Browse Topic: Hardware-in-the-loop (HIL)

Items (200)

A New Holistic Approach for System-Level Development of Seat Features

2024-26-038101/16/2024

System engineering-based approach is now ubiquitous in the automotive industry. It is a disciplined approach that ensures that targets are clearly defined and met through a structured and holistic approach. In this paper, we report an application of a systems engineering-based methodology for developing seating system features. It starts with a Business Requirement Document (BRD), which enlists the business requirements of a feature. We then developed a Logical Architecture Diagram (LAD) on a Simulink environment, which serves as an initial proposal for the design of the logic that would realize the desired functionality. As a next step, we perform Functional Failure Analysis (FFA) on the LAD to identify potential failure modes. We propose a few ways to mitigate the identified failures or modify the design so that these failures are rendered inconsequential to the end user. Based on the updated LAD, a System Requirement Document (SRD) is created, which contains all the requirements

Ghosh, Soumik, Vidhu, Nandagopal

Integrated Testing Platform for Complete ECU Software Validation

2024-26-034001/16/2024

In today's scenario EE software validation phase in the automotive software development cycle uses three different testing environments (Verification uses Model In Loop (MIL), function validation uses Software In Loop (SIL), HW and system level tests uses Hardware In Loop (HIL), & system testing uses Vehicle). Each of these platforms are highly expensive to deploy & maintain and poses major constraints in directly comparing the test results across platforms due to the difference in test reporting structures. It is also noticed that there is high redundancy or overlapping of test cases and timely availability of these platforms for timely SW releases. The solution helps in combining MIL, SIL & HIL testing stages into one single "Integrated Testing Platform" which eventually saves testing time, effort & cost along with early bug detection during software development phase. With the reuse of relevant compatible test-cases, test-case redundancy is eliminated thus reducing total man-hours

Jain, Nayank, N T, Savitha, G, Sudip, BHOGENAHALLY LAKSHMINARAYANA, ANUROOPA, Manish, Kumar

Electric Powertrain - Standardization of Adaptable Software in Loop System

2024-26-011701/16/2024

Motivation With an increase in the complexity involved in modern-day ECUs (Electronic Control Unit), it is very important to verify and validate robustness, functionality, and reliability of ECUs. Till date, Hardware in Loop (HiL) based validation or vehicle level validation is generalized approach used for testing. However, this method requires physical setup, which can incur more cost and time during the development phase. Solution We believe in minimizing the software testing time using Software in Loop (SiL) validation. Creating virtual-ECUs and the plant models is an important step in SiL. We are presenting the modularized and scalable plant models in this paper. Adaptable SiL Solution for EV This paper focuses on the standardization of electric vehicle plant models, which can help users to reduce the software development and software testing time. We created the standardized plant models for following virtual ECUs, which can be used as modular units. • Battery Management System

Sajnani, Abhishek, Vernekar, Kiran, Gosavi, Rupesh, Naik, Venkatesh

Distributed Co-Simulation for Effective Development of Battery Management Functions

2023-01-120006/26/2023

Electrification calls for a range of system components, that need to be developed and tested. On one hand, these system components include hardware components, like battery cells, modules, and packs, and battery management systems (BMS). On the other hand, software components are used for testing, e.g. algorithms for BMS or simulation models for batteries. Execution of tests on real batteries is typically time- and cost-intense, and includes considerable risks, leading to safety hazards. In this paper, we introduce a novel development and test approach for battery systems, that is driven by a unified, standardized interface between hardware- and software components and physical devices alike. Whereas established Hardware-in-the-Loop (HiL) systems are built on proprietary systems and environments, our approach is based on both open-source and industrial simulation software solutions. The Distributed Co-Simulation Protocol (DCP) is used to encapsulate and virtualize these components, as

Hrvanovic, Dino, Haberl, Hannes, Krammer, Martin, Scharrer, Matthias K.

Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL

2022-01-010303/29/2022

The widespread deployment of Connected and Automated Vehicles (CAVs) in the future will bring major changes in the automotive industry and the vehicle features it will offer. Currently, technology and infrastructure are not ready to test and develop CAV features fully in real traffic. Simulators are becoming popular to develop CAVs and assisted automated driving features for all levels of automation to overcome the infrastructural needs of the automotive industry. Simulators allow researchers to design CAV algorithms safely, quickly, and efficiently, and test these algorithms for various metrics. A co-simulation environment, where a vehicle simulator like CarSim and a traffic simulator like Simulation of Urban Mobility (SUMO) feed into each other, is an invaluable tool, allowing CAV features to be tested in a realistic traffic environment. This paper presents a co-simulation environment, where the vehicle simulator CarSim and the traffic simulator SUMO share data. The paper follows the

Kavas-Torris, Ozgenur, cai, Xiaolin, Joshi, Adit, Mittal, Archak, Djavadian, Shadi, Fishelson, James

Parameter Analysis and Optimization of Road Noise Active Control System

2022-01-035503/29/2022

The parameter setting has a great influence on the noise reduction performance of the road noise active control (RNC) system. This paper analyzes and optimizes the parameters of the RNC system. Firstly, the model of the RNC system is established based on the FxLMS algorithm. Based on this model, taking the maximum noise reduction as the evaluation index, the sensitivity analysis of convergence coefficient, filter order, and reference signal gain was carried out using the Sobol method with the data measured by a real vehicle on asphalt pavement at 40km/h. The results show that there is no significant interaction between the three parameters. Then, using the idea of orthogonal experiment, the simulation results of the control model are analyzed by taking the maximum noise reduction as the evaluation index. It is found that the convergence coefficient has the greatest effect on the maximum noise reduction, followed by the filter order, and the reference signal gain has the least effect

Pi, Xiongfei, Meng, Dejian, Zhang, Lijun

Visual System Analysis of High Speed on-off Valve Based on Multi-physics Simulation

