Browse Topic: Traction control

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Design optimization of the propeller shaft and transfer case for high-speed 4WD vehicles2026-26-03431/16/2026
Nowadays, vehicle enthusiasts often vary their driving patterns, ranging from driving at very high speeds to off-roading. Due to these driving patterns, 4WD vehicle demand is continuously growing day by day. A 4WD vehicle used to have better traction control with enhanced stability. The 4WD vehicle performance and reliability at high speed are critically influenced by driveline stiffness and natural frequency. Driveline stiffness and natural frequency are very critical parameter for high-speed vehicles, that significantly influenced by the propeller shaft and transfer case. This study focuses on the design optimization of the transfer case and critical frequency of propeller shafts to enhance vehicle performance at high speeds. The analysis begins with a comprehensive study of the factors affecting power transfer path, transfer case stiffness, critical frequency, including material properties, propeller shaft geometry and the boundary conditions. Advanced computational methods are
Kumar, Sarvesh, Yadav, Sahdev, S, Manickaraja, Sanjay, L, Kanagaraj, Pothiraj, Jain, Saurabh Kumar, Deole, Subodh M
Onboard Sensor and Actuator Calibration of a Tripod Electric Vehicle Using Circular, Linear, and Cornering Motion Tests02-16-01-00068/9/2022
This article aims at the calibration of an onboard sensor and actuator parameters as well as the identification of the open-loop transfer function of the steering and traction control systems of tripod electric vehicles (EVs). Tripod EVs are commonly used as forklifts and automatic guided vehicles in a factory or wheelchairs in a hospital. A test procedure called the circular, linear, and cornering motions (CLCM) test is introduced in this article for making the corrections which are caused by many factors including the potentiometer of the steering angle error, hall sensor error of the traction speed, the backlash of the steering system, and the tire slip angle that can lead the tripod EV to deviate from the path. The CLCM test is subdivided into circular, linear, and cornering motion subtasks for each individual identification and calibration purposes. The effect of the CLCM test has been verified by both simulation and experiment via an 8-shape navigation path consisting of all
Ismail, Hasan, Chiang, Chien-Hsun, Chieng, Wei-Hua
Off-Road Rover Mobility Simulation Using a Continuum Representation of Deformable Terrains 2022-01-04183/29/2022
We seek to develop control policies for optimized rover mobility on deformable granular material terrains using a co-simulation framework implemented in an open-source simulation platform. An elasto-plastic continuum model is employed for the purpose of increasing the simulation speed in capturing the dynamics of the deformable granular material terrain. The solution of the continuum problem is obtained using the smoothed particle hydrodynamics (SPH) method; the rover is handled as a multibody system with constraints. Both the rover body and wheels are defined via geometries specified through triangular meshes. The two-way coupling between each wheel and the deformable terrain is implemented using so-called boundary conditions enforcing (BCE) particles attached to the rover wheel. A traction control algorithm is proposed to reduce wheel slip and hence power/energy usage in a hill-climbing scenario. The study is carried out in an in-house developed open source code called Chrono. The
Hu, Wei, Zhou, Zhenhao, Serban, Radu, Negrut, Dan
EV System Modelling And Co-simulation With Integrated HVAC And Auxiliary Models2021-26-01729/22/2021
The current simulation models of EV and ICE Vehicles are well known in industry for their use in estimating the fuel economy or Range benefits because of controller calibrations and component sizing. However, there is a gap in understanding the behavior of accessories such as HVAC, power steering and other such auxiliary loads and the energy losses associated with them. Impact of thermal behavior of electronics on vehicle range also needs to be studied in detail. These kinds of studies help OEM and tier 1 manufactures in improving their design concepts significantly with minimum cost and development time. Hence, the focus of this study is on building simulation models of thermal, electrical, traction and control circuits of a typical electric vehicle. These models are then integrated, and analysis is performed to understand vehicle system level performance metrics. Individual models have been built for HVAC and thermal circuit of on EV in AMESim, HV and LV electrical power distribution
Sadaraboina, Moses Vidya Sagar, Joshi, Parth, Negi, Aditya, Zulkefli PhD, Mohd Azrin
Monarch's automated, electric tractor ready for 2021 deliveries21TOFHP02_102/1/2021
“If you want to fundamentally improve your economics,” said Monarch Tractor co-founder and CTO Zachary Omohundro to farmers and growers everywhere, “you go electric.” During a webcast with SAE International's Southern California Section featuring his startup company's battery-electric compact tractor, Omohundro offered markedly reduced operational costs as only one of many reasons for using the Monarch tractor, for which he said deliveries will start this fall for the “several hundred working farms” that have reserved the tractor that starts at $50,000.
