The introduction of autonomous cars will help to improve road traffic safety, and the use of a cargo trailer improves the energy efficiency of transport. One of the critical (collision) road situations has been considered, where immediate counteraction is required in a space that has been only partly defined. This research work was aimed at determining the impact of the trajectory planning method and the values of some parameters of the control system on the feasibility of safe avoidance of an obstacle that has suddenly appeared. The obstacle is assumed to be a motor vehicle moving on a road intersection along a collision path in relation to the autonomous car-trailer unit (CT unit) travelling at high speed. Analysis of cooperation between several non-linear models (representing the car, trailer, tyre–road interaction, and driving controller) has been carried out. Mathematical models of the control system and the CT unit have been built. The process of selection of temporary and variable parameters, applied to the control system for the time of the critical situation under consideration, has been shown. The research work carried out has made it possible to recommend appropriate parameter values for the control system.

Experiment studies focus on increasing active safety (steerability and stability) of the combination of vehicles (car with a trailer). The aim of the conducted studies is increasing active safety in the motion of autonomous vehicles with trailer via creating algorithm of functioning of a system which facilitates forecasting of the possibility of dangerous behaviour occurrence for the vehicles combination during complex road manoeuvres at a high velocity. Within this scope the system will ensure collecting data from the environment, data selection (detecting the situation which requires reaction), as well as joining the information which require decision making about the further steps of the current manoeuver. As a result, corresponding control signals will be sent to the controllers. The starting point in this work are synchronous measurements of physical quantities for the car and trailer. They enabled the analysis of trends in changes of relative position between the car and the centre-axle trailer during avoiding a suddenly appearing obstacle. The analysis results of these measurements enable pointing out the symptoms which will signal the possibility of danger in the movement of the combination (e.g. dropping a trailer). A special feature of the study is that the mass of a pulling car is comparable to the trailer's mass (1800 kg and 1840 kg). The values of indexes which characterize the changes of quantities describing the movement of the combination of vehicles during avoiding a suddenly appearing obstacle have been measured. The subject of analysis was a difference in time of occurrence of characteristic indexes' values among the physical quantities describing the motion of the car and the vehicle. The results of the study confirmed that in the course of measured quantities such characteristic values can be detected, whose occurrence for the trailer is delayed by 0,2 to 0,5 s with respect to the car driving at a velocity of 60 km/h. This time span is sufficient for a corrective measure done by the controller of the autonomous car.

The results of testing the ignition properties of fuels in the form of blends of diesel oil with pyrolysis oil produced from tires, used as an additive at concentrations of 0, 5, 7, 10, 15, and 20% m/m, are presented in this paper. The experiment included the preparation of distillation curves and the determination of the flash points, derived cetane number, and calculated cetane ratios. The results are related to the limits indicated in selected standards and regulations on requirements for marine- and land-based compression ignition engine fuels. The obtained results show the suitability of pyrolysis oil and the possibility of its use as an additive to fossil fuels, which fits in with the requirements of the policies currently being developed for reducing the use of fossil fuels and building a circular economy.

The aim of the article is to present the impact of blending diesel fuel with tire pyrolysis (TPO) oil on the changes in the fuel’s rheological properties and to evaluate these changes in the context of meeting legal requirements for various types of fuels. This research presents the impact of normative D100 diesel oil with TPO as an admixture on the rheological properties of the blends. Measurements are made for the content of TPO in the blend equal to 5, 7, 10, 15, and 20% m/m. In addition, the reference measurements are made for pure diesel oil and pure pyrolytic oil. Kinematic viscosity density, dynamic viscosity, viscosity index, pour point, cloud point, and cold filter plugging point are determined. The density of each sample is found at 15, 20, 30, 40, 50, 60, 70, 80, 90, and 100 °C. Viscosity is determined at the reference temperatures of 20, 40, and 100 °C, which are typically used as reference temperatures for petroleum products. Approximating models are built for all the analyzed parameters, which can be used in future studies. The fit of each model to empirical data is evaluated using the coefficient of determination R². At the same time, the individual values of the analyzed indicators are compared to the limit values specified in selected standards and regulations, thus allowing us to assess the usefulness of individual fuels in terms of compliance with effective and reliable engine operation requirements. The fuels under study fulfill the normative requirements for the parameters for marine distillate fuels for blends with a pyrolysis oil content of 0–20% m/m and the requirements for standard-grade diesel oils indicated in the Regulation of the Minister of Economy of Poland for blends with a pyrolysis oil content of 0–7% m/m.

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This research presents the impact of diesel blends with tire pyrolysis oil (TPO) as an additive for minimizing the wear and tear of engine components. This study investigates the blends of normative diesel oil with TPO content ranging from 5% m/m to 20% m/m. Reference measurements are made for pure diesel oil (D100) and pure TPO. This investigation included an evaluation of the corrosion effect and the effect of the fuels tested on abrasive wear. For each fuel, the sulfur content, water content, lubricity (which is defined as the corrected average diameter of the wear trace during the high-frequency reciprocating rig (HFRR) test), and impurity content are determined. Impurities are assessed using indicators such as ash residue, coking residue from 10% distillation residue, determination of wear metals and contaminants, insoluble impurity content, and total sediment by hot filtration. All parameters are determined using recognized methods described in international standards. Approximation models are built for all the analyzed parameters, which can be used in future studies. At the same time, the individual values of the analyzed factors are compared with the threshold values specified in selected standards and regulations. Consequently, it is possible to assess the usefulness of individual fuels in terms of meeting the requirements for minimum wear of engine components. The results show the suitability of pyrolysis oil and the potential for its use as an additive to fossil fuels in terms of meeting most factors. Some of the fuels tested did not meet the standards for acceptable sulfur content. However, in terms of sulfur content, all of the analyzed fuels can be used to power watercraft and land-based power and thermal power plants equipped with flue gas desulphurization systems. A second indicator for not meeting the standards is the ash residue value, which indicates the high content of non-combustible, mainly metallic, substances in the pyrolysis oil used for the tests. Post-recycled oils must, therefore, undergo appropriate purification before being used as an additive to diesel fuels for internal combustion engines. Once the post-recycling oil has been subjected to desulfurization and advanced filtration, it can be used as a fuel additive for land vehicles, which fits in with closed-loop economies and sustainable development strategies.