2022-01-046503/29/2022

High speed on-off valves(HSV) are widely used in advanced hydraulic braking actuators, including the regenerative braking system and the active safety system, which take crucial part in improving the energy efficiency and safety performance of vehicles. As a component involving multiple physical fields, the HSV is affected by interaction of fluid, electromagnetic, mechanical, and even the temperature. Since the opening of the HSV is small and the flow speed is high, cavitation and vortex are inevitably brought out so that increase the valve’s noise and instability. However, it is costly and complex to observe the flow status by visual fluid experiments. Hence a visual multi-physics system simulation model of HSVs is explored in this paper, in which the flow field model of the HSV built by the computational fluid dynamic (CFD) is co-simulated with the model of hydraulic control actuator established by AMESim. Accordingly, the pressure and the opening of the HSV are variable with actual

Design and Hardware in the Loop testing of AEB controllers

2022-01-010603/29/2022

Current ADAS systems can improve vehicle safety directly influencing its dynamics, reducing the impact of human error while driving. These functionalities have a high impact on the complexity of each unit installed on the car, potentially increasing the development time. In this work, a Hardware in the Loop testing methodology for Autonomous Emergency Braking system is presented, aiming to enable a faster system development process. A commercial production brake by wire unit has been installed on a real-time driving simulator. The AEB functionality of the unit is activable in real-time during the simulation, by the means of a customizable control strategy. Three different AEB controllers have been implemented: the first one reproduces the unit stock functionality, while the two remaining compute the requested deceleration using a PID and a Fuzzy control strategy. The three controllers have been tested in standardized EuroNCAP Car-to-Car Rear (CCR) collision scenarios, implemented on

Alfatti, Federico, Garinei, Michele, Annicchiarico, Claudio, Capitani, Renzo

Multi-Modal Traffic Simulation Calibration and Integration with Real-Time Hardware in Loop Simulator

2022-01-016403/29/2022

The ongoing research in intelligent transport systems and connected and automated vehicles, enabled by advancements in artificial intelligence, integrating traffic simulations has become an essential part of product/software development for the automotive industry. Nowadays, traffic simulations are used to mimic real-world environment scenarios for connected and automated driving assist systems (ADAS). With the increase in data collection methods for traffic flow, the calibration of the microscopic traffic simulations has emerged as an important research area. The underlying question in traffic modeling is how accurately simulations can mimic the real environment traffic flow conditions? This paper attempts to create a framework for microscopic traffic simulation calibration procedure which can be scaled for large networks. This paper makes the following major contributions. First, a calibration framework is proposed which harnesses the existing GPS data set of OSU campus shuttles

kalra, Vikhyat, Tulpule, Punit, Isaman, Jacob

Aspects of Migrating from Decentralized to Centralized E/E Architectures

2022-01-090603/29/2022

As centralization of automotive E/E architectures becomes reality for future vehicles, it is crucial that existing assets be reused in the most efficient and effective manner. We report on our experience developing a new centralized E/E architecture for a propulsion domain, and migrating the corresponding propulsion elements of an existing decentralized, CAN-based architecture to a prototype of the centralized propulsion domain. Our migration adopts automotive Ethernet and supporting standards as a next-generation communications backbone technology; a next-generation computation platform from automotive supplier NXP; and a new automotive virtualization solution from OpenSynergy. We discuss aspects of legacy software re-use and adaptation; modification of vehicle HiL simulation models used in testing; existing vendor tool support; and implications arising from functional safety and the ISO 26262 standard.

Bandur, Victor, Kapinski, Ryan, Pantelic, Vera, Lawford, Mark, Wasacz, Bryon

Hybrid Validation Model for System Level Test

2022-01-094203/29/2022

Hybrid model mainly use HIL (Hardware in Loop) and SIL (Software in Loop) test environment combinations for validation at system level test. Universal Implement ISO Stick-Match is device to show customer compatibility to ISOBUS implements to off highway vehicle. In the market we have many third party implements and it’s very difficult to validate all implements on vehicle. This ISO stick-match can be used to perform automatic switching on and off implements sections, automatically adjust the output rate for the implement, data storage etc. This paper mainly presents hybrid validation model for system level test using universal implement ISO stick- match functionality. Hybrid model includes use of vehicle controller simulation interface with universal implement ISO stick- match. Hybrid model could be utilized to run Automotive Electronic Foundation (AEF) conformance test. This also enable us to perform end to end validation activity for a machine which will be useful from safety. We can

Suryawanshi, Archana Ashok, Labade, Chetan

Test-driven full vehicle modelling for ADAS algorithm development

2021-26-003309/22/2021

ADAS system development for safety as well as comfort is a major activity for all AOEMs and dedicated system suppliers. The development of these systems relies heavily on the availability of accurate driving dynamics models to validate the control algorithms and verify vehicle performance in realistic driving scenarios. AOEMs usually have access to high-fidelity full vehicle models but the availability of such models poses a significant challenge to software and sub-system suppliers. In order for them to develop their ADAS solutions, an accurate test-based model identification process using prototype or benchmark vehicles would be highly desirable. In this paper, a step-wise approach for the identification of the vehicle parameters in order to create an accurate 15-DOF (degree of freedom) vehicle dynamics model is proposed. The approach relies on an optimized use of vehicle driving test data to minimize test bench or laboratory testing. The test data is used to identify the various

Lugo, Lorenzo, Bartolozzi, Mirco, Vandermeulen, Wouter, Geluk, Theo, Dom, Steven

Subjective and Objective Steering feel Evaluation of compact SUV electric power steering system using Hardware in the Loop Simulation