Visnic, Bill
Series Fuzzy PID with Anti-windup Controller for Intelligent Vehicle2020-01-01134/14/2020
A series fuzzy PID controller with anti-windup scope (SFPCA) is proposed in this paper to address saturation nonlinear problem and control disturbance caused by uncertainty of actuator model. In order to achieve novel dynamic and steady-state performance, the fuzzy controller and PID controller are fused into series, which realizes excellent dynamic performance of fast response and low overshoot like pure fuzzy controller at the initial response stage, and the excellent steady-state performance of stable and no static difference like PID control at the later response stage. The Hurwitz low is employed to configure PID parameters and 49 rules are designed for fuzzy controller. Since the input of the actuator could not be infinite, the actuator being saturated for a long time could reduce the stability of system and, even lead to irreversible damage. Moreover, after exiting the saturation state, it is difficult to quickly recover to the fast and stable response state of the original
Luo, Chao
Requirements for Road Weather ApplicationsJ2945/3_202003 (Historical)3/24/2020
Inclement weather can have a significant impact on surface transportation systems. It can result in hazardous conditions for travelers due to poor visibility, or wet or icy roadways. Weather applications have the potential to provide additional data to surface transportation infrastructure owners and operators, allowing them to better assess the impacts of the weather environment on or around the roadway and to better manage the surface transportation system. Such weather applications can: Collect road weather data from connected vehicles and mobile devices, increasing the number of data sources available. Provide road weather related traveler information to travelers via connected vehicles and devices, such as when and where a hazardous condition exists. Provide the ability to manage road weather response on specific roadways. This SAE Standard specifies interface requirements between vehicles and infrastructure for weather applications, including detailed systems engineering
Infrastructure Applications Technical Committee
Autonomy's ‘Pirouetting’ Future20AVEP01_061/1/2020
Protean Electric's novel 360-degree steering and in-wheel drive systems add new potential for urban mobility. Designing and engineering a 360-degree steering capability for a production electric autonomous road vehicle's four wheels is no mean achievement. But Protean Electric also combines this pirouetting capability with an in-wheel electric motor, “innovative” suspension and pneumatic ride height control into an all-in-one package. Its adroit wheel-at-each-corner module, called Protean360+, is designed initially for next-generation urban mobility pods. But it could also be applied to a wide variety of other autonomous vehicles. Development of the 360-degree capability began in early 2018. It is the latest element to be added to the company's ProteanDrive in-wheel system, on which work started more than a 10 years ago to specifically meet emerging needs for radical new urban vehicle technology combined with autonomous transport visions. These include autonomous passenger cars, light
Birch, Stuart
Holistic hydraulic designs add more sensors, controls19TOFHP08_078/1/2019
Hydraulic system developers are moving on many different fronts as they strive to improve performance and efficiency. A full-system approach that includes more sensors and advanced controls is helping design teams reduce component counts without sacrificing performance. The multifaceted design challenges of today's equipment are forcing engineers to take a broad view of the vehicle and its systems in order to get the most from valves, electronics, pumps and other equipment. Customer expectations and regulatory requirements are both rising, forcing engineers and planners to examine every element of a design.
Costlow, Terry
Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits2019-01-04594/2/2019
Electric vehicles are capable of more flexible drivetrain configurations, such that driving dynamics of each wheel could be controlled independently to increase its stability and maneuverability bounds. We hereby propose a configuration consisting of four wheel independent driving and front and rear axle modular steering. The vehicle implements drive-by-wire technology, which means the control program running on vehicle control computer will have direct control authority of the vehicle under normal driving conditions, based on inputs of higher level systems such as human drivers and autonomous driving programs. Both the torque allocation on four wheels and the steering allocation on axles are completely independent on the mechanical hardware level, thus the vehicle is able to harness adverse contact conditions with confidence. A slip-aware model-free control method for torque allocation and steering is proposed and inspected in the paper, with digital model of a modified SUV simulated
Yang, Haoguang, Liu, Chen, Shi, Jiongming, Zheng, Gangtie
Distributed Drive Electric Vehicle Longitudinal Velocity Estimation with Adaptive Kalman Filter: Theory and Experiment2019-01-04394/2/2019
Velocity is one of the most important inputs of active safety systems such as ABS, TCS, ESC, ACC, AEB et al. In a distributed drive electric vehicle equipped with four in-wheel motors, velocity is hard to obtain due to all-wheel drive, especially in wheel slipping conditions. This paper focus on longitudinal velocity estimation of the distributed drive electric vehicle. Firstly, a basic longitudinal velocity estimation method is built based on a typical Kalman filter, where four wheel speeds obtained by wheel speed sensors constitute an observation variable and the longitudinal acceleration measured by an inertia moment unit is chosen as input variable. In simulations, the typical Kalman filter show good results when no wheel slips; when one or more wheels slip, the typical Kalman filter with constant covariance matrices does not work well. Therefore, a gain matrix adjusting Kalman filter which can detect the wheel slip and cope with that is proposed. Simulations are carried out in
Zhang, Yaming, Leng, Bo, Xiong, Lu, Yu, Zhuoping, Zeng, Dequan
Pressure Optimization Control of Electro-Mechanical Brake System in the Process of ABS Working2019-01-11044/2/2019
