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    Technical characteristics and prospects of power transmissions for commercial vehicles under the “Carbon-Peak and Carbon-Neutrality” target
    XU Xiangyang, ZHAO Junwei, DONG Peng, WANG Shuhan, LIU Yanfang
    Journal of Automotive Safety and Energy    2023, 14 (4): 395-412.   doi:10.3969/j.issn.1674-8484.2023.04.001
    Abstract443)   HTML116)    PDF (4252KB)(5275)      

    Commercial vehicles are an important force in road transportation and a large carbon emitter. Realizing the green transformation and development of commercial vehicles is an important breakthrough in accelerating the achievement of the “Carbon-Peak and Carbon-Neutrality” target in the automotive industry. However, policy-driven and market demand have posed new challenges and requirements for the development of commercial vehicle technology, especially with the emergence of multiple technological routes for power transmissions. This paper focuses on the application scenarios of medium and heavy trucks, light and pickup trucks, and buses under different power sources such as traditional fuel, hybrid, pure electric, and hydrogen fuel cell, and analyzes the technical characteristics, product spectrum, applicability in different scenarios, and technological development trends of power transmission systems for commercial vehicles. A new prospect is put forward for the development of power transmission technologies for commercial vehicles to provide a reference for the technical path selection and technological innovation and development of commercial vehicle transmissions.

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    Future of autonomous driving: Single autonomous driving and intelligent vehicle-infrastructure collaboration systems
    LIU Yang, ZHAN Jiahao, LI Shen, LI Xiaopeng, CHEN Jun
    Journal of Automotive Safety and Energy    2024, 15 (5): 611-633.   doi:10.3969/j.issn.1674-8484.2024.05.001
    Abstract399)   HTML1100)    PDF (2377KB)(4434)      

    As global traffic congestion and safety concerns become increasingly prominent, the widespread application of autonomous driving technology is considered a vital solution. Two prominent areas of research in autonomous driving are single autonomous driving (SAD) and intelligent vehicle-infrastructure collaboration systems (i-VICS). This paper explores the fundamental concepts and critical technologies of both. In terms of SAD, the focus is on perception, localization, decision-making, planning, and control execution, while i-VICS is centered on cooperative perception, collaborative localization, vehicle-to-infrastructure communication, and hierarchical cloud control. Furthermore, it reviews the progress of research in these technologies and summarizes the development paths chosen by China, the United States, Germany, and Japan. The transformative impact of these technologies on the commercial and industrial supply chains is also examined. Finally, the paper analyzes the technical challenges faced by both SAD and i-VICS, along with the social and legal challenges of autonomous driving, offering insights into future development directions, and providing a reference for the innovation and application of autonomous driving technology.

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    Research progress and prospect on safety of all-solid-state batteries
    GUO Chunli, TANG Shengkai, CUI Yu, MAO Yuqiong
    Journal of Automotive Safety and Energy    2025, 16 (5): 657-678.   doi:10.3969/j.issn.1674-8484.2025.05.001
    Abstract649)   HTML400)    PDF (3718KB)(3250)      

    All-solid-state batteries (ASSBs) possess potential performance advantages, such as high safety and high energy density, making them a strategic frontier in global power battery technology competition, which has been incorporated into the development strategies of major countries including China, the United States, Japan, South Korea, etc. Currently, the research & development of ASSBs has entered a critical breakthrough phase, with the leading enterprises such as Toyota, BYD, and CATL expecting to initiate the applications of ASSBs in electric vehicles around 2027. However, before large-scale application, comprehensive performance evaluation and failure analysis of ASSBs are still required to ensure their safe and reliable operation under complex working conditions in electric vehicles. Notably, existing research indicates that ASSBs still suffer from risks of thermal runaway and are not absolute safe, as their failure mechanisms under complex operating conditions remain inadequately understood. In light of this, this paper systematically reviews the potential safety issues of ASSBs from the perspectives of materials, interfaces, and cell design, including the intrinsic thermal stability of key materials such as cathodes, anodes, and solid state electrolytes; high-temperature thermochemical reactions at the cathode/anode-electrolyte interfaces; lithium dendrite growth and the resulting internal short circuits; and toxic gas production and environmental hazards during battery failure. Building on this analysis, the paper further outlines future research strategies for the safety of ASSBs from the perspectives of in-depth failure-mechanism analysis, optimization of key materials and interfacial stability, and system-level gas management and thermal protection, thereby offering systematic theoretical support and practical guidance for their safety assessment and engineering deployment.

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    Review on the emission characteristics and near-zero emission control for ammonia-hydrogen internal combustion engines
    LI Liguang, SHANG Quanbo, TANG Yongjian, DENG Jun
    Journal of Automotive Safety and Energy    2025, 16 (3): 345-366.   doi:10.3969/j.issn.1674-8484.2025.03.001
    Abstract401)   HTML1331)    PDF (3877KB)(2961)      

    Facing to the background of global efforts to reduce carbon emissions and transition toward low- and zero-carbon energy systems in response to climate change, ammonia-hydrogen internal combustion engines have emerged as a promising and increasingly studied solution in the transportation sector due to their potential for zero carbon emissions. Ammonia offers several advantages as a fuel, including high hydrogen energy density, ease of storage and transport, and excellent anti-knock properties. However, its inherently slow combustion characteristics and nitrogen-containing nature bring significant challenges, particularly in terms of high nitrogen oxide (NOx), unburned ammonia (NH3), and nitrous oxide (N2O) emissions. Optimizing the combustion process of ammonia-hydrogen fuels and achieving near-zero emissions in internal combustion engines (ICEs) are relatively new research areas that presents formidable technical challenges.

