Acceleration Mode Research Articles

City bus seat vibration analysis using 6-axis accelerometer and gyroscope sensors

This paper analyses different modes and cycles of seat vibration in city buses by analysing acceleration peak magnitudes and their trends and fluctuations in the time domain. The purpose is to find peak vibration modes that exist in the driving patterns of city buses. Analysing peaks in a time series is essential for many applications specifically in vibration analysis because they represent significant events. Using a 6-axis inertial measurement unit device which has accelerometer and gyroscope sensors data were collected from a number of city buses operating. By applying algorithmic filters the g-force peaks present in different acceleration modes were analysed. The particularity of city bus seat vibration and g-force acceleration levels due to effective acceleration in 3-axes are presented and discussed, namely: longitudinal (forward motion), lateral (side-to-side) and vertical (bounce mode) accelerations. It was found that the bus seat root mean square acceleration magnitude of approximately 0.33 g occurred from the major acceleration cycles during bus running. In longitudinal, lateral and vertical directions, 20% of peak acceleration cycles were above 0.20 g, 0.18 g and 0.27 g respectively. Jerk may be a better indicator of passenger discomfort. The results from this study can provide future reference to research directions into understanding city bus seat vibration levels in longitudinal, lateral and vertical directions and also initiatives to mitigate excess bus seat vibration for the riders.

Reaktivität in Molekularen Gefäßen: Beschleunigungsmodi und Arten der Erzielbaren Selektivität

AbstractEs gibt ein zunehmendes Interesse an der Entdeckung und Anwendung von molekularen Gefäßen ‐ supramolekularen Wirtsstrukturen, die organische Reaktionen katalysieren können. Molekulare Gefäße, die an Enzyme erinnern, weil sie einen Hohlraum besitzen, der einer aktiven Bindungstasche ähnelt, können komplexe katalytische Mechanismen aufweisen und in vielen Fällen eine Selektivität ermöglichen, die in regulärer Lösung nicht erreicht werden kann. In diesem Übersichtsartikel versuchen wir, die immer vielfältigeren Beispiele durch eine zweiteilige Struktur zu organisieren. Im ersten Teil geben wir einen Überblick über die verschiedenen Beschleunigungsmodi, die in molekularen Gefäßen wirken, während wir im zweiten Teil anhand ausgewählter Beispiele die verschiedenen Arten von Selektivität aufzeigen, die durch den Einsatz von molekularen Gefäßen erreicht werden können. Besonderes Augenmerk wird dabei auf Beispiele gelegt, die für aktuelle Herausforderungen in der synthetischen organischen Chemie relevant sind. Wir sind der Meinung, dass diese Struktur das Gebiet zugänglicher macht und so die Entwicklung neuer Anwendungen von molekularen Gefäßen anregen wird.

Reactivity Inside Molecular Flasks: Acceleration Modes and Types of Selectivity Obtainable.

There is increasing interest in the discovery and application of molecular flasks-supramolecular host structures capable of catalyzing organic reactions. Reminiscent of enzymes due to possessing a host cavity akin to an active site, molecular flasks can exhibit complex catalytic mechanisms and in many cases provide selectivity not achievable in bulk solvent. In this Review, we aim to organize the increasingly diverse examples through a two-part structure. In part one, we provide an overview of the different acceleration modes that operate within molecular flasks, while in part two we showcase, through selected examples, the different types of selectivity that are obtainable through the use of molecular flasks. Particular attention is given to examples that are relevant to current challenges in synthetic organic chemistry. We believe that this structure makes the field more approachable and thus will stimulate the development of novel applications of molecular flasks.

