Abstract: An engine system includes a hydrogen combustion engine and an exhaust aftertreatment system, EATS, configured to reduce emissions of the engine exhausts. The EATS comprises: an exhaust gas inlet for receiving engine exhaust from the hydrogen combustion engine; a plurality of emission reducing modules arranged downstream of the exhaust gas inlet and being configured to reduce emissions of the engine exhausts, the plurality of emission reducing modules comprising at least a first emission reducing module with a porous substrate including a powder coating and a selective catalyst reduction, SCR, coating, and a second emission reducing module being a selective catalyst reduction, SCR, catalyst unit. At least one of the first and second emission reducing modules is arranged as the first occurring emission reducing module of the EATS downstream of the exhaust gas inlet.

Abstract: A method for controlling urea injection in an exhaust aftertreatment system includes injecting urea at a flow rate upstream of the first catalytic reduction device; measuring a level of nitrogen oxides downstream of the first catalytic reduction device and upstream of the second catalytic reduction device; controlling the flow rate of the urea injection until the measured level of nitrogen oxides fulfils a predetermined condition; if the measured level of nitrogen oxides is decreasing in response to reducing the flow rate of the urea injection, reducing the flow rate of the urea injection, and controlling a flow rate of urea injection using the second urea injector upstream of the second catalytic reduction device according to the measured level of nitrogen oxides downstream of the first catalytic reduction device and upstream of the second catalytic reduction device.

Abstract: A method for controlling urea injection in an exhaust aftertreatment system includes injecting urea at a flow rate upstream of the first catalytic reduction device; measuring a level of nitrogen oxides downstream of the first catalytic reduction device and upstream of the second catalytic reduction device; controlling the flow rate of the urea injection until the measured level of nitrogen oxides fulfils a predetermined condition; if the measured level of nitrogen oxides is decreasing in response to reducing the flow rate of the urea injection, reducing the flow rate of the urea injection, and controlling a flow rate of urea injection using the second urea injector upstream of the second catalytic reduction device according to the measured level of nitrogen oxides downstream of the first catalytic reduction device and upstream of the second catalytic reduction device.

Abstract: An exhaust gas after treatment system includes a diesel particulate filter unit arranged downstream of a diesel engine, a NO2 reduction catalyst arranged downstream of said diesel particulate filter, a selective catalytic reduction (SCR) arrangement arranged downstream of said NO2 reduction catalyst, a first injector for feeding reducing agent into the exhaust gas arranged downstream said particulate filter and upstream said NO2 reduction catalyst, a second injector for feeding reducing agent into the exhaust gas arranged downstream said NO2 reduction catalyst and upstream said selective catalytic reduction (SCR) arrangement. An exhaust gas after treatment method is also provided.

Abstract: A selective catalytic reduction system for reducing nitric oxides emission levels from a compression ignition engine includes a first reductant injector located upstream a first catalyst including a selective catalytic reduction coating. A second reductant injector is located downstream the first catalyst; and a second catalyst is placed downstream the second reductant injector and includes a selective catalytic reduction coating.

Abstract: A system and an on-board-diagnosis method is provided for an exhaust aftertreatment system of an engine including a diesel particulate filter unit which encompasses a particulate filter in which soot can be oxidized by NO2 and constituents of the exhaust gas are deoxidized in a nitrogen-oxides reduction unit arranged downstream of the diesel particulate filter unit, wherein the exhaust gas flows from the diesel particulate filter unit to the nitrogen-oxides reduction unit. The on-board-diagnosis method includes estimating an NO2 content upstream of the nitrogen-oxides reduction unit, measuring at least one of an NOx or NO2 content upstream of the nitrogen-oxides reduction unit, performing a comparison between the estimated and the measured contents, and, based on the result of the comparison deciding on at least one conditioning step of the diesel particulate filter unit.