    This paper reviews the latest research developments in the emission characteristics and near-zero emission control strategies for ammonia-hydrogen fueled ICEs. First, in terms of emission mechanisms, NOx formation during ammonia combustion is governed by complex pathways and is highly sensitive to equivalence ratio, pressure, and temperature. Earlier mechanistic studies focused primarily on low-pressure and medium-to-high temperature conditions, which differ significantly from the high-pressure, high-temperature environments of modern engines, highlighting a current gap in research. Second, in-cylinder pollutant formation and control remain key to emission reduction. In-cylinder control techniques, including optimization of fuel injection strategies, ignition timing, and intake conditions can effectively balance the relationship between emissions and thermal efficiency. Studies have shown that hydrogen enrichment can improve combustion efficiency and reduce NH3 and N2O emissions, though it may increase NOx formation. Lastly, aftertreatment technologies are critical to achieving near-zero emissions. Due to the unique characteristic of emissions from ammonia-hydrogen combustion, new dedicated aftertreatment systems are required. These include selective catalytic reduction (SCR) for NOx, ammonia slip catalysts (ASC), and strategies for addressing high global warming potential gases such as N2O. Additionally, hydrogen-selective catalytic reduction (H2-SCR) offers a novel pathway for mitigating hydrogen-related emissions in such engines. Future researches should focus on the synergistic optimization of in-cylinder combustion and specific aftertreatment systems, the development of low-temperature, high-efficiency catalysts, and the exploration of integrated aftertreatment solutions to meet increasingly stringent emission regulations and approach near-zero emissions. While ammonia-hydrogen dual-fuel ICEs hold significant promise in achieving carbon neutrality, their widespread adoption will require overcoming several technical challenges, particularly in emission control.

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    A state-of-the-art review on the integrated development technology of electric vehicles and clean energy
    ZHU Ming, JI Jinhua, JIN Sheng, JI Yuting, BIE Yiming
    Journal of Automotive Safety and Energy    2024, 15 (1): 1-19.   doi:10.3969/j.issn.1674-8484.2024.01.001
    Accepted: 28 January 2024
    Online available: 29 February 2024
    Abstract574)   HTML43)    PDF (2593KB)(2932)      

    The clean energy power generation technology represented by photoelectric and wind power can provide clean power supply for electric vehicles, reduce the carbon emissions of the whole life cycle, and help the realization of the “dual carbon” strategic goal in the field of transportation, so it has been rapidly developed in recent years. In order to promote the application of transportation and energy integration technology and clarify the key issues in related research, this paper reviews the research progress of domestic and foreign scholars in the integration technology of electric vehicles and clean energy in the past 10 years. Firstly, the necessity and practical significance of the integrated development of the two are introduced. Secondly, the existing research results are divided into two categories: highway environment and urban road environment, and the current research results of electric vehicle and clean energy integration technology are summarized from the three levels of power grid, charging station and vehicle. And finally, considering the strong random fluctuations in clean energy power generation and electric vehicle charging, Some suggestions on the future development direction are put forward, such as strengthening the integrated development of public energy, constructing a variety of complementary clean energy generation strategies, establishing the integrated optimization technology of “source-network-charge-storage”, strengthening the self-consistent energy scheduling of distributed micro-grid, and strengthening the operation and management of wireless photovoltaic charging roads.

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    Trajectory generation algorithm for simulated vehicles based on trajectory prediction models
    WANG Zhenyu, YU Zhuoping, TIAN Wei, XIONG Lu, LI Zhuoren
    Journal of Automotive Safety and Energy    2025, 16 (2): 286-293.   doi:10.3969/j.issn.1674-8484.2025.02.012
    Abstract283)   HTML77)    PDF (1826KB)(2355)      

    To enhance the overall realism of background interactive vehicle trajectories in digital simulation scenarios for autonomous driving, this study approached the problem from both microscopic and macroscopic perspectives. Firstly, vehicle trajectory prediction models were trained on naturalistic driving data. Leveraging the characteristic that model-predicted trajectories more closely resembled real-world vehicle trajectories, the prediction served as the artificial intelligence (AI) driver model for background vehicles in simulation environments, improving the microscopic realism of simulated vehicle trajectory interactions. Building on this foundation, a measurement method for trajectory feature parameter statistical distribution differences and a corresponding optimization algorithm were designed, to re-select a single trajectory with the highest probability from multiple multi-modal prediction outputs, as the final driving trajectory for simulated vehicles, further enhancing the macroscopic realism of the generated trajectory feature parameter statistical distribution. The results show that, based on the proposed measurement metrics, the distribution difference between optimized simulated trajectories and real trajectories is reduced by 56.29% compared to pre-optimization, effectively enhancing the realism of background vehicle trajectories in simulation scenarios.

