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- 검색키워드
- 저자 : Paulius Skačkauskas (검색결과 2 건)
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Design and Implementation of a Hybrid Path Planning Approach for Autonomous Lane Change Manoeuvre
Skačkauskas Paulius,Karpenko Mykola,Prentkovskis Olegas 한국자동차공학회 2024 International journal of automotive technology Vol.25 No.1
Autonomous vehicles are currently on their way and they have already started to gradually alter the fundamentals of the entire transport system. However, while in relatively near future, seeking to use their full potential during various urban traffi c scenarios, further developments must be done in such fi elds as the sensing and perception, path planning and control. This research work focuses on the path planning problems and proposes a novel hybrid path planning approach, specifi cally designed for an important and complex urban scenario—the lane change manoeuvre. The proposed hybrid path planner consists of two classical path planning approaches: the Bézier curves approach, which served as a primary planner, and the rapidly exploring random trees approach, which was used as a supplementary planner. The entire development process of the hybrid path planner is described systematically and in detail. To verify the effi ciency of the proposed hybrid path planner, experimental test drives, while using an autonomous research vehicle, were performed. The experimental results indicated that the real-time performance of the proposed hybrid path planning approach is eff ective and reliable. The path generated by the proposed hybrid approach is feasible, continuous, and can be executed by the autonomous vehicle.
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INVESTIGATION OF CAVITATION PROCESS IN MONOTUBE SHOCK ABSORBER
Viktor Skrickij,Dzmitry Savitski,Valentin Ivanov,Paulius Skačkauskas 한국자동차공학회 2018 International journal of automotive technology Vol.19 No.5
The paper investigates cavitation effect which negatively influences the performance of a monotube shock absorber of road vehicle (passenger car). For better understanding of this phenomena, three physical models of shim stack valves are analyzed. Validation results allowed selecting the most appropriate valve model in presence of cavitation processes. A mathematical model of monotube damper with consideration of fluid compressibility and cavitation phenomena is developed. Simulation results are validated by experimental data obtained on hydraulic test rig. Based on the selected approach, a simplified method suitable for assessment of cavitation processes in automotive monotube shock absorbers is proposed. After investigation it is found that damping force when cavitation occurs mainly depends on the initial pressure and absorber inner diameter.
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