Analyzing the dependency of earthquake insurance premium on the intensity measure used in probabilistic seismic hazard analysis and fragility curves

Considering the uncertainties associated with earthquake, seismic response of structures, damage caused by the response and the repair costs, determining Earthquake Insurance Premium (EIP) is a challenging task that requires a framework for modeling all inherent risks. Most of the models proposed for EIP determination have two basic components. The first component indicates the probability of seismic hazard (generally obtained from the probabilistic seismic hazard analysis), and the second component indicates the probability of occurrence of a given damage to the structure with respect to different seismic hazard levels (generally obtained from the fragility curves). These two components are interconnected through an intermediate parameter, known as the Intensity Measure (IM), which is of great importance in calculations and has hardly been considered so far. In this study, the dependency of EIP on the IM used in the probabilistic seismic hazard analysis and the fragility curves is analyzed. To this end, the EIP was determined for five types of buildings at low, medium and high seismic hazard levels using two IMs (peak ground acceleration and first mode spectral acceleration). The results of this study warn that the EIP can be highly dependent on the IM, so that for all studied structures, the EIP determined based on peak ground acceleration at a high seismic hazard level is nearly three times as many as the one determined by the first mode spectral acceleration. A significant finding is that when the first mode spectral acceleration is used as the IM, the ratio of EIP at different seismic hazard levels closely matches the ratio of IM at the same levels. This result can be valuable in developing insurance codes and regulations. However, this is not the case for the currently used IM, i.e., peak ground acceleration.

Intelligent Method of Identifying the Nonlinear Dynamic Model for Helicopter Turboshaft Engines

This research focused on the helicopter turboshaft engine dynamic model, identifying task solving in unsteady and transient modes (engine starting and acceleration) based on sensor data. It is known that about 85% of helicopter turboshaft engines operate in steady-state modes, while only around 15% operate in unsteady and transient modes. Therefore, developing dynamic multi-mode models that account for engine behavior during these modes is a critical scientific and practical task. The dynamic model for starting and acceleration modes has been further developed using on-board parameters recorded by sensors (gas-generator rotor r.p.m., free turbine rotor speed, gas temperature in front of the compressor turbine, fuel consumption) to achieve a 99.88% accuracy in identifying the dynamics of these parameters. An improved Elman recurrent neural network with dynamic stack memory was introduced, enhancing the robustness and increasing the performance by 2.7 times compared to traditional Elman networks. A theorem was proposed and proven, demonstrating that the total execution time for N Push and Pop operations in the dynamic stack memory does not exceed a certain value O(N). The training algorithm for the Elman network was improved using time delay considerations and Butterworth filter preprocessing, reducing the loss function from 2.5 to 0.12% over 120 epochs. The gradient diagram showed a decrease over time, indicating the model’s approach to the minimum loss function, with optimal settings ensuring the stable training.

Study on the transient performance of textured water-lubricated bearings considering different acceleration conditions

This study analyses the transient friction dynamics behavior of water-lubricated bearings (WLBs) with a textured structure, which explains the mechanism of texture structure influencing the hydrodynamic effect of WLB in the physical aspect. A comparison of experimental and numerical data is carried out to validate the proposed mixed lubrication model with a textured structure for WLBs. The effects of texture type, texture angle, acceleration mode, and acceleration time on the nonlinear friction dynamics properties of WLBs are investigated. The result shows that various texture structures exhibit distinct pumping effects and that the optimal friction dynamics performance of WLBs can be achieved by adopting the right herringbone texture and an acceptable texture angle. It is advisable to utilize the reverse S-shaped acceleration mode, as it may efficiently mitigate hydrodynamic shock, minimize frictional contact at the initial startup stage, and control the rotor's vibration in later stages. The brief acceleration time may result in a transient shock that hampers proper lubrication, consequently affecting the stable operation of WLBs. The study's findings offer helpful suggestions for the enhanced design of WLB structures and the mitigation of wear and vibration.