The electro-mechanical brake booster (EMBB) and hydraulic control unit (HCU) constitute the electro-mechanical brake system, which can meet the requirements of brake system for intelligent vehicles. It does not need vacuum source, provides active braking function, have high control accuracy and fast response. But it has two electronic control units (ECU), which need coordinated control. When ABS is triggered, the pressure of the master cylinder keeps rising and falling, and the pressure fluctuates greatly. This will lead to noise and reduce the durability of the system. In this paper, a pressure optimization control strategy under ABS condition is proposed. Firstly, the structure and control strategy of EMBB are introduced. Secondly, the braking characteristics without pressure optimization control are analyzed. Thirdly, based on the demand of maximum cylinder pressure, a three-closed-loop pressure optimization control strategy is established. Finally, based on the Hardware-In-the-Loop
Wang, Jingtian, Wu, Jian, He, Rui, Chen, Zhicheng
Influence Mechanism of Electromechanical Parameters on Transient Vibration of Electric Wheel System2019-01-04624/2/2019
Electric wheel systems of in-wheel motor driven vehicles consist of the motor controller, in-wheel motor and tire-suspension assembly. The coupling between the electromagnetic excitation and elastic structure gives rise to electromechanical dynamic issues. As for the structural layout of the electric wheel system, the driving motor is directly connected to the wheel without torsion dampers or transmission in the driveline, thus making the electric wheel structure a weak damping system. Moreover, the driving torque of electric wheel can change rapidly in various conditions of vehicle. As a result, the transient vibration problem becomes one of the key electromechanical dynamic issues in the electric wheel system. To investigate this problem, the electromechanical coupling model of the electric wheel system is established first. Then the transient responses of the electric wheel under abrupt changes of the driving torque are simulated. The results indicate that the tire mainly suffers
Feng, Zhaoyang, Zuo, Shuguang, Mao, Yu
Investigation of Cabin Noise while Accelerating on Low Mu Track through Simulation Approach Using Full Vehicle ADAMS/Car Model2019-26-01791/9/2019
Cabin noise is a significant product quality criteria which enables the customers for product differentiation. There are various sources of cabin noise such as wind, structures(panels), engine, suspension, tire and roads. During product development phase, extensive tests has been conducted to improve vehicle dynamics behavior on various climatic conditions. One such test is accelerating vehicle on low mu or icy surface. While performing acceleration manoeuvre (tractions) on a low mu tracks, Cabin noise with source identified from front underbody & low tractive torque build up is reported. This undesirable behavior may occur due to following reason (1) Excitation of coupled modes between suspension and powertrain which induces torque fluctuation. (2) Transmissibility of various subsystem can be the reason for above problem statement. (3) Poorly chosen tire compounds and design leads to fluctuation in torque. A detailed simulation based study using ADAMS/CAR has been performed to assess
Singh, Vivek, Prasad, Tej, Srivastava, Harshit
Movement Prediction Hypotheses for Pedestrians and Trajectory Planning for Cooperative Driving Systems12-02-01-000212/19/2018
It is a challenge to find a safe trajectory for automated vehicles in urban environments with pedestrians. The prediction of future movements with 100% certainty is impossible, if the intention is unknown. A Gaussian process approach is used to formulate future movement hypotheses of the pedestrian based on historical movements. A mixed integer linear programming (MILP) optimization approach is used for the trajectory planning of the vehicle. The collision probability between the ego-vehicle and pedestrian is used as constraints in the optimization. This approach is useful for cooperative vehicle systems, with historical movement data in a fixed urban environment (e.g., intersection) and the premise that pedestrians follow typical movement data.
Hartmann, Michael, Stolz, Michael, Watzenig, Daniel
2019 Yamaha Niken steers a radical path18AUTP11_1311/1/2018
When Yamaha debuted the MWT-9 concept three-wheeler at the Tokyo Motor Show in October 2015, many were impressed by its technology and almost unnerving, mantis-like visual presence. Yamaha has a history of stunning concepts for the Tokyo show, so it's likely few thought a production version would ever see real roads. But two years later at the same show, Yamaha unveiled the world's first 3-wheel leaning motorcycle and amazingly, production of the Niken began in the second half of this year. The Niken is a brazen mechanical-engineering statement, in the vein of Yamaha's 1993 forkless GTS1000. Based at the company's HQ in Iwata, Japan, the main Niken development team was comprised of eight Yamaha Motor Company (YMC) staff, four of whom were engineers. Takahiro Suzuki was the Project Leader for Niken development, with chassis development handled by Ryuta Mitsuoka.
Seredynski, Paul
WHAT WE'RE DRIVING18AUTP09_059/1/2018
Don't know how I overlooked the Chrysler Pacifica Hybrid for so long, but it gets my personal award for most pleasant- and pleasingly surprising-vehicle I'll drive in 2018. I expected an underwhelming, underpowered groaner of a hybrid and instead I got a super-efficient and fabulously smooth do-anything limousine. The Pacifica Hybrid owes most of its agreeable nature to the “eFlite” 2-motor electrically-variable transmission that works with virtually no noise, fuss or even gear-shifting sensation, freeing you from the blaring groan of the continuously variable transmission (CVT) typical to most hybrids. Its two integral motors, 84 hp and 114 hp each, channel the power from 16 kWh lithium-ion battery pack alone or in collaboration with the Atkinson-optimized 3.6-L V6.
Modeling Cruise Control Initiated Wheelspin in Rear Wheel Drive Vehicles2018-01-50005/4/2018
There are driving situations in which a rear-wheel-drive vehicle, operating with an active closed-loop cruise control, can experience wheelspin and a subsequent oversteer/loss of control. The situations involve low-μ surfaces (ice), weather-related phenomenon (rear-wheel hydroplaning), slope-climbing or a combination of these external effects. Although traction control and stability control, depending on the sophistication of the system, can negate many of these situations, the active fleet contains many vehicles not equipped with these features. In the present work, we calculate the conditions under which cruise-control-initiated rear wheel spin can occur.
Metz, L. Daniel
All-Wheel Drive Systems ClassificationJ1952_201804 (Current)4/18/2018
In this SAE Recommended Practice, attention will be given to passenger cars and light trucks (through Class III).