2021-26-008009/22/2021

Hardware-in-the-loop (HIL) test benches are indispensable for the development of modern vehicle dynamics controllers (VDCs). They can be regarded as a standard methodology today, because of the extremely safety critical nature of the multi-sensor and multi-actuator systems used in vehicle dynamics control. The required high quality standards can only be ensured by systematic testing within a virtual HIL environment before going into a real car. The steering system is an important aspect of the automobile from operational safety and driver enjoyment perspectives. Current Problem/Opportunity is realistic subjective steering feel prediction before vehicle build. And upfront predict the handling characteristics more accurately with subjective feel before proto build. Current Issue is difficult to convert the objective data into subjective feel and difficult to incorporate the nonlinear steering characteristics with hysterics, friction and power assist curves using virtual simulation

Anthonysamy, Baskar, TK, Sreeraj, TK, Sreedeep, N, BALARAMAKRISHNA, NAGARAJAN, NAGAPRAKASH

Model Release Process using Standardized Error Metrics for Validation of X-in-the-Loop Simulation Models

2021-01-114809/21/2021

The current automotive market is dynamic, leading to complex functionalities being incorporated into the control software of various components like engine, gearbox, battery, E-motor etc. This results in utilization of virtual environments for software testing to reduce the development time. The virtual platforms under the category X-in-the-Loop (XiL) e.g. Software-in-the-Loop (SiL) and Hardware-in-the-Loop (HiL) use simulated models to achieve a desired test goal. These component models must be rigorously validated to ensure the quality of XiL-Testing. Thus, it is essential to define a model release process that maintains model quality irrespective of the modeling approach used and the user. One of the challenges is to choose an appropriate Error Metric (EM) that sets criteria for model release. This paper proposes a combination of Theil’s Inequality Coefficient (TIC) and Unscaled Mean Bounded Relative Absolute Error (UMBRAE) as the EM. TIC is used to characterize the steady and non

Narasimha, Vedantha, Nayak, Manish, Bick, Alexander

An Automatic Emergency Braking System for Collision Avoidance Assist of Multi-Trailer Vehicle Based on Model Prediction Control

2021-01-011704/06/2021

The autonomous collision avoidance problem for multi-trailer vehicle maneuvering is investigated in this paper. Different from conventional vehicle systems that contain one single moving part or multi-parts that can be considered as one rigid body, the interconnection between the tractor and each trailer, and interactions between trailers in the multi-trailer system introduce a high dimensional and highly complex dynamic system for the controller design. The external disturbance and parametric uncertainties further increase the difficulty in system identification and state space formulation. To implement a real time control system for various scenarios where the locations and states of the obstacles are not known beforehand, a supervisory algorithm is designed to convert the control problem to a discrete event system. The model predictive control (MPC) using limited lookahead policy is employed in the proposed algorithm. By viewing the system model under consideration as a finite

Liu, Yucheng, Ball, John, Abdelwahed, Sherif, He, Ge

7.0.103 - High Fidelity Modeling and HIL Porting of a Hybrid Electric Car Development

SAE-PP-0027902/04/2021

A hybrid electric powertrain being a complex system requires analysis of all its subsystems to optimally utilize, size components for performance evaluation and control strategy development. An integrated high fidelity model of these can lower development costs, time and achieve the targeted performance while allowing for early redefinition of the system. A high fidelity model of a sedan car featuring chassis with longitudinal and lateral dynamics, suspension with joints, tires calculating longitudinal & lateral forces during vehicle motion, Engine model with combustion & dynamics of reciprocating and rotating components, Electric motors, Battery system, and gearbox with synchronizers and friction components was developed. Powertrain components were interconnected using 3D rotational flanges. Weight distribution was accomplished by appropriately locating various powertrain components using 3D supporting mounts, which help to study the mount forces as well. The environment definition

Energy-optimal deceleration planning system for regenerative braking of electrified vehicles with connectivity and automation

2020-01-058204/14/2020

This paper presents an energy-optimal deceleration planning system (EDPS) to maximize regenerative energy for electrified vehicles on deceleration events resulted from map information and connected communication. The optimization range for EDPS is restricted within an upcoming deceleration event rather than the entire routes while considering vehicles driving in front of ego-vehicle. The EDPS is an ecological driver assistance system with level 2 or 3 automation since acceleration is operated by an adaptive cruising system or a human driver and deceleration is operated on a unit of deceleration events which are divided into static ones such as turning and warning as well as dynamic ones such as traffic light. The event-based optimal deceleration profile is obtained by a dynamic programming framework including a driving motor performance model and a gear box model, and with the detection of a front vehicle the profile is updated in real time by nonlinear model predictive control scheme

Kim, Dohee, Eo, Jeong Soo, Kim, Yeojun, Guanetti, Jacopo, Miller, Ryan, Borrelli, Francesco

Scenario Analysis and Control Comparison for a High Speed Autonomous Vehicle

2020-01-071004/14/2020

This paper studies the simulation and control of an autonomous dragster. Four scenarios are provided that are critical to vehicle and driver safety in drag racing. Equations are then created to model the behavior during these safety scenarios. The use of a kinematic bicycle model and a Newtonian wheel stand model are discussed for plane-of-motion and out-of-plane vehicle movement, respectively. A separate controller is designed for each model by comparing different control methods. Proportional-Integral-Derivative (PID) control, optimal control, and model predictive control (MPC) are presented and applied to the models. The models are simulated from a speed of 75 m/s, being the estimated top speed of the research vehicle, up to a top speed of 150.5 m/s which is in alignment with the highest recorded speed of a dragster. The comparison of the control techniques yields MPC as superior for the bicycle model and PID as sufficient for the wheel stand model. Latency of the system is also

Donikian, Vatche, Bell, Joseph, Washington, Gregory

Performance Evaluation of the Pass at Green Connected Vehicle V2I Application Using Simulation, Dynamometer and Track Testing