ВПЛИВ ЕЛЕКТРОКЕРОВАНОЇ ГІДРОКОРЕКЦІЇ ПАЛИВОПОДАЧІ НА РОБОТУ АВТОТРАКТОРНОГО ДИЗЕЛЯ

The task of the research is to determine the static and dynamic characteristics of a tractor diesel when using a special hydraulic corrector in its fuel supply system. It is use to change the initial phase period of fuel injection into diesel cylinders for each fuel injection line. The developed hydraulic corrector is a body with a movable rod with an annular groove in the central part. The movement of the rod occurs with the help of a power electromagnet. The hydraulic correc-tor itself is a blocking element and blocks the fuel supply to the injector for a certain period. The duration of this period depends on the need to change the injection start time. Its installation does not require significant structural changes to the fuel system. Location – near the nozzle. To determine the efficiency of this hydraulic corrector, it is necessary to con-duct a complex of non-motorized and motorized studies. In the course of these studies, the advantage of using an experi-mental fuel supply system with a distribution fuel pump without a mechanical centrifugal clutch for advanced fuel injec-tion was determined. According to the results of comparative motorless studies, there is an improvement in the parame-ters of fuel supply in a wide range of changes in the frequency of rotation of the camshaft of the injection pump. There is a decrease in the fuel injection phase by 20…30%, an increase in the maximum injection pressure by 30…40 MPa, an in-crease in the average injection pressure by 10…20%. In addition, the use of this hydraulic corrector allows you to improve the quality of the transient acceleration mode of the 6ChN13/11.5 diesel engine by reducing the transition time to a new speed mode and improving the parameters of the air supply system. In particular, the duration of the stabilization of the rotation frequencies of the crankshaft and the rotor of the turbocompressor in the new stable mode of operation is reduced by an average of 10-12%, there is no clear read-justment of the operating parameters; a decrease in the normalization time of the turbocharger rotation frequency by 0.1s, a decrease in the temperature of the exhaust gases by 25°C and an increase in the boost pressure by 30% with an increase in the air supply to 540 m3/h were noted. The obtained results convincingly confirm the effectiveness and expe-diency of using the proposed hydraulic corrector for the modernization of the fuel systems of the auto-tractor diesel en-gine without significant structural changes in its fuel system. Keywords: hydraulic correction, fuel injection advance angle, electric control, crankshaft rotation frequency, turbo-charger, diesel, fuel supply parameters.

Output speed control for hydro-mechanical continuously variable transmission of tractor.

In order to improve the speed stability of tractors equipped with hydro-mechanical continuously variable transmission (HMCVT) during field operations, the speed regulation characteristics, torque characteristics, and power diversion characteristics of HMCVT are analyzed. And a comprehensive control strategy for HMCVT output speed is proposed by analyzing the factors affecting the fluctuation of output speed, which combines engine speed control and displacement ratio control of hydraulic speed control system. This strategy adopts fuzzy control to regulate the engine speed to maintain the stability of engine operation. Moreover, adopting feed forward compensation control for speed compensation enhances the anti-interference ability of the hydraulic speed control system. And combined with model predictive control, adjust the swash plate swing angle of the variable pump to reduce the fluctuation of HMCVT output speed. By establishing joint simulation model, the effectiveness of the control strategy was verified using tractor acceleration mode and step load disturbance mode. The results show that the strategy can reduce the fluctuation rate of engine speed and impact degree, shorten the adjustment time, and improve the stability of tractor operating speed.

Comparison of various modes of acceleration of orthodontic tooth movement- A clinical study

The objective of the present study is to evaluate the effects of Micro-osteoperforations (MOPs), Corticision, Low Level Laser Therapy (LLLT) and Platelet Rich Plasma (PRP) on the rate of orthodontic tooth movement. Randomly10 patients were selected in each study group. All the studies had a split-mouth study design. All the patients were bonded with MBT 0.022 X 0.028 inch brackets and maxillary canine retraction was performed on 0.019 X 0.025 stainless steel wires with different methods of accelerating tooth movement. Data was collected from the orthodontic study models prepared from alginate impression taken at each appointment interval. The results of the study revealed that the amount of maxillary canine retraction was rapid in all the groups as compared to conventional method of orthodontic tooth movement and the results conclude thatmicro-osteoperfortaions showed better rate of accelerated orthodontic tooth movement as compared to other methods.