Drivetrain Standards Committee
An Analysis of EDR Data in Kawasaki Ninja ZX-6R and ZX-10R Motorcycles Equipped with ABS (KIBS) and Traction Control (KTRC)2018-01-14434/3/2018
Electronic control units (ECU) from Kawasaki Ninja ZX-6R and ZX-10R motorcycles were tested in order to examine the capabilities and behavior of the event data recorders (EDR). All relevant hexadecimal data was downloaded from the ECU and translated using known and historically proven applications. The hexadecimal translations were then confirmed using data acquisition systems as well as the Kawasaki Diagnostic Software (KDS)1. Numerous tests were performed to establish the algorithms which cause the EDR to record data. Issues of sensor and power loss were analyzed and discussed. Additionally, data sets were studied that involved maximum deceleration from ABS brakes. Similarly, data sets that involved traction control intervention were studied and analyzed. It was determined that the EDR recording ‘trigger’ was caused by the activation of the tip-over sensor, which in turn shuts the engine off. However, specific conditions must be met with regards to the rear wheel rotation prior to
Fatzinger, Edward, Landerville, Jon
Automotive Stability Enhancement SystemsJ2564_201711 (Current)11/14/2017
The purpose of this SAE Information Report is to describe currently known automotive active stability enhancement systems, as well as identify common names which can be used to refer to the various systems and common features and functions of the various systems. The primary systems discussed are: a ABS - Antilock Brake Systems b TCS - Traction Control Systems c ESC - Electronic Stability Control The document is technical in nature and attempts to remain neutral regarding unique features that individual system or vehicle manufacturers may provide.
Vehicle Dynamics Standards Committee
Proposal for Improving the Performance of Longitudinal Acceleration of a Land Vehicle2017-36-038111/7/2017
The present study introduces a proposal to improve the longitudinal performance of a land vehicle through the adoption of an unusual traction control system. The system is capable of improving the transfer of engine power to the ground and reduces the complexity of the task being performed by the driver. High-performance vehicles are able to achieve high levels of longitudinal acceleration and, sometimes, the power excess leads to the spinoff of the drive wheels, which decrease the ability of the tires to generate force, and consequently the vehicle acceleration. The proposed system acts in addition with the motor control, through the derivation of the motor speed signal, and its control by comparison with a predefined value. The control can delay or even suppress the ignition of the engine. Thus, the rate at which the engine gains speed, and consequently, the rate at which the vehicle accelerates, is limited. The benefits of the system are the low cost and the ease of application in a
de Lima, Bruno Silva, de Oliveira, Rafael Megale, de Oliveira Moraes, Luiz Fernando, Araújo, Gustavo Abreu, de Almeida Carvalho, Gabriel Mendes
THE NAVIGATOR17AUTP10_0710/1/2017
Time for standard naming of safety features Smart cruise control. Intelligent cruise control. Adaptive cruise control. Radar speed control. As The Bard wrote so long ago, “A rose by any other name would smell as sweet.” Sadly that tale did not end well for the protagonists. In today's world of increasingly sophisticated active safety systems, engineers and consumers alike are being bombarded by more and more brand-specific labels for essentially the same technology. Unfortunately, imprecise branding driven more by marketers than technologists threatens to put us all at risk.
Abuelsamid, Sam
Performance Comparison between ABS 4S/4M and ABS 4S/3M2017-36-00015/24/2017
After the anti-skid brake system (ABS) introduction, mandatory for all vehicles in the Brazilian market, manufacturers have given increasing attention to optimized systems which meet legal and safety requirements. For commercial vehicles, an alternative for the ABS, which presents feasibility, is the configuration 4S/3M (4 wheel-speed sensors and 3 modulator valves) in substitution to the configuration 4S/4M. In other words, application of just one modulator valve to control the brakes of the same axle, front or rear, instead of independent control per each brake of the vehicle. The aim of this paper is to present a performance comparison between a brake system fitted with ABS configuration 4S/3M and an ABS configuration 4S/4M. To this end, both configurations were tested on the same vehicle application in accordance with the Brazilian legislation, CONTRAN 519/15. In addition, a test on which the vehicle was prepared with an unusual load distribution was performed in order to verify if
de Souza, Luís Fernando Nuss, de Oliveira, Antônio Carlos, Vetter, Narã Vieira
Mechatronics Based Accident Alarming System with Automatic Roadblock Prevention System2017-01-17283/28/2017
In any unlikely event of accidents or vehicle breakdown, there is accumulation of traffic which results in road-blockage and causes in convenience to other vehicles. If this happens in remote areas, the accidents victims are left unattended and there is delay in providing emergency services. In case of traffic, it obstructs the entry of ambulance and rescue team which results in death of passengers. To prevent this mishap, a mechatronics based road block avoidance and accident alarming system is designed which is automated by the use of sensors. The road-block is detected with the help sensors located at regular intervals on road. This input is given to a Local Control Unit (LCU) which is integrated on every road. Several such LCUs are connected to a Main Control Unit (MCU) which is located at the nearest police station. A single MCU covers the area administered by that police station. Additional CCTV cameras are present to give graphical view of accident. The MCU alerts the Traffic
Singh, Nitin, Sharma, Aayoush, Shah, Sameer, Gardampaali, Balakumar
Research on Vehicle Stability Control Strategy Based on Integrated-Electro-Hydraulic Brake System2017-01-15653/28/2017
A vehicle dynamics stability control system based on integrated-electro-hydraulic brake (I-EHB) system with hierarchical control architecture and nonlinear control method is designed to improve the vehicle dynamics stability under extreme conditions in this paper. The I-EHB system is a novel brake-by-wire system, and is suitable to the development demands of intelligent vehicle technology and new energy vehicle technology. Four inlet valves and four outlet valves are added to the layout of a conventional four-channel hydraulic control unit. A permanent-magnet synchronous motor (PMSM) provides a stabilized high-pressure source in the master cylinder, and the four-channel hydraulic control unit ensures that the pressures in each wheel cylinder can be modulated separately at a high precision. Besides, the functions of Anti-lock Braking System, Traction Control System and Regenerative Braking System, Autonomous Emergency Braking can be integrated in this brake-by-wire system. A sliding