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    Research and prospect of intelligent and connected vehicles standard system and key standards
    SUN Hang, ZHANG Lu, JI Guotian
    Journal of Automotive Safety and Energy    2024, 15 (6): 795-812.   doi:10.3969/j.issn.1674-8484.2024.06.001
    Abstract701)   HTML1972)    PDF (1482KB)(1954)      

    Based on the National Vehicle Networking Industry Standard System Construction Guide (Intelligent Connected Vehicle) (2023 Edition), and following a thorough analysis of the intelligent connected vehicle standards system, this paper proposes a development pathway for standards in the intelligent networking domain and directions for coordinating international standard regulations, with a focus on automotive intelligence, network connectivity, automotive electronics, and comprehensive safety. Through an in-depth study of the technical system of driving automation, representative products, and application scenarios, a systematic framework and standardization route for advanced driving assistance systems (ADAS) and autonomous driving systems (ADS) have been established. By analyzing the technological and application scenarios of vehicular network communications, a standard system for network functions and applications, along with a standardization route, has been proposed. The current research status of automotive electromagnetic compatibility, electronic environmental and reliability assessment, automotive chips, and automotive electronics subfields has been reviewed, leading to the proposal of a standardization route for automotive electronics. Considering comprehensive safety, a four-dimensional safety concept for intelligent connected vehicles (ICVs) has been introduced, encompassing functional safety, anticipated functional safety, cybersecurity, and data security. The key components of each safety standard system have been discussed, and the standardization routes for these safety standards have been outlined. Finally, the paper explores the development of international standards and regulations for ICVs and the collaborative relationship between Chinese standards and international standards and regulations. In alignment with the developmental requirements of China’s intelligent connected vehicle (ICV) technology and standards, as well as the harmonization trends in international standards and regulations, this paper offers strategic insights and recommendations for the establishment of China’s ICV standard system and the development of key standards.

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    Vehicle simulation and subjective and objective evaluation based on the nonlinear air spring model
    WU Mingyu, GUO Peilin, LI Yaochao, WANG Shiwei, HOU Jie, WEI Yintao
    Journal of Automotive Safety and Energy    2024, 15 (1): 20-28.   doi:10.3969/j.issn.1674-8484.2024.01.002
    Accepted: 28 November 2022
    Abstract196)   HTML17)    PDF (1573KB)(1926)      

    As the application of the nonlinear air spring model, this paper conducted the dynamic simulation and subjective evaluation of the air suspension vehicle. Combined with frequency and amplitude dependency of the dynamic stiffness model of the air spring and Simulink simulation, a 7 degree-of-freedom model for vehicle with air suspension system was proposed. The root mean square value and power spectral density of suspension dynamic travel and sprung acceleration under different road conditions were compared. The dynamic characteristics of the air suspension vehicle under different speeds, road surfaces and shock absorber damping conditions were analyzed from the perspectives of time and frequency domain. The subjective and objective tests were carried out on the vehicle equipped with different air springs. The results show that the prediction error of suspension dynamic travel is less than 7%, and the prediction error of sprung position acceleration resonance peak value and resonance frequency is less than 6%. Therefore, the results verify the universality and accuracy of the proposed model. The model can reflect the dynamic characteristics of the vehicle with air suspension, and can provide mechanism explanations for subjective and objective ride comfort tests.

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    Backstepping formation control for smart traffic cones based on differential homogeneous transformation
    ZHANG Jiale, JIAO Shengjie, WANG Yuelin, YI Xiaogang
    Journal of Automotive Safety and Energy    2023, 14 (6): 723-733.   doi:10.3969/j.issn.1674-8484.2023.06.009
    Abstract116)   HTML5)    PDF (3299KB)(1831)      

    A novel backstepping formation control method was proposed based on differential homogeneous transformation to place and recover the smart traffic cones. Based on formation placement and recovery conditions, the method applied the backstepping technique to the dynamic error equation. And the control input was designed by constructing the Lyapunov function. The control input limitation was done by combining the differential homogeneous transformation with the backstepping method. The simulation and experimental validation were conducted by utilizing the MATLAB and the Robot Operating System (ROS) platform. The results show that the linear velocity of the control method is -0.5~0.5 m/s, and the angular velocity is -0.5~0.5 rad/s; and the formation distance errors all converge to less than 10 cm. the linear and angular velocities of the smart cone are more effectively controlled, so as to make them more stable in the prescribed ranges and change more gently compared with the traditional backstepping formation control method. Therefore, this formation control of the smart cones is realized under the oblique placement and recovery conditions because of the guarantee of boundedness of the linear velocities and angular velocities.

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    Review on testing and evaluation of cognitive abilities for autonomous vehicles
    YANG Lan, ZHAO Xiangmo, WANG Runmin, WANG Zhen, FANG Shan, QU Guangyue
    Journal of Automotive Safety and Energy    2025, 16 (1): 1-15.   doi:10.3969/j.issn.1674-8484.2025.01.001
    Abstract514)   HTML796)    PDF (1433KB)(1689)      

    Accurate understanding of dynamic traffic scenarios is a crucial manifestation of the intelligence in autonomous vehicle (AV). Therefore, it is essential to validate its effectiveness through comprehensive, rational, and efficient testing and evaluation methods. To keep abreast of the research progress in test and evaluation on the cognitive capabilities of autonomous driving, this paper first delves the core issues existing in the field of AV test from macro, meso and micro perspectives. It explores in depth the cognitive correlations between AV and human driver. Secondly, based on the “pyramid” model architecture for AV test, it comprehensively reviews the latest research findings in key test scenario generation, virtual simulation test, hybrid virtual-real test, real-road test and cognitive capability evaluation. Finally, it highlights the challenges faced in the field of test and evaluation for AV cognitive capabilities and outlines future development trends. This comprehensive review will provide an important reference for the iterative evolution and functional validation of AV technology.