Abstract: A system and a method are provided for operating an exhaust aftertreatment system of an engine in which one or more constituents of the exhaust gas are oxidized in an oxidation catalyst and one or more constituents of the exhaust gas are deoxidized by means of a group of possible chemical reactions of different type between the one or more constituents of the exhaust gas and catalytic material arranged in a selective-catalytic-reduction catalyst, wherein the exhaust gas flows from the oxidation catalyst to the selective-catalytic-reduction catalyst, wherein the steps are performed: (a) adjusting at least one desired ratio among one or more pairs of the one or more constituents by varying a space velocity of the exhaust gas in at least the oxidation catalyst; (b) varying the space velocity of the exhaust gas by varying one or more operation parameters of the engine; and (c) establishing the ratio to a value at least approaching the desired ratio among the one or more pairs of the one or more constituents at th

Abstract: A system and a method are provided for operating an exhaust aftertreatment system of an engine in which one or more constituents of the exhaust gas are oxidized in an oxidation catalyst and one or more constituents of the exhaust gas are deoxidized by means of a group of possible chemical reactions of different type between the one or more constituents of the exhaust gas and catalytic material arranged in a selective-catalytic-reduction catalyst, wherein the exhaust gas flows from the oxidation catalyst to the selective-catalytic-reduction catalyst, wherein the steps are performed: (a) adjusting at least one desired ratio among one or more pairs of the one or more constituents by varying a space velocity of the exhaust gas in at least the oxidation catalyst; (b) varying the space velocity of the exhaust gas by varying one or more operation parameters of the engine; and (c) establishing the ratio to a value at least approaching the desired ratio among the one or more pairs of the one or more constituents at th

Abstract: An exhaust gas after treatment system includes a diesel particulate filter unit arranged downstream of a diesel engine, a NO2 reduction catalyst arranged downstream of said diesel particulate filter, a selective catalytic reduction (SCR) arrangement arranged downstream of said NO2 reduction catalyst, a first injector for feeding reducing agent into the exhaust gas arranged downstream said particulate filter and upstream said NO2 reduction catalyst, a second injector for feeding reducing agent into the exhaust gas arranged downstream said NO2 reduction catalyst and upstream said selective catalytic reduction (SCR) arrangement. An exhaust gas after treatment method is also provided.

Abstract: A system and an on-board-diagnosis method is provided for an exhaust aftertreatment system of an engine including a diesel particulate filter unit which encompasses a particulate filter in which soot can be oxidized by NO2 and constituents of the exhaust gas are deoxidized in a nitrogen-oxides reduction unit arranged downstream of the diesel particulate filter unit, wherein the exhaust gas flows from the diesel particulate filter unit to the nitrogen-oxides reduction unit. The on-board-diagnosis method includes estimating an NO2 content upstream of the nitrogen-oxides reduction unit, measuring at least one of an NOx or NO2 content upstream of the nitrogen-oxides reduction unit, performing a comparison between the estimated and the measured contents, and, based on the result of the comparison deciding on at least one conditioning step of the diesel particulate filter unit.

Abstract: A selective catalytic reduction system for reducing nitric oxides emission levels from a compression ignition engine includes a first reductant injector located upstream a first catalyst including a selective catalytic reduction coating. A second reductant injector is located downstream the first catalyst; and a second catalyst is placed downstream the second reductant injector and includes a selective catalytic reduction coating.

Abstract: A method and system for autonomous collision avoidance in multiple obstacle scenarios. A forward collision avoidance system detects obstacles in front of a vehicle hosting the system and estimates a position, a velocity and an acceleration of each of the obstacles. The maneuvers which the vehicle is capable of performing that will lead to a collision with each respective obstacle are evaluated separately. The union of maneuvers which will lead to collision with any one of the obstacles is formed. The set of maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided is established, and the set used for deciding how to avoid or mitigate collision with any one of the obstacles. Finally, a collision avoidance maneuver based on the decision is executed autonomously.

Abstract: The present patent application relates to a method and system for autonomous action in multiple obstacle scenarios in an automotive vehicle forward collision avoidance system. Initially the presence of obstacles in front of a vehicle hosting the system is established. Thereafter the position, velocity and acceleration of the obstacles are estimated. The maneuvers which the vehicle is capable of performing that will lead to a collision with each respective obstacle is evaluated separately. The union of maneuvers which will lead to collision with any one of the obstacles is formed. The set of maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided is established, and the set used for deciding how to avoid or mitigate collision with any one of the obstacles. Finally a collision avoidance maneuver based on said decision is executed autonomously.

Abstract: The invention relates to a method for estimating road-to-tire friction between tires of a wheeled vehicle and a road surface, which vehicle is provided with a collision avoidance system. The method includes the steps of applying a positive torque to both wheels on a first axle and an equal and opposite negative torque to at least one wheel on a second axle. The method further includes measuring current values for vehicle speed, angular acceleration of the wheel on the second axle and the negative torque applied to said wheel. The method also includes determining a current friction coefficient using a friction coefficient determining device. The invention further relates to an apparatus for using the method.