Publications Search Results

Now showing 1 - 10 of 18
  • Publication
    TruckTrix® Path-Planning in the helyOS Operating System for Yard Automation
    In this paper we briefly introduce the helyOS operating system for remote operation of autonomous mobile machines and more precisely the TruckTrix®-Path Service, which is used for path planning for yard automation solutions, introduced by Fraunhofer Institute for Transportation and Infrastructure Systems. TruckTrix®-Path provides the path planning for complex vehicle structures through critical narrows. Its extensions, developed specially for yard automation problems, adopt calculated trajectories for to be driven by a real automated truck. Alongside with other products of the TruckTrix®-Family: TruckTrix®-Coop,TruckTrix®-Control and TruckTrix®-Field it provides a fast and simple solution to control several automated vehicles on closed yards or fields.
  • Publication
    AutoTruck and helyOS: Enabling highly efficient yard operation by automation
    The paper shows a new approach for highly efficient yard operation by automation with a new control centre software approach for gated areas, called helyOS. This software is currently developed in different research projects. This paper describes the concept of helyOS along with its capabilities, features and possible future extensions. Its first-time application is the fully automated, electrically driven AutoTruck - a distribution truck, which can drive autonomously within a distribution centre. By this example, the authors show how helyOS can aid an efficient handling of automated vehicles.
  • Publication
    Path Tracking of Articulated Vehicles in Backward Motion
    Backward motion of articulated vehicles is a challenging task even for experienced drivers, since these systems are highly nonlinear and their movement is unstable. In this paper a review of the nonlinear path tracking control law based on exact linearization of a parameterized articulated vehicle composed of a car-like truck and N passive trailers is presented. Limitations of this path tracking procedure are discussed, particularly the automation of real world heavy goods articulated vehicles.
  • Publication
    helyOS - Highly Efficient Online Yard Operating System
    The paper introduces a new control centre software approach for gated areas, called helyOS. This software is currently developed in different projects. Its first-time application is the fully automated, electrically driven AutoTruck. After a general introduction of the application domain the paper describes the AutoTruck vehicle, the architecture as well as capabilities and features of helyOS and introduces an exemplary user interface for distribution centres.
  • Publication
    A Simple Yet Efficient Path Tracking Controller for Autonomous Trucks
    ( 2019)
    Kolb, Julius Karim
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    This paper presents a path tracking controller implemented for the Robot Operating System (ROS). It is developed for the funded project AutoTruck in which a 18 t truck will be automated for yard applications. The goal was to design a simple yet sufficient controller, whic hcould also be used on a standard in vehicle control unit. Therefore, no advanced non linear controller was designed. The controller is a combination of a PID controller and a point follow controller. Both controllers individually have their drawbacks for the application. However, the combination proves to provide a good tracking performance. The controllers are tested in simulaiton and with 1:32 scale trucks in the test environment called DriveLab.
  • Publication
    AEROFLEX - Advanced Energy Management in Distributed Powertrains
    ( 2019) ;
    Engasser, Julius
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    Mentink, Paul
    This paper is part of the AEROFLEX - AEROdynamic and FLEXible Trucks for Next Generation of Long Distance Road Transport - project. It concentrates on the concept of the Advanced Energy Management in Distributed Powertrains. Powertrains in long-haul vehicles can be distributed by installing additional electric powertrains in trailers and dollies. This enables two very interesting possibilities: 1. reducing fuel consumption by hybridizing the whole vehicle combination and 2. improving the driveability of longer and heavier long-haul vehicles by adding additional drive axles, which e.g. improve gradeability. This paper gives an overview over the concept, the control approach and the communication between the individual parts of the vehicle combination. It also discusses the torque demand of different vehicle configurations and provides furthermore simulation results for the fuel consumption. Both underline the potential of distributed electric powertrains in future long-haul vehicles.