2020-01-138004/14/2020

In recent years, the trend in the automotive industry has been favoring the reduction of fuel consumption in vehicles with the help of new and emerging technologies, such as Vehicle to Infrastructure (V2I), Vehicle to Vehicle (V2V) and Vehicle to Everything (V2X) communication. As the world of transportation gets more and more connected through these technologies, the need to implement algorithms with V2I capability is amplified. In this paper, an algorithm called Pass at Green (PaG), utilizing V2I to modify the speed profile of a vehicle to decrease fuel consumption has been studied. PaG uses Signal Phase and Timing (SPaT) information acquired from upcoming traffic lights, which are the current phase of the upcoming traffic light and the remaining time that the phase stays active. Then, PaG modifies the speed of the vehicle by accelerating, keeping its speed constant or decelerating to decrease fuel consumption, minimize idling time and reduce the likelihood of catching a red light in

Kavas-Torris, Ozgenur, Cantas, Mustafa Ridvan, Gelbal, Sukru Yaren, Guvenc, Levent

Modeling and Identification of an Electric Vehicle Braking System: Thermal and Tribology Phenomena Assessment

2020-01-109404/14/2020

A rapidly shifting market and increasingly stringent environmental regulations require the automotive industry to produce more efficient low-emission Electric Vehicles (EVs). Regenerative braking has proven to be a major contributor to both objectives, enabling the charging of the batteries during braking and a reduction of the load and wear of the brake pads. The optimal sizing of such systems requires the availability of good simulation models to improve their performance and reliability at all stages of the vehicle design. This enables the designer to study both the integration of the braking system with the full vehicle equipment and the interactions between electrical and mechanical braking strategies. This paper presents a generic simulation framework for the identification of thermal and wear behaviour of a mechanical braking system, based on a lumped parameter approach. The thermal behaviour of the system is coupled back to the friction coefficient between the pad and the disk

D’hondt, Thomas, Forrier, Bart, Sarrazin, Mathieu, Favilli, Tommaso, Pugi, Luca, Berzi, Lorenzo, Viviani, Riccardo, Pierini, Marco

DFD Stratagem Investigation on Suspension Subframe Durability Test with Spindle Coupled Road Test Simulator

2020-01-099204/14/2020

In order to replicate the vehicle chassis proving ground (PG) durability test on the laboratory half vehicle spindle coupled Road Test Simulator (RTS), a drive file which can excite the actuators of the RTS to duplicate the chassis component strain state need to be developed. Traditionally the Drive File Development (DFD) aims to match the spindle forces and moments in addition with some supplemental channels such as the suspension link axial forces and the suspension travels. However the suspension subframe which is connected to the vehicle body achieves the equilibrium state with the inertia force applied on the vehicle body at arbitrary time when the vehicle is running on the PG. Suspension subframes mounted on the fixture of the RTS experience reaction forces from a fixed static boundary. This boundary condition discrepancy between the vehicle PG test and the laboratory RTS test may particularly lead to a different strain state on the suspension subframe. In this paper, the impact

Gao, Jianghua, Guo, Matt, Zhang, Xin, Yu, Xiao

Urban Pilot Motion Planning and Control Deployment Via Real-Time Multi-Core Multi-Thread Prototyping

2020-01-012504/14/2020

In this work, the functional development of motion planning and control for SAE level-4 autonomous urban pilot is presented, including its architecture design, algorithm development, software implementation and hardware prototype. First, a completely AVL in-house designed, modular and generic Advanced Driver Assist System (ADAS) and Automated Driving (AD) application architecture is deployed, such that the motion planning and control modules can communicate with decision making, environment modeling and localization modules. Second, A road-navigation-oriented, sampling-and-searching-based iterative spatial-temporal motion planning algorithm is developed and integrated with classical motion control algorithms, via a ©MATLAB/Simulink implementation platform. Finally, the integrated motion planning and control subsystem is prototyped in ©Speedgoat hardware, via a real-time multi-core multi-thread deployment methodology. The proposed motion planning and control deployment has been

Sun, Yue, Goila, Ankit, Demir, Damla, Tapli, Tugba

Hardware-in-the-Loop, Traffic-in-the-Loop and Software-in-the-Loop Autonomous Vehicle Simulation for Mobility Studies

2020-01-070404/14/2020

We are interested in finding and analyzing the relevant parameters affecting traffic flow when introducing Autonomous Vehicles for ride hailing applications and Autonomous Shuttles for circulator applications in geo-fenced urban areas. Different scenarios have been created in traffic simulation software that model the different levels of autonomy, traffic density, routes, and other traffic elements. Similarly, software that specializes in vehicle dynamics, physical limitations, and vehicle control has been used to closely simulate such scenarios. On the other hand, software for autonomous entities is also continuously improved. However, benchmarks for such software usually run in isolation from other factors such as the ones mentioned above. Yet, in order to effectively study the effects of the introduction of autonomous agents into city streets, all these factors must be considered. For these reasons, different simulation tools are needed to converge into a single simulation

Meneses Cime, Karina, Cantas, Mustafa Ridvan, Dowd, Garrett, Guvenc, Levent, Aksun Guvenc, Bilin, Mittal, Archak, Joshi, Adit, Fishelson, James

Autonomous Vehicles Scenario Testing Framework and Model of Computation

12-02-04-001512/18/2019

Autonomous Vehicle (AV) technology has the potential to fundamentally transform the automotive industry, reorient transportation infrastructure, and significantly impact the energy sector. Rapid progress is being made in the core artificial intelligence engines that form the basis of AV technology. However, without a quantum leap in testing and verification, the full capabilities of AV technology will not be realized. Critical issues include finding and testing complex functional scenarios, verifying that sensor and object recognition systems accurately detect the external environment independent of weather conditions, and building a regulatory regime that enables accumulative learning. The significant contribution of this article is to outline a novel methodology for solving these issues by using the Florida Poly AV Verification Framework (FLPolyVF).