He, Xiangkun, Yang, Kaiming, Ji, Xuewu, Liu, Yahui, Deng, Weiwen
Improvement of Lap-Time of a Rear Wheel Drive Electric Racing Vehicle by a Novel Motor Torque Control Strategy2017-01-05093/28/2017
This paper presents a novel strategy for the control of the motor torques of a rear wheel drive electric vehicle with the objective of improving the lap time of the vehicle around a racetrack. The control strategy is based upon increasing the size of the friction circle by implementing torque vectoring and tire slip control. A two-level nested control strategy is used for the motor torque control. While the outer level is responsible for computing the desired corrective torque vectoring yaw moment, the inner level controls the motor torques to realize the desired corrective torque vectoring yaw moment while simultaneously controlling the wheel longitudinal slip. The performance of the developed controller is analyzed by simulating laps around a racetrack with a non-linear multi-body vehicle model and a professional human racing driver controller setting. The advantage of the developed control strategy is studied by looking qualitatively and quantitatively at the sectors of the track
Ghosh, Jyotishman, Tonoli, Andrea, Amati, Nicola
Design of an Integrated Yaw-Roll Moment and Active Front Steering Controller using Fuzzy Logic Control2017-01-15693/28/2017
This paper presents an advanced control system, which integrates three fuzzy logic controllers namely; Direct Yaw-moment Control (DYC), Active Roll-moment Control (ARC) and Active Front Steering (AFS) to enhance vehicle cornering and overturning stability. Based on a well-developed and validated fourteen degree of freedom (DOF) full vehicle model with non-linear tire characteristics, a reference 3-DOF yaw-roll plane vehicle model is introduced to control yaw rate, sideslip angle, and roll angle of the vehicle body. The control actions of both direct yaw and active roll moments are performed by generating differential braking moments across the front wheels, while the control action of the active steering is performed by modifying the steering wheel angle. Different standard cornering tests are conducted in MATLAB / Simulink environment such as J-turn, fishhook and lane change maneuvers. The simulation results show a substantial improvement in vehicle stability by employing the proposed
Elhefnawy, Amro, sharaf, Alhossein, Ragheb, Hossam, Hegazy, Shawky
Using Generic Tyre Parameters for Low Friction Surfaces in Full Vehicle Simulations2017-01-15063/28/2017
An intervention of vehicle stability control systems is more likely on slippery surfaces, e.g. when the road is covered with snow or ice. Contrary to testing on dry asphalt, testing on such surfaces is restricted by weather and proving grounds. Another drawback in testing is the reproducibility of measurements, since the surface condition changes during the tests, and the vehicle reaction is more sensitive on slippery surface. For that, simulation enables a good pre-assessment of the control systems independent from testing conditions. Essential for this is a good knowledge about the contact between vehicle and road, meaning a good tyre model and a reasonable set of tyre model parameters. However, the low friction surface has a high variation in the friction coefficient. For instance, the available lateral acceleration on scraped ice could vary between 0.2 and 0.4 g within a day. These facts lead to the idea of using generic tyre parameters that vary in a certain range. Benefit would
Wiessalla, Johannes, Mao, Yiqin, Esser, Frank
Reliability Testing of High-Power DevicesTBMG-263342/1/2017
Before a new high-power semiconductor device can be used for industrial applications, it must be thoroughly tested to determine if it will survive environmental stresses and continue to meet specifications. This is especially true for the latest wide-bandgap semiconductor materials such as silicon carbide (SiC) and gallium nitride (GaN) to ensure they can withstand high voltage and temperatures.
Analysis of Low-Cost MEMS Accelerometer and Gyroscope Characteristics for Stochastic Sensor Simulation within Motorcycle Models2016-32-002711/8/2016
Vehicle dynamics control (VDC) for motorcycles had a fast growth during the last 10 years. The available technologies comprise curve-safe ABS and traction control (TC) systems, anti-wheelie control, right up to comprehensive motorcycle stability systems including even more control functions. VDC systems rely on real-time information about the current motorcycle dynamic state. Thus motorcycles are equipped with additional sensor units, namely MEMS inertial measurement devices, capable of gathering accelerations and angular rates. The application of model-based estimation theory enables the determination of the necessary information about the in-plane and out-of-plane motion, e.g. the motorcycle lean angle. Since VDC systems include safety critical control functions, the validation within simulations including sensor characteristics is mandatory. The MEMS accelerometer and gyroscope features include low-cost and small footprint, however there are considerable stochastic sensor errors to
Winkler, Alexander, Grabmair, Gernot
Semi-Autonomous Longitudinal Guidance for Pedestrian Protection in Electric Vehicles by Means of Optimal Control2016-01-01634/5/2016
This paper proposes a framework for semi-autonomous longitudinal guidance for electric vehicles. To lower the risk for pedestrian collisions in urban areas, a velocity trajectory which is given by the driver is optimized with respect to safety aspects with the help of Nonlinear Model Predictive Control (NMPC). Safety aspects, such as speed limits and pedestrians on the roadway, are considered as velocity and spatial constraints within prediction horizon in NMPC formulation. A slack variable is introduced to enable overshooting of velocity constraints in situations with low risk potential to rise driver acceptance. By changing the weight of slack variable, the control authority can be shifted continuously from driver to automation. Within this work, a prototypical real-time implementation of the longitudinal guidance system is presented and the potential of the approach is demonstrated in human-in-the-loop test drives in the Stuttgart Driving Simulator.
