Search results for "Heavy-duty vehicles"

Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles

2021

[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…

Split-Way CVTs: Parametric Analysis and Design

The thesis provides a parametric analytical method for the analysis and design of power-split continuously variable transmissions, which represent the state of the art for heavy-duty vehicles and hybrid electric cars. The functioning of any driveline is described by mean of a simple set of kinematic parameters, regardless of the constructive scheme. The calculation of the control torques remains straightforward even when both inertial effects and mechanical losses are taken into account. A simple design procedure is described and generalized in order to address any order of driveline, including multimode transmissions. The final layout is generated additively, without the need to analyze hu…