  • Publication
    ECOCHAMPS - Project Targets, their Tracking and the Evaluation of the Demonstrator Vehicles
    ( 2018) ;
    Edwards, Simon
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    White, Eric
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    Gennaro, Michele de
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    Tansini, Alessandro
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    Grigoratos, Theodoros
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    Avaritsioti, Eleni
    The ECOCHAMPS project addresses the topic GV-04-2014 Hybrid Light and Heavy Duty Vehicles under the Horizon2020 programme (GA #653468) and is realized by a 26-member consortium. The overall objectives are to achieve efficient, compact, lightweight, robust and cost effective hybrid powertrains for both passenger cars and commercial vehicles, with increased functionality, improved performance, comfort and emissions levels below Euro 6/VI. In particular, an expected impact of 20% powertrain efficiency improvements and weight plus volume reductions with respect to the best-in-class vehicles on the market in the reference year 2013 is set, whilst having a maximum 10% cost premium. This paper presents the targets and the tracking of the developments of the OEMs and the approach for the final evaluation of the five demonstrator vehicles built by Q1-2018. Moreover the paper also looks towards the development of current and future CO2 declaration methods for hybrid heavy duty commercial vehicles, supporting the deployment of next generation propulsion technologies for decarbonising freight transport.
  • Publication
    TRANSFORMERS. Test Drive Results of a New Hybridisation Concept for Truck-Semitrailer Combinations
    ( 2018) ; ;
    Baert, Rik
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    Engels, Frank
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    Maillet, Christophe
    This contribution is based on results obtained in the collaboration project ""TRANSFORMERS"", which has received funding from the European Commission in the FP7-programme. The project has the objective to reduce CO2 emissions per tonne·km by up to 25%, by improved reconfigurable aerodynamic measures, by innovative loading efficiency measures and by a hybrid-on-demand driveline for truck-semitrailer combinations. Besides giving insight to the overall project, this publication focusses on the trailer mounted hybrid-on-demand (HoD) driveline. This electric driveline is combined with a conventionally propelled tractor unit, effectively hybridizing the combination with minimal changes to the tractor. The objective is to save fuel both in long haulage applications and urban dense traffic scenarios. Test results obtained in both test track and public road testing show that an actual fuel saving of up to 12% can be achieved.
  • Publication
    TRANSFORMERS - Configurable and Adaptable Trucks and Trailers for Optimal Transport
    ( 2018)
    Adams, Paul
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    Löfstrand, Sofia
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    Selas, A.
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    Arts, G.
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    Adesiyun, A.
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    Wagner, S.
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    Koch, T.
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    Jacob, B.
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    Schmidt, F.
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    Billiet, M.
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    Hariram, A.
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    Queckenstedt, B.
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    Koornneef, G.
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    Zweep, C. van der
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    Bertens, T.
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    Hillbrand, B.
    This contribution is based on the European collaborative project TRANSFORMERS (Configurable and adaptable trucks and trailers for optimal transport), which received co-funding from the European Commission. The project has the goal of reducing energy use per tonne.kilometre of goods transported by up to 25%. This is achieved by innovations including: i) Configurable whole vehicle aerodynamics, ii) Improved loading efficiency measures, iii) A distributed, trailer mounted electric driveline known as ""hybrid-on-demand"" for truck-semitrailer combinations. The combination of innovations gives the possibility of a semi-trailer combination which can be adapted or re-configured to suit individual transport missions. The paper focuses on providing background to the project, an overview of the innovations developed within the project, and the main conclusions that were drawn from the wide range of work undertaken within the project. It covers both the ""Energy Efficiency"" and the ""Load Optimisation"" trailers which were developed and tested within the project.
  • Publication
    Electric drivelines in semi-trailers - an additional way to hybridisation
    This contribution is based on results obtained in the project ""TRANSFORMERS"", which has received funding from the European Commission in the FP7-programme. The project has the objective of 25% less CO2 per t.km, by improved aerodynamic measures, innovative loading efficiency measures and a hybrid-on-demand driveline for truck-semitrailer combinations. Besides giving insight in the overall project, this publication focusses on the trailer mounted hybrid-on-demand (HoD) driveline. One key aspect is the successful registration of the semitrailer with the electric drivetrain together with a certification organisation.