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    Multi-objective bi-level programming model for optimization design of bus-HOV lanes
    YAO Ronghan, XU Wentao, LIN Zijing, WANG Libing
    Journal of Automotive Safety and Energy    2024, 15 (5): 711-722.   doi:10.3969/j.issn.1674-8484.2024.05.009
    Abstract142)   HTML6)    PDF (1838KB)(1232)      

    A multi-objective bi-level programming model for optimization design of bus-HOV (bus and high occupancy vehicle) lanes was formulated to enhance the utilization of exclusive bus lanes. The upper level of the model aimed to minimize the total travel impedance, transit operating costs and vehicle emissions; its lower level realized the user equilibrium of a multi-modal transportation network considering non-HOV, HOV and bus. The non-dominated sorting genetic algorithm Ⅱ and the methods of successive average and successive weight average were used to solve the model and lower level, respectively. The model and its solution algorithms was validated with the Nguyen-Dupuis network. The results show that the given algorithm can effectively obtain the Pareto optimal solution set of the setting scenario of the bus-HOV lanes; the reasonable setting scenario of the bus-HOV lanes can effectively promote carpooling; compared with not setting the bus-HOV lanes, permitting all and a part of high occupancy vehicles to enter the bus-HOV lanes makes the total travel impedance decrease by -0.007%~1.088% and 0.038%~4.493%, makes the transit operating costs ascend 1.057%~3.864% and 4.011%~5.611%, and makes the vehicle emissions reduce -7.598%~-1.111% and -0.677%~3.526%, respectively; when the passenger volume of original destination (OD) pairs is not lower than its critical value, setting the bus-HOV lane is helpful to increase the bus passenger volume.

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    Intelligent inspection method for power transmission towers, substations, and distribution poles using fixed UAV nests
    HUANG Zheng, WANG Hongxing, DU Biao, GAO Song, GAO Feng
    Journal of Automotive Safety and Energy    2024, 15 (5): 670-679.   doi:10.3969/j.issn.1674-8484.2024.05.005
    Abstract115)   HTML4)    PDF (1823KB)(1200)      

    To achieve automated inspection of power transmission towers, substations and distribution poles, a fixed unmanned aerial vehicle (UAV) nest was proposed based strategy that accounts for varying inspection frequencies. A fixed UAV nest deployment model was established based on a set cover problem, and the task assignment model for inspections was developed by enhancing the k-means clustering algorithm. The UAV path planning problem was formulated as a Multi-trip Traveling Salesman Problem with Time Windows (MTSPTW), and solved with an Adaptive Large Neighborhood Search (ALNS) algorithm. The real-world data validation was verified by utilizing a real operational and maintenance environment as an example. The results show that a single UAV nest completes 1 838 mixed inspection tasks over one month, with 130 takeoffs and a total flight distance of over 703 km. The proposed method overcomes the limitations of single-type inspections, proving effective for large-scale scenarios.

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    Progress of mobile charging robot for photovoltaic energy storage and charging
    LI Shunming, WANG Changrong, SHI Wenbei
    Journal of Automotive Safety and Energy    2025, 16 (4): 505-520.   doi:10.3969/j.issn.1674-8484.2025.04.001
    Abstract342)   HTML139)    PDF (2064KB)(1120)      

    To address the rapidly growing charging demands of new energy vehicles, mobile charging robots integrated with photovoltaic energy storage and charging systems have emerged as a crucial direction in research and development. This paper outlines the necessity and significance of developing photovoltaic energy storage systems and mobile charging robots for new energy vehicles, along with their fundamental operational modes. It presents the structural framework and core advantages of the photovoltaic energy storage and charging system, as well as the classification and scenario-specific adaptability of mobile charging robots. Furthermore, the economic viability, safety, and reliability of photovoltaic energy storage and charging mobile robots are analyzed. The study reviews the current research status of three key technologies—autonomous charging, path planning, and charging port recognition and insertion—and evaluates their respective strengths and limitations. This paper also summarizes the development of a new system for application-oriented research on photovoltaic energy storage and mobile charging robots, along with its key enabling technologies, and explores various specialized application scenarios. Finally, the paper identifies the challenges faced by photovoltaic energy storage and charging technologies in areas such as energy transmission efficiency, safety and stability, dynamic programming, charging port identification and insertion, advanced energy storage solutions, and the expansion of application domains. It also provides insights into the future development trends of mobile charging robots.

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    Path tracking control of autonomous container trucks using angular compensation LQR
    CAO Liling, LIU Wei, DAI Kunpeng, ZHOU Guofeng
    Journal of Automotive Safety and Energy    2024, 15 (3): 413-423.   doi:10.3969/j.issn.1674-8484.2024.03.015
    Online available: 30 June 2024
    Abstract151)   HTML10)    PDF (1944KB)(1098)      

    A linear quadratic regulator (LQR) control method with incorporating articulated angle deviation and steering angle compensation was proposed to address the issue of path deviation of semi-trailer in the process of driving of autonomous container trucks. Based on the three-degree-of-freedom dynamic model of the truck, a path tracking error model was established with considering articulated angle deviation. The linear quadratic regulator(LQR) path tracking controller was designed by compensating for the steering angle using the proportion-integral-derivative (PID) algorithm. A joint simulation platform was built using MATLAB/Simulink and TruckSim to perform simulation analysis under different condition. The results show that the average deviation in distance between the tractor and the desired path is reduced by more than 62%, and the average deviation in distance between the semi-trailer and the desired path is reduced by more than 31% by adopting the proposed path tracking algorithm and introducing PID steering compensation. The heading deviation and articulation angle deviation are also improved. Therefore, the proposed control algorithm demonstrates good path tracking performance, enhancing accuracy and stability in tracking the desired trajectory.