Alnaser, Ala Jamil, Akbas, Mustafa Ilhan, Sargolzaei, Arman, Razdan, Rahul

Digital Twins for Prognostic Profiling

2019-28-245611/21/2019

Ability to have least failures in products on the field with minimum effort from the manufacturers is a major area of focus driven by Industry 4.0 initiatives. Amidst traditional methods of performing system/subsystem level tests often does not enable the complete coverage of a machine health performance predictions. This paper highlights a workable workflow that could be used as a template while considering system design especially employing Digital Twins that help in mimicking real-life scenarios early in the design cycle to increase product’s reliability as well as tend to near zero defects. With currently available disruptive technologies, systems integrated multi-domain 'mechatronics' systems operating in closed-loop/close-interaction. This poses great challenge to system health monitoring as failure of any component can trigger catastrophic system failures. It may be the reason that component failures, as per some aerospace reports, are found to be major contributing factors to

Thukaram, Painuri, Mohan, Sreeram

Use of Hardware in the Loop (HIL) Simulation for Developing Connected Autonomous Vehicle (CAV) Applications

2019-01-106304/02/2019

Many smart cities and car manufacturers have been investing in Vehicle to Infrastructure (V2I) applications by integrating the Dedicated Short-Range Communication (DSRC) technology to improve the fuel economy, safety, and ride comfort for the end users. For example, Columbus, OH, USA is placing DSRC Road Side Units (RSU) to the traffic lights which will publish traffic light Signal Phase and Timing (SPaT) information. With DSRC On Board Unit (OBU) equipped vehicles, people will start benefiting from this technology. In this paper, to accelerate the V2I application development for Connected and Autonomous Vehicles (CAV), a Hardware in the Loop (HIL) simulator with DSRC RSU and OBU is presented. The developed HIL simulator environment is employed to implement, develop and evaluate V2I connected vehicle applications in a fast, safe and cost-effective manner. The prepared simulator allows realistic, real-time evaluation of mobility and fuel economy benefits over simulated actual routes in

Cantas, Mustafa Ridvan, Kavas, Ozgenur, Tamilarasan, Santhosh, Gelbal, Sukru Yaren, Guvenc, Levent

Research and Development of an Electromagnetic Actuated Active Suspension

2019-01-085804/02/2019

Active suspension could achieve good ride comfort and road holding performance. Traditional active suspension which utilizes air actuator or hydraulic actuator features relatively slow response or high energy consumption. Utilizing Permanent Magnet Synchronous Motor (PMSM) as actuator, the Electromagnetic Actuated Active Suspension (EAAS) benefits quick response and energy harvesting from vibration at the same time. Benchmarked with luxury cars available on the market, design parameters and design boundary are determined. A mechanism includes push bar and bell crank is designed to transfer the rotary motion of PMSM into linear motion of suspension, or verse vice. A prototype of EAAS is built in compromise of limited budget and a test bench is designed and set up. Different from conventional quarter car model, the model of EAAS in this paper is investigated and the total inertial of PMSM, gearbox and suspension control arms are calculated and simplified as an equivalent mass. Also

Yin, Jun, He, Jiaxing, Luo, Jie, Chen, Xinbo, Wu, Lixin

Development and Verification of Control Algorithm for Permanent Magnet Synchronous Motor of the Electro-Mechanical Brake Booster

2019-01-110504/02/2019

To meet the new requirements of braking system for modern electrified and intelligent vehicles, various novel electro-mechanical brake boosters (Eboosters) are emerging. This paper is aimed at a new type of the Ebooster, which is mainly consisted of a permanent magnet synchronous motor (PMSM), a two-stage reduction transmission and a servo mechanism. Among them, the PMSM is a vital actuator to realize the functions of the Ebooster. To get fast response of the Ebooster system, a novel control strategy employing a maximum torque per ampere (MTPA) control with current compensation decoupling and current-adjusting adaptive flux-weakening control is proposed, which requires the PMSM can operate in a large speed range and maintain a certain anti-load interference capability. Firstly, the wide speed control strategy for the Ebooster’s PMSM is designed in MATLAB/Simulink. Then, to quickly verify the development algorithm in more real environment, dual dSPACE hardware tools are used to build a

Zhang, Haoran, Wu, Jian, He, Rui, Chen, Zhicheng

A Development of the Prediction and Optimization Tool for Wiper High Speed Performance

2019-01-141703/25/2019

In this paper, we focused on the robust wiping performance of high speed driven condition as an important situation for vehicle safety. Frist, we selected appropriate wiper performance parameter to accurately predict its ability not only systematic point but also vehicle point. Second, we obtained parameter sensitivity of wiper high-speed performance using DFSS technique. Third, we developed prediction and optimization tool using commercial program; Excel and Visual Basic. Finally, we improved our tool to compare vehicle test and then modified prediction coefficient for the accuracy of tool. Thus, we proposed a systematic tool to predict wiping performance in high speed vehicle, and successfully obtained efficiency when we developed the new project’s wiper performance.

Airbus’ quantum computing challenge may fundamentally change aircraft development

SAE-MA-0326101/23/2019

The Airbus Quantum Computing Challenge (AQCC) was initiated by the Toulouse-based aerospace corporation to bring quantum computing out of laboratories and apply it directly to challenges facing the aviation industry. The global competition is open to post-graduate students, academics, researchers, and professionals.