Comparative analysis of real-world vehicular emissions from BS-IV and BS-VI cars in India.

This study investigates real-world carbon dioxides (CO2) and nitrogen oxides (NOx) emissions from diesel (Bharat Stage-IV (BS-IV)) and petrol/gasoline (BS-IV and BS-VI) cars in Indian driving conditions using a portable emission measurement system (PEMS). The paired sample t-test revealed a significant difference ( < 0.05) in NOx and CO2 emissions among the three types of cars, except for CO2 emissions ( > 0.05) between BS-IV petrol and BS-VI petrol cars. The highest NOx emission rates were observed in all car types during acceleration (> 1m/s2) and deceleration (- 2m/s2). CO2 emission rates were also high during acceleration (> 1m/s2) for all car types. At low speeds (around 20 kmph), all car types had low emissions of CO2 and NOx, with acceleration and deceleration rates ranging from - 0.5 to 0.5m/s2. BS-IV diesel cars emit significantly higher NOx emissions compared to petrol cars, especially at vehicle-specific power (VSP) bin 0 (deceleration to idling mode) and during VSP bin 7 (acceleration mode). BS-IV diesel cars emit 228% and 530% higher NOx emissions than BS-IV and BS-VI petrol cars at VSP bins 0 and 7, respectively. CO2 emissions from BS-VI petrol cars were 10% lower than those from BS-IV petrol cars across all VSP bins, indicating moderate reductions. Furthermore, diesel cars emit 140% less CO2 emissions than petrol cars across various VSP bins. The findings highlight the need for cleaner technologies and responsible driving practices to address vehicular emission concerns.

Дослідження режимів розгону автомобіля Skoda Octavia на роликовому стенді

As you know, the main characteristics that determine the state of the power unit are the power level and torque. These parameters affect the dynamic qualities of the car and can also play a role in fuel consumption and emission levels. To check these characteristics, traction roller stands of the inertial type are used. These stands allow you to simulate real traffic conditions and loads. Usually, on such stands, the traction force on the driving wheels is measured, which makes it easy to calculate the power in certain driving modes. However, creating a full-fledged load on the driving wheels of the car being diagnosed requires the use of powerful loading and driving devices. This significantly increases the cost of the stand and its metal content. An alternative to this method is the compressed acceleration method. In this method, the load is created by a relatively small inertial mass together with a loading and driving device of moderate power. The diagnostic parameter in this method can be traction force on the wheels, acceleration, time or path of acceleration of the wheels in the selected speed range. For measurement accuracy, it is better to use acceleration time. However, all the advantages of the method can be manifested only with the correct choice of test modes. During testing, results depend on the accuracy and stability of maintaining the test mode. Acceleration time will be measured more accurately, the slower the wheels and rollers of the stand accelerate. During the tests, it is necessary to choose the high-speed measurement mode to ensure a sufficiently stable torque value. The article analyzes the acceleration modes of a car on a roller stand and their influence on the accuracy of diagnostics. The smallest error is achieved when measuring acceleration time from 50 to 70 km/h in IV gear with additional load or in V gear without load.