Rothermel, Thomas, Pitz, Jürgen, Reuss, Hans-Christian
Performance Analyses of Driver-Vehicle-Steer-By-Wire Systems Considering Driver Neuromuscular Dynamics2016-01-04564/5/2016
One main objective is to find out how these parameters interact and optimal driver control gain and driver preview time are obtained. Some steps further, neuromuscular dynamics is considered and the system becomes different from the simplified driver-vehicle system studied before. New optimal driver control gain and driver preview time could be obtained for both tensed and relaxed muscle state. Final step aims at analysing the full system considering driver, neuromuscular, steer-by-wire and vehicle models. The steer-by-wire system could potentially have a significant influence on the vehicle when the driver is at impaired state, which could be represented by setting higher response delay time or smaller preview time. Vehicle's stability and active safety could also be improved by introducing the steer-by-wire system. Optimal driver control gains and driver preview times from all these three models would be compared and contrasted in order to examine the effects of neuromuscular
Zhang, Zhaozhong, Cao, Dongpu
Investigations of Power Distribution in Transmissions of Heavy Trucks2016-01-11004/5/2016
The main indicators for mobility of a multipurpose wheeled vehicle are the maximum and average technical velocity (it is defined as the distance traveled divided by the time elapsed), and they are mainly determined by power-to-weight ratio and the parameters of the suspension. As our analysis shows, with the increase of the power-toweight ratio of the vehicle and its weight, the growth rate of the velocity is reduced, and after reaching a certain value, the velocity remains almost constant. This is due to the fact that for operating conditions of the multi-purpose wheeled vehicle, movement on roads with different degrees of uneven distribution of the rolling resistance and adhesion, in both transverse and longitudinal directions, is typical. In this investigation we evaluate the effectiveness of the main methods of power distribution between the drive wheels of the multipurpose wheeled vehicles: disabling of drive axles, blocking of cross-axle and inter-axle differentials, a slowdown
Keller, Andrei, Aliukov, Sergei, Anchukov, Vladislav, Ushnurcev, Stanislav
Development of an Electronically Controlled Brake System for Fuel-efficient Vehicles2016-01-16644/5/2016
To solve various environmental problems, fuel-efficient vehicles that reduce CO2 emissions as well as exhaust gas emissions have been developed. In such vehicles, a regenerative brake is used to further reduce fuel consumption. Because the market size for such vehicles is expanding, a brake system is required that can be used in a wide range of vehicles extending from internal combustion engine vehicles (ICEVs) to electric vehicles (EVs). In addition, issues such as deceleration fluctuation and brake pedal fluctuation arise because the regenerative brake force is dependent on the vehicle speed. This paper presents a brake system configuration and its element technologies that can replace existing brake systems in different vehicles ranging from ICEVs to EVs. The proposed system can realize a regenerative cooperative brake not only by replacing the brake booster unit but also without replacing the modulator. The advantages of this system are the maximization of regenerative efficiency
Masuda, Yoshio, Yamasoe, Yosuke, Kuki, Yosuke, Okano, Takahiro, Uchida, Kiyoyuki
Co-Simulation Research of Integrated Electro-Hydraulic Braking System2016-01-16474/5/2016
A program of integrated electro-hydraulic braking system is proposed, and its structural composition and working principle are analyzed. According to the structural and mechanical characteristics of all key components, through some reasonable assumptions and simplifications, a motor, a brake master cylinder, four brake wheel cylinders, solenoid valves and an ESP (Electronic Stability Program) algorithm model is set up and simulations of typical braking conditions are carried out based on the Matlab/Simulink. Finally, after the assembly of each sub-model is complete and combining a vehicle which is set up in CarSim software environment, simulation tests and comprehensive performance analysis of the active safety stability control for a vehicle in double lane change and single lane change situations are carried out respectively. According to the dynamic characteristic curves of system, the effects of different structural and control parameters on braking performance are analyzed. To
Li, Jing, Yang, Xiong, Miao, Hui, Shi, Zheng Tang
Aerodynamic Forces Impact on Vehicle Braking Longitudinal Dynamics with a Sliding Mode Controller2016-01-04604/5/2016
The control of automotive braking systems performance and wheel slip is a challenging problem due to the nonlinear of the braking process, vehicle body dynamics during braking and the tire-road interaction. When the wheel slip is not between the optimal limits during braking, the desired tire-friction force cannot be achieved, which influences the braking distance, the loss in steerability and maneuverability of the vehicle. A simple and at the same time realistic vehicle longitudinal braking model is essential for such challenging problem. In this paper, a new longitudinal rolling/braking lumped-vehicle model that takes vehicle aerodynamic forces in consideration is presented. The proposed model takes the rolling resistance force, the braking force and the aerodynamic lift and drag forces in consideration and investigates their impact on the vehicle longitudinal dynamics especially vehicle braking distance and time. An anti- lock sliding-mode controller is designed to provide wheel
Haggag, Salem A., Mansouri, Abraham
Vehicle Side Slip and Roll Angle Estimation2016-01-16544/5/2016
Vehicle dynamics estimation has been the subject of study for some years now. If on-board vehicle control systems can be provided with information such as side slip angle, lateral force etc. then stability of the vehicle can be improved. To estimate these dynamic variables different observers have been used e.g., sliding mode, fuzzy logic, neural networks etc. In this article the authors propose an extended Kalman filter to estimate vehicle side slip angle. Roll angle is estimated using vertical loads as input. First, a linear Kalman filter is used to filter out the vertical forces and estimate roll angle. This information is then used to estimate the vehicle side slip angle. To take into account the nonlinearities concerning lateral vehicle dynamics, Pacejka magic formula is used to model lateral forces. Estimated results are then compared with simulations, showing good accuracy.