Kucinski, William

2021-12-29.TEST Fidelity Enhancement of Power-Split Hybrid Vehicle HIL (Hardware-in-the-Loop) Simulation by Integration with High Voltage Traction Battery Subsystem *CSP Meta Testing*

04/03/2018

]. Traditionally, HIL simulations of hybrid vehicle controls and high-voltage battery controls have been implemented on separate HIL benches which are exclusively targeted for hybrid vehicle controls and battery controls simulations respectively. This research demonstrates an implementation of enhanced fidelity of a power-split hybrid vehicle powertrain controls HIL by integrating it with high-voltage traction battery subsystem HIL by networking the two aforementioned HIL systems together. The power-split hybrid vehicle HIL typically use simplified battery plant and controller models, and therefore, the addition of the high-voltage battery HIL provides a more detailed simulation of the high-voltage battery in which each cell is modeled such that cell voltage varies based on initial State-of-Charge (SOC) and temperature, capacity, fan speed, self-discharge, and other chemistry-based parameters. The integration of the battery HIL also provides the high-voltage interface to the battery

Jayaraman, Rajagopal, Joshi, Adit, To, Viet, Kaid, Ghamdan

Predicting and Minimizing Virtual Vehicle Cold Start Driveline Model with a Real-Time 1-D Gas Engine Code and Chemical Kinetics Aftertreatment

2018-01-142504/03/2018

The upcoming World-harmonized Light-duty Vehicles Test Cycle (WLTC) together with the Real Driving Emissions (RDE) legislation used for the assessment of fuel economy and emissions, demand a start from a cold engine state. The process of warming up the engine from a cold start has a significant contribution to the emissions and fuel economy of the entire drive cycle. The process involves a multitude of interdependent components which means that modelling the phenomena has so far only been achieved using highly simplified approaches or accepting a very large penalty on calculation time. This paper presents a modelling of the real-time running virtual vehicle whose parts are built in different domains connected with the Functional Mock-up Interface (FMI) co-simulation standard. A real- time 1-D gas thermodynamics code ‘WAVE-RT’ is used as a virtual gasoline engine providing detailed information about any chosen parameters at every engine crank angle. Real-time predictive spark ignition

Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances

2018-01-108604/03/2018

Autonomous vehicle technology has been developing rapidly in recent years. Vehicle parametric uncertainty in the vehicle model, variable time delays in the CAN bus based sensor and actuator command interfaces, changes in vehicle sped, sensitivity to external disturbances like side wind and changes in road friction coefficient are factors that affect autonomous driving systems like they have affected ADAS and active safety systems in the past. This paper presents a robust control architecture for automated driving systems for handling the abovementioned problems. A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such as vehicle mass, vehicle velocities and road friction coefficient and to reject yaw moment disturbances. The compensation of vehicle model with the embedded disturbance observer forces it to

Wang, Haoan, Guvenc, Levent

Path Following Based on Model Predictive Control for Automatic Parking System

2017-01-195209/23/2017

With the load of urban traffic system becomes more serious, the Automatic Parking System (APS) plays an important role in alleviating the burden of drivers and improving vehicle safety. The APS is consisted of environmental perception, path planning and path following. The path following controls the lateral movement of vehicle during the parking process, and requires the trajectory tracking error to be as small as possible. At present, some control algorithms are used including PID control, pure pursuit control, etc. However, these algorithms relying heavily on parameters and environment, have some problems such as slow response and low precision. To solve this problem, a path following control method based on Model Predictive Control (MPC) algorithm is proposed in this paper. Firstly, Kinematic vehicle model and path tracker based on MPC algorithm are built. Secondly, a test bench that composed of CANoe hardware in the loop (HIL) system and steering wheel system is built. According

Ma, ChengJun, Li, Fang, Liao, Chenglin, Wang, Lifang

Automotive powertrain development: virtually-connected hardware co-simulation

17MEIP06_0206/01/2017

The automotive industry is capital-intensive-and it is not just hefty manufacturing investments that make it that way: product development also is a major sink for industry capital. Development of a new vehicle from a clean sheet may take up to five years, which escalates R&D investments as high as 10% of revenue for small to medium manufacturers. Because of these long-term deep investments, the industry generally has been reluctant to invest in hasty change.

Solar Prototype for Shell-Eco Marathon Race

2017-01-126003/28/2017

Apollo is the name of a solar prototype vehicle of Politecnico di Milano (Technical University of Milan) that has been conceived and employed for the Shell Eco-marathon® Europe competition (SEM). The paper introduces the concept design, the detailed design, the construction, the indoor tests, the successful employment at SEM and the end-of-life of the prototype. Apollo is a three-wheeler with a single driving and steering wheel at the rear. A wing with solar cells provides part of the electric energy required for running. The conceptual design started from the accommodation of the driver inside the vehicle. A number of iterations focusing on CFD (computation fluid dynamics) and wind-tunnel tests allowed to refine the total drag to less than 2N at 35 km/h. The tyre characteristic was measured on a drum. The camber of front wheels was set to 4 deg which provided the least rolling resistance. The powertrain, with an extremely simple engagement of the reduction gear, was designed to fit

Galmarini, Gianmarco, Dell'Agostino, Stefano, Gobbi, Massimiliano, Mastinu, Giampiero

Studies on Steering Feeling Feedback System Based on Nonlinear Vehicle Model

2017-01-149403/28/2017

The steer-by-wire system has been widely studied due to many advantages such as good controllability. In the system, the steering column is cancelled and the driver can't feel the feedback torque (also called steering feeling) coming from the ground. Therefore a steering feeling feedback system is needed. In this paper, we propose a simple method to calculate desired feedback torque based on a nonlinear 2DOF vehicle model. The vehicle model contains the nonlinearity of tire. So that the proposed method is also appropriate for big acceleration conditions. Besides that, the properties of steering system such as friction and stiffness are also taken into consideration. As for conventional steering system, driver can only feel part of the feedback torque due to the power assist system. In order to provide steering feeling similar to conventional steering system, a weighting function is proposed to compensate the influence of power assist system. At the last part of this paper, real vehicle