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    Life-cycle carbon emissions of mini-electric vehicles in China's text
    HAO Xu, LIU Chengyin, JIANG Yutong, WANG Hewu, ZOU Dajiang, ZHONG Ruiheng, DAI Feng
    Journal of Automotive Safety and Energy    2024, 15 (1): 47-53.   doi:10.3969/j.issn.1674-8484.2024.01.005
    Abstract240)   HTML19)    PDF (947KB)(1092)      

    A life-cycle carbon emission assessment model was developed for mini-electric vehicles in the Chinese context to answer how much carbon reduction would be achieved by mini-electric vehicles in China's context. The research used the GREET (the Greenhouse Gases, Regulated Emissions, and Energy Use in Transportation) model, which including: the cradle-to-gate (CTG), the energy cycle (or well-to-wheel, WTW), and the gate-to-cradle (GTC), based on a typical travel data of 1 030 vehicle·days from mini-electric vehicles. The results show that the mini-electric vehicles' average daily travel distance is 37.2 km, and the daily travel mileage of 73.1% days are less than 50.0 km. With average grid conditions in 2021, the life-cycle carbon emissions (CO2 equivalent) of mini-electric vehicles are 26.8 t per vehicle with the New European Driving Cycle (NEDC) driving cycle, which is about 33% lower than that of internal combustion engine vehicles in the same class. The WTW carbon emission (CO2 equivalent) of a mini-electric vehicle is 19.3 t, accounting for 72% of life-cycle emissions. The improvement of power-grid cleanliness and the increase in the power-battery recycling rate of will help to further reduce the carbon emission by pure electric mini vehicles.

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    Application of 24 Model in the cause of road transportation accident
    LIU Xiaolu, LIANG Zhixing, WU Jun’an, YAN Yuqiong, ZHANG Su
    Journal of Automotive Safety and Energy    2024, 15 (2): 185-195.   doi:10.3969/j.issn.1674-8484.2024.02.006
    Abstract159)   HTML7)    PDF (846KB)(1089)      

    The behavioral reasons for 215 road transport accidents occurring between 2015 and 2021 were investigated to prevent road transport accidents with the 24 Model. The direct causes, indirect causes, radical causes and their root causes were analyzed from the individual level and organizational level. The results show that the most frequent unsafe action is speeding (10.67%). 22.33% of road transport accidents are resulted from the managers illegally arranging unqualified employees to work; Managers and leaders have a significant impact on 57.67% of road transport accidents. The unsafe state caused by human factors accounted for 71.53%; The lack of driver and vehicle safety management system or implementation is particularly prominent among the root causes (20.92%). Based on this, safety countermeasures for accident prevention are proposed, and a relationship diagram of the factors in the road transportation system is constructed.

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    Development status and challenges of vehicle terminals in intelligent and connected environments
    ZHANG Yongsheng, LI Yizhou, WANG Liang, XU Zhigang
    Journal of Automotive Safety and Energy    2024, 15 (3): 295-308.   doi:10.3969/j.issn.1674-8484.2024.03.002
    Accepted: 30 June 2024
    Online available: 30 June 2024
    Abstract394)   HTML53)    PDF (1636KB)(990)      

    With the rapid advancement of intelligent connected technology, the functionalities of intelligent vehicular terminals equipped in connected vehicles have correspondingly expanded. After decades of development, these intelligent vehicular terminal systems have made significant progress in various domains and demonstrated substantial potential in the field of autonomous driving. This paper begins with the current status of intelligent vehicular terminals within the connected environment, describes the architecture of these systems, and reviews their evolutionary journey facilitated by intra-vehicle communication and vehicle-to-road cooperative empowerment. Furthermore, the paper delves into the profound impact of innovations in vehicular network wireless communication technology in the 5G era on the development of intelligent vehicular terminals. It also thoroughly reviews recent research achievements in cooperative driving and control, edge computing and fog computing, and digital twinning, while also anticipating the challenges these terminals face in information security and autonomous driving testing.

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    Unsupervised learning early warning of lithium battery failure driven by cloud data
    ZHOU Zhengyi, YANG Lin, MENG Yizhen, LI Huaijin, LÜ Feng, LIU Zhisheng, LI Yang, WU Weikun
    Journal of Automotive Safety and Energy    2025, 16 (2): 234-242.   doi:10.3969/j.issn.1674-8484.2025.02.006
    Abstract154)   HTML52)    PDF (1463KB)(918)      

    An unsupervised learning early warning method was proposed based on voltage consistency to warn early the lithium battery faults in cloud battery management technology. The voltage characteristics in the effective charging cycle were extracted with measuring the degree of voltage consistency by using a minimum neighborhood radius which achieved a single cluster number for DBSCAN (density-based spatial clustering of applications with noise); A parameter with dimension-one was defined to improve the algorithm generalization ability to the actual working conditions; The hyperparameters such as alarm thresholds were selected through orthogonal experiment. The actual fault cases were verified and analyzed. The results show that for the battery systems with the low state of charge (SOC) faults, the single battery undervoltage faults, and the single consistency faults, this method enables early warning more than 50 days in advance, with an accuracy rate of 96.7%, and can locate the cells of subsequently develops faults. Therefore, early warning of lithium-battery-system failures is realized through unsupervised learning.