Syed, Umair Hussain, Vigliani, Alessandro
Power Distribution in Transmissions of Multi-Wheeled Vehicles2016-01-11034/5/2016
The main indicators for mobility of a multipurpose wheeled vehicle are the maximum and average technical velocity (it is defined as the distance traveled divided by the time elapsed), and they are mainly determined by power-to-weight ratio and the parameters of the suspension. As our analysis shows, with the increase of the power-to-weight ratio of the vehicle and its weight, the growth rate of the velocity is reduced, and after reaching a certain value, the velocity remains almost constant. This is due to the fact that for operating conditions of the multi-purpose wheeled vehicle, movement on roads with different degrees of uneven distribution of the rolling resistance and adhesion, in both transverse and longitudinal directions, is typical. In this investigation we evaluate the effectiveness of the main methods of power distribution between the drive wheels of the multipurpose wheeled vehicles: disabling of drive axles, blocking of cross-axle and inter-axle differentials, a slowdown
Keller, Andrei, Alyukov, Sergei Viktorovich
Function-Based Architecture Design for Next-Generation Automotive Brake Controls2016-01-04674/5/2016
This paper presents a unified novel function-based brake control architecture, which is designed based on a top-down approach with functional abstraction and modularity. The proposed control architecture includes a commands interpreter module, including a driver commands interpreter to interpret driver intention, and a command integration to integrate the driver intention with senor-guided active driving command, state observers for estimation of vehicle sideslip, vehicle speed, tire lateral and longitudinal slips, tire-road friction coefficient, etc., a commands integrated control allocation module which aims to generate braking force and yaw moment commands and provide optimal distribution among four wheels without body instability and wheel lock or slip, a low-level control module includes four wheel pressure control modules, each of which regulates wheel pressure by fast and accurate tracking commanded wheel pressure. For electric vehicles, a distribution module considered
Liu, Haizhen, Deng, Weiwen, He, Rui, Wu, Jian, Zhu, Bing
2016 Mini Clubman's torque-vectoring AWD system designed to give 2wd efficiency16AUTP03_123/1/2016
In the 1960s, the front-wheel drive Mini Cooper S famously won the Monte Carlo Rally, propelled by a 52 kW (70 hp) engine and clawing through snow and ice on tires that looked small enough for a wheelbarrow. The latest Mini offering, the 2016 Cooper S Clubman ALL4 (with all-wheel drive) makes its world debut at the 2016 New York Auto Show. It has been developed to tackle such conditions in a great deal more comfort and security than the classic rally car- and with up to 141 kW (189 hp) from its turbocharged 2.0-L 4-cylinder engine, potentially do it more quickly.
Birch, Stuart
Development of a Motorcycle Frame with Low Stiffness in the Side Direction for Racing2015-32-083911/17/2015
In motorcycle race represented by MotoGP, the motorcycle bank angle in turning state reaches approximately 60 degrees. In such a large bank angle, it is important that response of the motorcycle for the road surface displacement input is relaxed by designing the frame with low stiffness in the side direction to secure the speed on cornering. On the other hand, strong frame stiffness of longitudinal direction is required with a proper frame displacement to resist large force by the rapid deceleration. As seen above, regarding stiffness of longitudinal and side direction of the frame of motorcycle, one should be high, and the other should be low. However, in general, the ratio estimated by stiffness of side direction per that of longitudinal direction is approximately constant with existing frame. This means that if the frame stiffness of side direction is lowered, that of the longitudinal would also be lowered accordingly. Thus, it is difficult to design the frame of which stiffness of
Kawata, Koichiro
Rational Criteria for Power Distribution in All-wheel-drive Trucks2015-01-27869/29/2015
The problem of the theory of power transmission to wheels of a vehicle, as part of the theory of cars, has always been in the center of attention of specialists. With the improvement of designs of a vehicle there was a need of thorough scientific review of theoretical and experimental aspects of creating and applying of mechanical, hydrostatic, electrical, and combined transmissions. This has always remained one of the most important questions of the rational allocation of power among drive wheels. In the present paper, it has been done study of different methods of power distribution among the drive wheels of an all-wheel-drive truck, namely: method of partial solution; method of introducing a rigid kinematic connection; method of periodical action; and method of limit of excessive action. Assessment how these methods influence on the performance characteristics of a multi-purpose vehicle has been done. For implementation of the method of partial solution it has been developed method
Keller, Andrei, Aliukov, Sergei Viktorovich
Effectiveness of Methods of Power Distribution in Transmissions of All-Wheel-Drive Trucks2015-01-27329/29/2015
The main indicators for mobility of a multipurpose wheeled vehicle are the maximum and average technical velocity, and they are mainly determined by power-to-weight ratio and the parameters of the suspension. As our analysis shows, with the increase of the power-to-weight ratio of the vehicle and its weight, the growth rate of the velocity is reduced, and after reaching a certain value, the velocity remains almost constant. This is due to the fact that for operating conditions of the multi-purpose wheeled vehicle, movement on roads with different degrees of uneven distribution of the rolling resistance and adhesion, in both transverse and longitudinal directions, is typical. In this investigation we evaluate the effectiveness of the main methods of power distribution among drive wheels of the multi-purpose wheeled vehicles. It was revealed that the transmission of a promising multipurpose wheeled vehicle has to be modernized in the following ways: 1) all-wheel drive with the rational
Keller, Andrei, Aliukov, Sergei
Based on the Unscented Kalman Filter to Estimate the State of Four-Wheel-Independent Electric Vehicle with X-by-Wire2015-01-27319/29/2015