Unfolding dynamics in the perception of interior vehicle acoustics via continuous evaluation procedure (CEP)

The evaluation of a soundscape is a challenging task as the object of study is not a stationary event of sensation but rather a dynamic and complex scene stretching over a specific period. To do justice to the time dimension in such acoustic scenes, we utilized the Continuous Evaluation Procedure (CEP). Extending common standard instruments asking participants for a singular integral at the end of the sound experience (e.g., on a rating scale), the participants in this study were enabled to continuously evaluate the evolving acoustic scene of accelerating electrified vehicles (EVs) using CEP. With the increasing electrification of powertrains in the automotive industry, acoustic engineers face the challenge of defining innovative sounds using the availabilities of now low-noise emission platforms of EVs that deviate in their noise profiles from familiar but technologically outdated internal combustion engine vehicles (ICEVs), which have defined the general sound schemes for more than a century. To capture dynamic aspects in the quality perception of powertrain noise in EVs, we asked 37 participants to evaluate acoustic recordings of different vehicles in varying acceleration modes in a high-quality three-dimensional (3D) acoustic simulator. Thereby, we revealed much more detailed and time-dependent quality aspects, which do not come forth in an integral singular measure (ISM) where all impressions experienced during the ongoing acoustic scene are blended together. We, therefore, propagate the systematic application of the CEP method when it comes to the qualitative evaluation of transient acoustic scenes. CEP opens the great opportunity to unfold, detect, and analyze dynamic effects in soundscapes and noise profiles, but of any kind of acoustic signal.

Intervention Hypothesis for Training with Whole-Body Vibration to Improve Physical Fitness Levels: An Umbrella Review.

Whole-body vibration (WBV) is a training modality, and it seems to be a safe and efficient exercise especially to improve different aspects of physical fitness in different populations. The protocols for WBV are still not standardized. The difficulty in comparing the data confuses the real efficacy of this instrument. Consequently, the objective of this umbrella review is to analyze the protocols previously adopted and eventually to propose a standard operating procedure for WBV training. Systematic review and meta-analysis of randomized controlled trials on WBV were searched on the electronic databases PubMed, Web of Science, and Scopus until 18 March 2024. A quality assessment of the studies included has been performed. A total of 20 studies were included in this umbrella review and frequency, magnitude, and amplitude intensity data were recorded. Detailed information about the protocols (static or dynamic exercises, barefoot or with shoes, intensity duration, weekly frequency, and vibration characteristics) was also collected. WBV presents widely different protocols. Consequently, a standard operating procedure has not been proposed for WBV training. A hypothesis of intervention was instead written in which parameters for frequency, amplitude, acceleration, and training mode were proposed.

Numerical analysis of the transient characteristics of internal flow in the acceleration process of variable speed regulation of a centrifugal pump

Abstract In this study, a method of combining Flowmaster and ANSYS CFX software was adopted. Based on the consistency between the numerical calculation results of the hydraulic performance of a centrifugal pump and the test results, an operating model of a centrifugal pump system is established, variation law of the external characteristic parameters in the transient process is obtained, and different acceleration times and modes are set. The change law of the transient external characteristics and the evolution mechanism of the internal flow field during the variable speed regulation and acceleration of the centrifugal pump are disclosed. By introducing a control system evaluation index, the effects of acceleration time and mode on performance and internal flow field of variable speed control process of the centrifugal pump are analysed in detail. The results show that the turbulent kinetic energy in the pump changes violently, and the high turbulent kinetic energy and high vorticity are widely distributed, which has an obvious transient effect. An exponential acceleration method can effectively reduce the peak value and overshoot of external characteristic parameters while reducing the speed regulation time.

Effects of fuel and driving conditions on particle number emissions of China-VI gasoline vehicles: based on corrections to test results.

The increasing number of vehicles are emitting a large amount of particles into the atmosphere, causing serious harm to the ecological environment and human health. This study conducted the Worldwide Harmonized Light Vehicles Test Cycle (WLTC) to investigate the emission characteristics of particle number (PN) of China-VI gasoline vehicles with different gasoline. The gasoline with lower aromatic hydrocarbons and olefins reduced particulate matter (PM) and PN emissions by 24% and 52% respectively. The average PN emission rate of the four vehicles during the first 300s (the cold start period) was 7.2 times that of the 300s-1800s. Additionally, because the particle transmission time and instrument response time, the test results of instantaneous emissions of PN were not synchronized with vehicle specific power (VSP). By calculating the Spearman correlation coefficient between pre-average vehicle specific power (PAVSP) and the test results of PN instantaneous emissions, the delay time was determined as 10s. After the PN emissions results were corrected, the PN emissions were found to be more related to VSP. By analyzing the influence of driving status on emission, this study found that vehicles in acceleration mode increased PN emissions by 76% compared to those in constant speed mode.