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    Bionic four-leaf clover fin liquid cooling plate and heat transfer characteristics
    ZHAO Haodong, ZHANG Furen, LU Xinglong, HUANG Zhikai, LI Xue, SUN Shizheng
    Journal of Automotive Safety and Energy    2023, 14 (5): 637-647.   doi:10.3969/j.issn.1674-8484.2023.05.013
    Abstract132)   HTML10)    PDF (4517KB)(856)      

    As two important factors of battery thermal management, temperature and pressure drop are of great significance to improve battery thermal performance. In order to further improve the thermal performance of the battery and to reduce the pressure drop and make the temperature distribution more uniform, a bionic four-leaf clover fin model was proposed, and the basic model was optimized based on computational fluid dynamics (CFD). The design structure of the inlet and outlet of the cold plate and the role of the size of the circular fin in the basic model were analyzed, and then the model of a four-leaf clover fin was proposed, and the influence of the optimized model's curvature and the number of fin rows was discussed. Finally, the variation trend of Nusselt number, pressure drop and comprehensive evaluation index of hydrothermal performance factor (HTPF) with Reynolds number of the 3 models was analyzed. The results show that when the radian of the four-leaf clover fin is 37.5° and the number of rows and column of the fin are 5 rows and 11 columns, the overall performance of the four-leaf clover fin is the highest, which is increased by 1.54% compared with that of the circular fin with a diameter of 4 mm; The angle of the 4 four-leaf clover fins and the optimal radius of the inner circle of the four-leaf clover are obtained by orthogonal experiment, and the overall performance of the optimization model is improved by 4.56%. With the increase of Reynolds number, the Nusselt, the pressure drop and the HTPF of liquid cooled plate are optimized by orthogonal experiment.

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    Design of hybrid BN composite phase change microcapsule suspension and its application in PEM fuel cell cooling
    ZHOU Yibin, TANG Aikun, WANG Zhentao, CAI Tao
    Journal of Automotive Safety and Energy    2024, 15 (6): 866-874.   doi:10.3969/j.issn.1674-8484.2024.06.008
    Abstract86)   HTML2)    PDF (7866KB)(847)      

    A latent heat functional fluid based on hybrid boron nitride (BN) composite phase change micro-capsules was designed and prepared to solve the compatibility of thermoelectric properties of proton exchange membrane (PEM) fuel cell cooling medium. The physical properties and heat exchange capacities of a variety of phase change microcapsules and suspension samples were compared through systematic testing and chara-cterization, and the functional fluid was applied to the cooling of PEM fuel cell to analyze the effect of the doping concentration of phase change microcapsules on the output characteristics of the stack. The results show that the incorporation of phase change microcapsules can increase the heat exchange capacity of the base fluid by up to 3.61 times, while the enhancement of the output performance of the PEM fuel cell can be as high as 8.6%. In contrast, the suspension with 20 wt% concentration has the best overall performance, which can control the voltage variation amplitude to 0.02 V under the condition of constant current, and effectively reduce the voltage overshoot and recovery time by 23.1% and 13 s, respectively, under the condition of variable load.

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    Functional safety concept design for EMB brake-by-wire system based on vehicle dynamic
    DI Yage, ZHOU Jian, LU Jie, QIN Jia, WEI Yuqin, WANG Congjin, HAO Zhaoyang, MIAO Xuelong
    Journal of Automotive Safety and Energy    2024, 15 (6): 830-838.   doi:10.3969/j.issn.1674-8484.2024.06.004
    Abstract235)   HTML8)    PDF (1799KB)(844)      

    A functional safety concept design was conducted for smart vehicles with electronic mechanical braking (EMB) system to improve its safety and robustness. A fault injection simulation method was employed based on the ISO 26262 and combined with the product development status, to obtain the vehicle dynamic characteristics during EMB faulting, which provided the data for the assessment on severity and controllability, and effectively solved the problem of insufficient database in EMB system. The quantified severity and controllability were defined. The hazard analysis and risk assessment (HARA) were carried out, and 10 safety goals and their corresponding automotive safety integrity levels (ASIL) were achieved. The functional safety architecture and requirements of EMB system were developed with the functional safety concept design of the system being completed. Therefore, the concept analysis method can provide references for the functional safety development of other new intelligent driving electronic systems.

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    Lane-keeping control for commercial vehicles with an MPC algorithm considering parameter estimation
    ZHAO Chongqin, JING Hui, WANG Gang, FENG Huanqin, LIU Fuyun
    Journal of Automotive Safety and Energy    2024, 15 (1): 129-136.   doi:10.3969/j.issn.1674-8484.2024.01.014
    Abstract174)   HTML14)    PDF (1763KB)(843)      

    A lane-keeping algorithm was designed with the model predictive control (MPC) algorithm for commercial vehicles equipped with intelligent assisted driving. This algorithm took account parameter estimation and was capable of estimating mass and lateral velocity, which were difficult to directly measure. The extended Kalman filter (EKF) and recursive least squares (RLS) were used to estimate the lateral velocity and the mass of the vehicle, respectively. An MPC lane-keeping controller based on the estimated parameters was designed. A hardware-in-the-loop (HIL) was constructed. Different test conditions were established to verify the lane keeping algorithm. The results show that compared with the ordinary MPC, the time for vehicle correction is reduced by 28.6 % and the overshoot is smaller in the offset return condition. In the highway condition, the root mean square of the lateral error is reduced by 4.2 cm. At low sensor costs, the correction ability and tracking accuracy are improved.