As a new form of electric vehicle, Four-wheel-independent electric vehicle with X-By-Wire (XBW) inherits all the advantages of in-wheel motor drive electric vehicles. The vehicle steering system is liberated from traditional mechanical steering mechanism and forms an advanced vehicle with all- wheel independent driving, braking and steering. Compared with conventional vehicles, it has more controllable degrees of freedom. The design of the integrated vehicle dynamics control systems helps to achieve the steering, driving and braking coordinated control and improves the vehicle's handling stability. In order to solve the problem of lacking of vehicle state information in the integrated control, some methods are used to estimate the vehicle state of four-wheel-independent electric vehicles with XBW. In order to improve the estimation accuracy, unscented Kalman filter (UKF) is used to estimate the vehicle state variables in this paper. At the same time, simulations in several typical
Gu, Xingjian, Chen, Guoying, Zong, Changfu
Model Based Design for Automobile External Lighting Systems2015-36-03749/22/2015
Model-Based Design (MBD) has been widely used for automotive embedded software design. Automobile manufacturers and suppliers have often underlined the importance of an unified approach for electrical and electronic (E/E) system design. In this scenario, MBD can provide a mutual benefit for stakeholders due to the share of information, workflow, and tool-chain. In this paper, we highlight MBD application for automotive Exterior Lighting System (ELS) design. In fact, ELS is an event-driven control system typically needed for car lighting and signalization, in particular at night. Furthermore, this system is mandatory for every road vehicle according to current Brazilian laws and legislation. Also, it provides safety drive preventing car accidents and pedestrian injury. In this context, we present how to boost ELS design using MBD concepts. ELS was developed in three MBD workflow (Model-In-the-Loop, Software-In-the-Loop, and Processor-In-the-Loop), from supplier’s viewpoint. The results
Neme, João Henrique, Santos, Max Mauro Dias, Teixeira, Evandro Leonardo Silva
Comparative Analysis of Methods of Power Distribution in Mechanical Transmissions and Evaluation of their Effectiveness2015-01-10974/14/2015
The main indicators for mobility of a multipurpose wheeled vehicle (MWV) are the maximum and average technical velocity, and they are mainly determined by power-to-weight ratio and parameters of the suspension. As our analysis shows, with the increase of the power-to-weight ratio of the vehicle and its weight, the growth rate of the velocity is reduced, and after reaching a certain value, the velocity remains almost constant. This is due to the fact that for operating conditions of the multipurpose wheeled vehicle, movement on roads with different degrees of uneven distribution of the rolling resistance and tire traction, in both transverse and longitudinal directions, is typical. In this investigation we evaluate the effectiveness of the main methods of power distribution between the drive wheels of the multipurpose wheeled vehicles: disabling of drive axles, blocking of cross-axle and inter-axle differentials, a slowdown of slipping wheels. It was revealed that the transmission of a
Keller, Andrei, Murog, Igor, Aliukov, Sergei
FE-Based Tire Loading Estimation for Developing Strain-Based Intelligent Tire System2015-01-06274/14/2015
The development of intelligent tire technology from concept to application covers multi-disciplinary fields. During the course of development, the computational method can play a significant role in understanding tire behavior, assisting in the design of the intelligent tire prototype system and in developing tire parameters estimation algorithm, etc. In this paper, a finite element tire model was adopted for developing a strain-based intelligent tire system. The finite element tire model was created considering the tire's composite structure and nonlinear properties of its constituent materials, and the FE model was also validated by physical tests. The FE model is used to study tire strain characteristics by steady state simulation for straight line rolling, traction and braking, as well as cornering. Tire loading conditions were estimated by feature extraction and data fitting. This process forms the fundamentals for identifying tire loadings from strain information at potential
Yang, Xiaoguang, Olatunbosun, Oluremi, Garcia-Pozuelo, Daniel, Bolarinwa, Emmanuel
Accurate Speed Control of the DC Motor for Anti-Lock Braking System2015-01-06544/14/2015
The permanent-magnet DC motor, which is directly connected to the hydraulic pump, is a significant component of hydraulic control unit (HCU) in an anti-lock braking system (ABS). It drives the pump to dump the brake fluid from the low-pressure accumulator back to master cylinder and makes sure the pressure decreases of wheel cylinder in ABS control. Obviously, the motor should run fast enough to provide sufficient power and prevent the low-pressure accumulator from fully charging. However, the pump don't need always run at full speed for the consideration of energy conservation and noise reduction. Therefore, it is necessary to accurately regulate the speed of the DC motor in order to improve quality of ABS control. In this paper, an accurate speed control algorithm was developed for the permanent-magnet DC motor of the ABS to implement the performance of the system, reduce the noise and save the energy in the meanwhile. Firstly, the hydraulic brake system and the DC motor models of
Zhu, Bing, Gong, Jiapeng, Zhao, Jian, Wu, Jian, Deng, Weiwen
Development of Three-Motor Electric Vehicle “EMIRAI 2 xEV”2015-01-15974/14/2015
Mitsubishi Electric has developed a concept car “EMIRAI 2 xEV” that features an electric vehicle (EV) powertrain for safe, comfortable, eco-friendly driving experiences in the future. The vehicle was exhibited during the 2013 Tokyo Motor Show and the 2014 Automotive Engineering Exposition. The xEV is a four-wheel-drive EV with three motors: a water-cooled front motor and two air-cooled rear motors with integrated inverters. The rear wheels can be driven independently. The degrees of freedom of the actuation can realize improved maneuverability and safety. The vehicle is also equipped with an onboard charger with a built-in step down DC/DC converter, an EV control unit, a battery management unit, and electric power steering. All of the instruments are developed by Mitsubishi Electric. Motion control systems for the xEV have been developed based on our proprietary motor control technology. In particular, this paper shows the design of three controllers: the high-precision traction
Yokoyama, Kazuto, Iezawa, Masahiro, Tanaka, Hideyuki, Enoki, Keiichi
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