Tao, Weinan, Gao, Bingzhao, Chu, Hongqing, Tian, Mengjian, Chen, Hong

The Model Integration and Hardware-in-the-Loop (HiL) Simulation Design for the Analysis of a Power-Split Hybrid Electric Vehicle with Electrochemical Battery Model *CSP Meta Testing* *CSP Meta Testing 2*

2017-01-000103/28/2017

This paper studies the hardware-in-the-loop (HiL) design of a power-split hybrid electric vehicle (HEV) for the research of HEV lithiumion battery aging. In this paper, an electrochemical model of a lithium-ion battery pack with the characteristics of battery aging is built and integrated into the vehicle model of Autonomie® software from Argonne National Laboratory. The vehicle model, together with the electrochemical battery model, is designed to run in a dSPACE real-time simulator while the powertrain power distribution is managed by a dSPACE MicroAutoBoxII hardware controller. The control interface is designed using dSPACE ControlDesk to monitor the real-time simulation results. The HiL simulation results with the performance of vehicle dynamics and the thermal aging of the battery are presented and analyzed. The research laid a solid foundation for the future work on HiL design of HEV control with the consideration of battery aging and the component-in-the-loop study of the

Cheng, Ming, Chen, Bo

Integrated Model-In-Loop (MiL) Simulation Approach to Validate Active Roll Control System

2017-01-043503/28/2017

Active roll control system offers better solution in improving the vehicle comfort and handling. There are various ways of active roll control system actuation like electrical, hydraulic and electro-hydraulic combination systems etc. For the current work, dual hydraulic actuator based active roll control mechanism is used. In this paper we have used integrated Model-In-Loop (MIL) based simulation approach to validate the active roll control system. Dual linear hydraulic actuators models and control logic for improving the roll dynamics of the vehicle is built using Matlab/Simulink. The desired car characteristics maneuver and road profiles are modeled in IPG Car maker(a Model in Loop based tool). Simulink model is integrated with Car Maker model for validating the performance in extreme cornering maneuvers, such as double steer step, slalom 18m, fishhook. For these dynamic maneuvers the roll angle vs lateral acceleration is monitored and effectively maintained to the desired values

Kota, Koundinya Narasimha, Sivanandham, Bharath

Real-Time Hardware-in-the-Loop Simulation for Drivability Development *CSP Meta QA Testing* *CSP Meta QA Testing - DEMO*

2017-01-000503/28/2017

Powertrain drivability evaluation and calibration is an important part of vehicle development to enhance the customer experience. This step mainly takes place on vehicle testing very late in the product development cycle, and is associated with a considerable amount of prototype, test facility, human resource and time cost. Design change options at this stage are also very limited. To reduce the development cost, a model based computer aided engineering (CAE) method is introduced and combined with hardware-in-the-loop (HIL) simulation technology. The HIL simulation method offers a possibility for drivability prediction and development in early phase of product cycle. This article describes the drivability HIL simulation process under development in Ford. The process consists of real time capable multi-domain CAE model integration, powertrain control module (PCM) and HIL simulator interface development and drivability HIL simulation. The article illustrates that this efficient new

Liu, Yun, Hong, Sung-Kwon, Ge, Tony

Improved Fuel Metering for Port Fuel Injection by Controlled Valve Operation

2016-32-008011/08/2016

Engine management systems combined with fuel injectors allow a precise fuel metering for a robust combustion process. Stricter emission legislations increase the requirements for these port fuel injection systems (PFI), whereas the price is still the main driver in the emerging low cost 2-wheeler market. Therefore, a holistic mechatronic approach is developed by Bosch, which allows an improved fuel metering over life time and furthermore provides new possibilities for diagnosis without changing the injector itself. This example of an intelligent software solution provides the possibility to further improve the accuracy of the fuel metering of an injector. By use of the information contained in the actuation voltage and current, the opening and closing times of the injector are derivable. The present paper illustrates how these features can be used to extend the dynamic flow range of injectors (minimum amount of fuel compared to the maximum amount of fuel) and how the deviations from

Steinbrecher, Christian, Hamedovic, Haris, Rupp, Andreas, Wortmann, Thomas

Model-Based Design Approach Applied to the Development of an Electromagnetic Coupling

2016-36-021710/25/2016

Model-based design (MBD) methodology has been intensely evolved in the last decades as a simulation-approach to enhance complex systems development and understanding. It offers great trade-offs when compared to traditional hardware-based techniques by reducing design time and costs due to the reduced risk of implementation errors. It is desired when developing a complex system model to create an accurate plant, capable of offering the designer a reliable platform for system evaluation and control design. In order to have a better understanding of MBD technique, this paper presents the development of an electromagnetic coupling system, which aims smooth engagement control. As part of the MBD implementation loop, it is also presented the electromagnetic and structural simulations performed to estimate the actuator force and return mechanism stiffness coefficient, which were post validated by bench tests. Based on the results, it was possible to develop a highly confident plant model of

Falleiros, Murilo F., Cury, Rudoniel C., Gioria, Gustavo dos S.