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    Operating characteristics under variable conditions of a scroll-compressor in CO2 air-conditioning-system for electric vehicle
    AN Zhongyan, SONG Panpan, LU Zhenbo, ZHENG Siyu, WEI Mingshan, ZHUGE Weilin, ZHANG Yangjun
    Journal of Automotive Safety and Energy    2023, 14 (4): 488-495.   doi:10.3969/j.issn.1674-8484.2023.04.011
    Accepted: 10 April 2023
    Online available: 31 August 2023
    Abstract152)   HTML9)    PDF (992KB)(802)      

    In order to increase the driving range of electric vehicles, the operating performances of the air conditioning system under variable conditions and the functional characteristics of the scroll compressor were investigated. The performance prediction model of a trans-critical CO2 heat pump air conditioning system coupled with a one-dimensional flow model of a scroll compressor was constructed, and the validity of the model was verified by experimental data. The differences in system performance prediction under variable operating conditions between the simplified compressor model the and one-dimensional flow model were compared, and the variation characteristics of the suction pre-compression and the asymmetric flow in the discharge process were analyzed. The results show that with a constant efficiency, the system operating characteristics index (the ratio of the system cooling capacity to the compressor power consumption) predicted by the simple compressor model, is up to 20% higher than that by the one-dimensional flow model. The compressor suction vacuum degree is the main factor affecting the degree of suction pre-compression. As the compressor speed increases from 2 500 r/min to 6 000 r/min, the degree of suction pre-compression increases by 1.92%, and the volume efficiency increases by 4.72%. The change in the throughflow area of the discharge port dominates the asymmetric pressure distribution in the discharge chamber. The reduction of the asymmetric degree of the discharge chamber pressure is beneficial to improve the compressor isentropic efficiency.

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    Multi-vehicle cooperative control in ramp merging area based on MADDPG algorithm
    CAI Tianmao, KONG Weiwei, LUO Yugong, SHI Jia, JI Pengxiao, LI Congmin
    Journal of Automotive Safety and Energy    2024, 15 (6): 923-933.   doi:10.3969/j.issn.1674-8484.2024.06.014
    Abstract112)   HTML3)    PDF (4040KB)(752)      

    A multi-vehicle cooperative control method based on the multi-agent reinforcement learning algorithm was proposed to ensure the safety and efficiency of the ramp merging area. A distributed training framework based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm was designed with the goal of enhancing the computational efficiency of the system; In response to the challenge of the agent model dealing with continuous traffic flow scenarios, the stability of the agent towards the continuous traffic flow environment was guaranteed by constructing a relatively stationary environment and improving the strategy update gradient. The ramp merging area scenario was split into a preparation area and an entry area, and according to the control objectives of the two areas, the state and action spaces and reward functions were designed separately. The results show that, under different traffic flows, the proposed method reduces the total delay time in the merging area by an average of 25.46% comparing with the rule-based method, the delay time difference is 8.47% comparing with the global optimization method, but the control duration does not increase with the number of vehicles. Therefore, the proposed multi-vehicle cooperative control method for the ramp merging area can better balance the improvement of traffic efficiency and the real-time performance of the system.

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    Biomechanical analysis of occupant damage in different sitting positions in the rear seat in a frontal collision
    WU Hequan, ZHOU Huilai, LI Yihui, HU Lin
    Journal of Automotive Safety and Energy    2023, 14 (6): 688-697.   doi:10.3969/j.issn.1674-8484.2023.06.005
    Abstract157)   HTML4)    PDF (5019KB)(739)      

    In order to study the biomechanical characteristics of frontal collision injury of rear occupant in different sitting positions, the finite element simulation analysis method was used to analyze the biomechanics of THUMS AM50 occupant in the 50 km/h frontal collision under the normal sitting position, 15° left leaning and 15° right leaning. Aiming at the 15° left leaning sitting position, the collision protection strategy was studied by using the 3+2 point seat belt and the rear forward airbag. The results show that the most serious injury is caused by sitting posture of 15° left tilt, so the use of the 3+2 point seat belt can effectively reduce the head injury of passengers, and the use of rear forward airbag can greatly protect the head and chest of passengers. The strategy of using rear forward airbag has a good protection effect on the passengers who are leaning to the left and right. In the future, it is necessary to strengthen the research on the protection of rear passenger, so as to adapt to different collision conditions and complex and changeable occupant sitting posture.

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    C-V2X mode 4 performance analysis considering noise and hidden terminals in high-load scenarios
    DOU Zufang, WANG Peng, YANG Qiaoli, YANG Xijuan
    Journal of Automotive Safety and Energy    2024, 15 (6): 943-951.   doi:10.3969/j.issn.1674-8484.2024.06.016
    Abstract94)   HTML4)    PDF (1947KB)(700)      

    A data transmission analysis model, which took into account random noise, random shadow fading and hidden terminal, was proposed to further explore the data transmission performance of Cellular Vehicle-to-Everything (C-V2X) mode 4 in high-load scenarios. Firstly, a double random signal-to-noise ratio and signal-to-interference-to-noise ratio model was established, and the Cauchy distribution was used to solve the model. Secondly, the analytical formulas of four typical error probabilities in the process of data transmission were derived, and the coupling relationship between noise, shadow fading and data conflict was revealed. Thirdly, based on the four error types, the packet delivery ratio analytical model integrating noise, shadow fading and hidden terminal influence was further constructed. Finally, numerical simulations were used to analyze the key parameters affecting communication efficiency, and the influence of each parameter on packet delivery ratio was discussed. The results show that the packet delivery ratio (PDR) is reduced by 16.7% compared with the previous literature in the environment of high noise, high moving speed and high load, which verifies the adverse effects of random noise and hidden terminals on communication.