Synergizing Battery-Powered Permanent Magnet Synchronous Motor Control with Integrated Modular Multilevel Converter Systems

This proposed work presents a comprehensive examination of a modular multilevel converter (MMC) combined with a permanent magnet synchronous motor (PMSM) for battery energy management in applications. In order to provide effective energy transfer and dynamic control, the Modular Multilevel Converter serves as a bridge between the battery system and the Permanent Magnet Synchronous Motor drive. By cleverly controlling energy flow and minimizing losses during charging and discharging cycles, the combination of MMC with PMSM seeks to increase energy efficiency and prolong battery life. Since the energy source provides all of the power for the motor, it runs at a constant pace. When the accelerating mode finishes, the energy storage receives just enough power to maintain a steady voltage. The energy storage system utilizes the majority of the renewable power generated by the electric motor when it is in deceleration mode to raise the voltage in the system. During the subsequent acceleration mode, the stored energy might be released the MMC-BESS, which combines a modular multilevel converter with a battery energy storage system, is gaining popularity due to its high adaptability and dependability. This system integrates batteries into a sub module. Sub-modular capacitor voltage fluctuations are caused by the significant reactive power that is generated through the workings of modular multilevel converters. To reduce the fluctuation, large capacitance capacitors is required, which would significantly increase the system's capacity. The proposed approach means to upgrade energy proficiency and execution in electric vehicle applications. By joining the benefits of battery power with the flexibility of MMC frameworks, the arrangement offers upgraded control accuracy, decreased misfortunes, and further developed adaptation to non-critical failure. This combination works with consistent power the executives, guaranteeing ideal use of assets while meeting severe execution prerequisites. Through exhaustive examination and recreation, the adequacy of this incorporated framework is illustrated, displaying propelling the field of electric vehicle impetus and power conversion potential.

Modeling and adaptive neuro-fuzzy inference system control of quarter electric vehicle

Electric vehicles (EVs) have gained importance in recent years, prompting the development of several control systems to improve their efficiency and performance. In this work, a quarter electric vehicle (QEV) was controlled using a conventional proportional integral derivative (PID) and fuzzy controller to examine and compare with the response of the adaptive neuro-fuzzy inference system (ANFIS) controller. The response of the ANFIS controller was evaluated using MATLAB/Simulink according to different parameters and compared with those of other controllers. In addition, the simulation was based on different driving conditions such as the acceleration and deceleration modes and the type of road: wet and dry. The simulations were carried out on a longitudinal electric vehicle model based on a brushless DC motor, including the Pacejka tire model. The results showed that the ANFIS controller outperformed the PID and fuzzy logic controllers, providing superior dynamic responsiveness and stability when the ANFIS controller smoothly followed the input speed and the longitudinal slip value reached 3%.

Multi-Frequency Noise Reduction Method for Underwater Radiated Noise of Autonomous Underwater Vehicles

The multi-frequency noisy vibration of an autonomous underwater vehicle (AUV) is a significant factor affecting the performance of shear probes mounted on the head of AUVs. Many efforts have been made to suppress mechanical radiation noise; however, conventional noise reduction methods have their limitations, such as mode mixing. In order to extract thorough information from the aliasing modes and achieve multi-frequency mode targeted correction, a multi-frequency noise reduction method is proposed, based on secondary decomposition and the multi-mode coherence correction algorithm. Weak impulses in aliasing shear mode are enhanced, and mixing frequencies are isolated for thorough decomposition. Noisy mechanical vibrations in the shear modes are eliminated with the use of the acceleration modes along the identical central frequency series. The denoised modes are used to reconstruct the cleaned shear signal, and the updated spectra are aligned with the standard Nasmyth spectrum. Compared with the raw profiles, the variation in the dissipation rate estimated from the corrected shear is reduced by more than an order of magnitude.

