. Results show that the relative error of the proposed algorithm can be well controlled within 5%.
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