Abstract
Bringing vehicle autonomy to the level of its driveline system means that the autonomous vehicle has the capability to autonomously control the distribution of power between its driving wheels. A vehicle can therefore improve mobility by autonomously redistributing wheel power. For this implementation, vehicle mobility must first be quantified by suitable mobility indices, derived from vehicle dynamics, to numerically show a wheel or vehicle is close to immobilization as well as evaluate the effect of mobility improvements on the vehicle velocity. A velocity-based mobility index combines wheel traction with velocity to maximize effectiveness of movement. Computer simulations demonstrate the potential to improve velocity by optimizing vehicle mobility of a 4 × 4 vehicle with a hybrid electric power transmitting unit.
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Acknowledgments
This research was funded by the US Army CCDC Ground Vehicle Systems Center and partially by the National Science Foundation (award IIS-1849264).
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Vantsevich, V., Paldan, J. (2020). Autonomous Mobility Improvements of Hybrid Electric 4 × 4 with Controllable Power Transmitting Unit. In: Larochelle, P., McCarthy, J. (eds) Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics. USCToMM MSR 2020. Mechanisms and Machine Science, vol 83. Springer, Cham. https://doi.org/10.1007/978-3-030-43929-3_8
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DOI: https://doi.org/10.1007/978-3-030-43929-3_8
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