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    A temporal allocation method of motor vehicle emission inventories
    WANG Jinping, FENG Haixia, ZHAO Huanhuan, HAN Guohua, HUO Miaomiao, SHI Qingli, Ning Er-wei
    Journal of Automotive Safety and Energy    2024, 15 (3): 387-394.   doi:10.3969/j.issn.1674-8484.2024.03.012
    Online available: 30 June 2024
    Abstract85)   HTML2)    PDF (1407KB)(671)      

    The time allocation model was improved and optimized to improve the accuracy of gridded vehicle emission inventory. Based on the congestion delay index, a new time allocation model was proposed by combining the congestion delay index which reflects the actual traffic conditions with the three-parameter traffic flow model, and Jinan city was taken as the test area for analysis and verification. The results show that the monthly, daily and hourly variation trends of pollutant emissions allocated by the time allocation model are consistent with those of the monitoring data. Based on the grid NO2 emission inventory allocated with the constructed model in this paper, the simulation effect of the Community Multiscale Air Quality Modle(CMAQ) has been significantly improved, and the normalized mean deviation and normalized mean error are reduced by about 21.6% and 23.7%, respectively. The proposed time allocation model reflects the actual traffic flow situation, makes up for the shortage of sample survey data, and conforms to the three-parameter traffic flow model, showing that it has important reference significance for the accurate control of vehicle emissions and pollution control.

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    Comparison of driver’s out-of-position response of dummy and human models under AEB
    REN Lihai, LUO Zhiqin, CHEN Hao, JIANG Chengyue
    Journal of Automotive Safety and Energy    2023, 14 (4): 448-456.   doi:10.3969/j.issn.1674-8484.2023.04.006
    Abstract139)   HTML7)    PDF (2744KB)(661)      

    In order to investigate the differences in driver’s out-of-position response under different braking intensities of dummy and human models, simulation experiments of dummy and human models were carried out. The driver-restraint system models of test device for human occupant restraint (THOR) dummy and total human model for safety (THUMS) were constructed, and the driver-restraint system model of active human model (AHM) was constructed by coupling the AHM of MADYMO and LS-DYNA finite element restraint system. The displacement-time history curves of the head, shoulders, chest and knees of dummy and human models were extracted, and the out-of-position difference analysis of dummy and human models and the analysis of driver’s out-of-position under different seat belt constraints were carried out. The results showed that the 3 models are within the range of the volunteer response channel with reference to the volunteer experimental data, and the AHM and THUMS have higher biological realism of out-off-position motion. Compared to standard seat belts, active pretension seat belts can effectively reduce the driver’s response to disengagement under autonomous emergence braking (AEB) conditions.

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    Recognition of front vehicle behavior based on visual information from vehicle perspective
    LIU Yanwei, HUANG Zhiming, GAO Bolin, ZHONG Wei, CHEN Jiaxing, LIU Jiaxi
    Journal of Automotive Safety and Energy    2023, 14 (6): 707-714.   doi:10.3969/j.issn.1674-8484.2023.06.007
    Abstract142)   HTML12)    PDF (1161KB)(643)      

    Unlike traditional vehicle behavior recognition methods, which are mostly based on historical track information from a bird's eye view, this paper proposed a new approach for autonomous vehicle behavior recognition based on visual information. A vehicle behavior labeling method based on vehicle-mounted video information was proposed, and a behavior recognition data set was constructed from vehicle-mounted perspective. A vehicle behavior recognition algorithm based on SlowFast network was designed; A Focal Loss function was designed; And a Non-local operation module was introduced. The results show that compared with the original SlowFast model, the overall accuracy of the new model is improved by 20.56%, and the behavior recognition of multiple vehicles in front of the video is realized.

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    From decoupling to synergy: A paradigm shift in data and computation co-scheduling for intelligent connected vehicles
    YUAN Hong, HUANG Kaisheng, TIAN Guangyu
    Journal of Automotive Safety and Energy    2026, 17 (1): 1-17.   doi:10.3969/j.issn.1674-8484.2026.01.001
    Abstract179)   HTML24)    PDF (1586KB)(627)      

    Intelligent vehicle cyber-physical systems (IVCPS) are pivotal for transcending the limitations of single-vehicle intelligence, yet their performance is constrained by the conflict between massive data demands and dynamic, scarce communication and computation resources. This conflict stems from the strong coupling between data flow scheduling and computation task scheduling. Prevailing research often adopts a decoupled approach by optimizing these two aspects independently, overlooking the resultant systemic performance bottlenecks and lacking a comprehensive framework for Data-Computation Co-Scheduling. Therefore, this paper systematically reviews the paradigm shift in IVCPS scheduling from resource-driven independent optimization to task-driven integrated co-design. It dissects the evolution of coordination mechanisms, from explicit coordination to implicit fusion, and identifies key future research directions, particularly in applying multi-agent reinforcement learning to resolve distributed resource conflicts and ensuring the trustworthiness of artificial intelligence (AI) decisions. This study aims to establish a clear theoretical framework for the core issue of data-computation co-scheduling, providing crucial theoretical and technical support for the architectural design of next-generation intelligent transportation systems and advanced autonomous driving.

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