Telemetry System to Monitor Elastic Torque on Rolling Stand Spindles

This article outlines the relevance of building online telemetry systems for online monitoring of the technical conditions of rolling mill equipment. Electromechanical systems of the horizontal stand of the plate Mill 5000 are described, when operating in harsh conditions caused by the shock loading when workpieces enter the stand. It is noted that dynamic torque overloads, exceeding the rated motor torque by many-fold, cause the fatigue failure of spindle joints and breakage of rolls. In this regard, the development and implementation of systems for monitoring the elastic torque on spindles are extremely urgent. This issue has long been studied, but the references provide no information on the building principles and hardware composition of such systems. The use of strain gauges connected according to a balanced bridge circuit to measure the elastic torque is justified. This paper’s contribution is the proposed modular principle for building a telemetry monitoring system based on the analysis of known techniques for measuring and transmitting diagnostic data. The developed system structure is provided and the concept of data transfer and processing are explained. This article suggests the inductive power supply of a measuring unit mounted on a shaft without the use of batteries. A hardware structure was developed to be applied in a system for measuring, transmitting, and visualizing signals proportional to the elastic torque, manufactured on the basis of data measuring instruments by leading companies. The specifics of placement and connection of strain gauges are considered. The hardware providing a wireless power supply to the signal encoder and digital data transfer between the transmitter and receiver is described. The results of implementing the system on Mill 5000 are provided. The installation of a telemetry ring and a receiving head for the inductive power supply and data reception is shown. An experimental assessment of the elastic torques occurring when workpieces enter the cage was obtained by implementing a drive control algorithm which provided biting in the drive acceleration mode. The reliability of measuring the elastic torque with an error not exceeding ±5% and the reduction of dynamic loads on the spindle by 1.3–1.5 times due to the elimination of impacts from closing angular gaps in spindle joints was confirmed. This increases the service life of mechanical equipment and reduces the cost of eliminating the accident aftermath. The prospect of modifying the developed system into a cyber-physical system for monitoring the rolling mill’s mechatronic equipment conditions is shown.

Research on Obstacle Avoidance Replanning and Trajectory Tracking Control Driverless Ferry Vehicles

This study aimed to solve the problem that is the frequent switching between the acceleration and braking modes of the driverless ferry vehicle, affecting the comfort and stability of speed control. The driverless ferry vehicle encounters unknown obstacles on the road that affect the normal planning and tracking control of the ferry vehicle and finally lead to the problem that the driverless ferry vehicle cannot drive normally. First of all, in the longitudinal control, the fuzzy PID control algorithm was utilized to produce the fuzzy PID acceleration controller by taking into account the difference between the actual and expected speeds and choosing the triangular membership function. According to the relationship between the brake oil pressure and brake torque, the brake controller was designed. The acceleration/braking switching module with acceleration tolerance zone was added to the longitudinal controller, and the acceleration/braking mode-switching controller was designed. Secondly, in the lateral control, the tire cornering stiffness was analyzed, an MPC controller with a planning module was designed, and a lateral motion controller with an obstacle avoidance replanning function was proposed. Finally, according to the prediction time domain of different planning modules corresponding to different speeds, a coordinated control strategy of horizontal and longitudinal motion was proposed by using a real-time speed adjustment planning module to predict the time domain. Through the joint simulation analysis of MATLAB and CarSim, the results show that the driving stability of the ferry vehicle was significantly improved, and the longitudinal speed error of the ferry vehicle was reduced by 43.59%. The ferry’s avoidance of obstacles and tracking of reference trajectories were significantly improved, so that the tracking error can be reduced by 61.11%.