Heavy Vehicle Hardware-in-the-Loop Automatic Emergency Braking Simulation with Experimental Validation

2016-01-801009/27/2016

Field testing of Automatic Emergency Braking (AEB) systems using real actual heavy trucks and buses is unavoidably limited by the dangers and expenses inherent in crash-imminent scenarios. For this paper, a heavy vehicle is defined as having a gross vehicle weight rating (GVWR) that exceeds 4536 kg (10,000 lbs.). High fidelity Hardware-in-the-Loop (HiL) simulation systems have the potential to enable safe and accurate laboratory testing and evaluation of heavy vehicle AEB systems. This paper describes the setup and experimental validation of such a HiL simulation system. An instrumented Volvo tractor-trailer equipped with a Bendix Wingman Advanced System, including the FLR20 forward looking radar and AEB system, was put through a battery of different types of track tests to benchmark the AEB performance. Two heavy vehicle crash scenarios were tested: (1) Slower-moving lead vehicle scenario, where the subject vehicle’s AEB detects and responds to a vehicle moving more slowly in its

Elsasser, Devin, Salaani, M. Kamel, Boday, Chris, Mikesell, David

A Novel Method of Radar Modeling for Vehicle Intelligence

2016-01-189209/14/2016

The conventional radar modeling methods for automotive applications were either function-based or physics-based. The former approach was mainly abstracted as a solution of the intersection between geometric representations of radar beam and targets, while the latter one took radar detection mechanism into consideration by means of “ray tracing”. Although they each has its unique advantages, they were often unrealistic or time-consuming to meet actual simulation requirements. This paper presents a combined geometric and physical modeling method on millimeter-wave radar systems for Frequency Modulated Continuous Wave (FMCW) modulation format under a 3D simulation environment. With the geometric approach, a link between the virtual radar and 3D environment is established. With the physical approach, on the other hand, the ideal target detection and measurement are contaminated with noise and clutters aimed to produce the signals as close to the real ones as possible. The proposed modeling

Guo, Jiao, Deng, Weiwen, Zhang, Sumin, Qi, Shiqian, Li, Xin, Wang, Chenghao, Wang, Jun

A Novel Method of Radar Modeling for Vehicle Intelligence

2016-01-1892-TEST-REC09/14/2016

The conventional radar modeling methods for automotive applications were either function-based or physics-based. The former approach was mainly abstracted as a solution of the intersection between geometric representations of radar beam and targets, while the latter one took radar detection mechanism into consideration by means of “ray tracing”. Although they each has its unique advantages, they were often unrealistic or time-consuming to meet actual simulation requirements. This paper presents a combined geometric and physical modeling method on millimeter-wave radar systems for Frequency Modulated Continuous Wave (FMCW) modulation format under a 3D simulation environment. With the geometric approach, a link between the virtual radar and 3D environment is established. With the physical approach, on the other hand, the ideal target detection and measurement are contaminated with noise and clutters aimed to produce the signals as close to the real ones as possible. The proposed modeling

Guo, Jiao, Deng, Weiwen, Zhang, Sumin, Qi, Shiqian, Li, Xin, Wang, Chenghao, Wang, Jun

X-Plane Communication Toolbox (XPC)

TBMG-2535909/01/2016

The X-Plane Connect Toolbox is an open-source research tool used to interact with the commercial flight simulator software X-Plane. XPC allows users to control aircraft and receive real-time state information from aircraft simulated in X-Plane using functions written in C, C++, Java, MathWorks’ MATLAB, or Python in real time over the network. This research tool has been used to visualize flight paths, test control algorithms, generate ghost traffic, create third-party autopilot, perform hardware-in-the-loop testing, simulate an active airspace, or generate out-the-window visuals for in-house flight simulation software. Possible applications include active control of an X-Plane simulation, flight visualization, recording states during a flight, or interacting with a mission over UDP.

Vehicle Powertrain Thermal Management System Using Model Predictive Control

2016-01-021504/05/2016

An advanced powertrain cooling system with appropriate control strategy and active actuators allows greater flexibility in managing engine temperatures and operating near constraints. An organized controls development process is necessary to allow comparison of multiple configurations to select the best way forward. In this work, we formulate, calibrate and validate a Model Predictive Controller (MPC) for temperature regulation and constraint handling in an advanced cooling system. A model-based development process was followed; where the system model was used to develop and calibrate a gain scheduled linear MPC. The implementation of MPC for continuous systems and the modification related to implementing switching systems has been described. Multiple hardware configurations were compared with their corresponding control system in simulations. The system level requirements were translated into MPC calibration parameters for consistent comparison between multiple configurations. Some of

Karnik, Amey Y., Fuxman, Adrian, Bonkoski, Phillip, Jankovic, Mrdjan, Pekar, Jaroslav

Development of Motor Emulator Provided with HIL Simulator for Simulation of HEV Power Control Unit Current during Vehicle Operation

2016-01-121804/05/2016

Conventionally, it has not been possible to evaluate current and temperature in power control units (PCU) for hybrid electric vehicles (HEV) during vehicle operation without using an actual permanent magnet synchronous motor (PMSM). The research discussed in this paper developed a motor emulator to take the place of an actual motor, making it possible to conduct tests for the evaluation of current and temperature in PCU during vehicle operation without the need to use a motor. The motor emulator is provided with a hardware-in-the-loop (HIL) simulator that calculates motor models at high speed using a field programmable gate array (FPGA). The developed system models the motor in detail via the HIL simulator, while a 3-phase current generator accurately reproduces the transient current in the PCU during vehicle operation. Evaluative tests of current and temperature in the PCU during vehicle operation were conducted using the developed motor emulator, producing the same results as actual

Iguchi, Tsuyoshi

Modeling of a Conventional Mid-Size Car with CVT Using ALPHA and Comparable Powertrain Technologies

2016-01-114104/05/2016

The Advanced Light-Duty Powertrain and Hybrid Analysis (ALPHA) tool was created by EPA to evaluate the Greenhouse Gas (GHG) emissions of Light-Duty (LD) vehicles [1]. ALPHA is a physics-based, forward-looking, full vehicle computer simulation capable of analyzing various vehicle types combined with different powertrain technologies. The software tool is a MATLAB/Simulink based desktop application. The ALPHA model has been updated from the previous version to include more realistic vehicle behavior and now includes internal auditing of all energy flows in the model [2]. As a result of the model refinements and in preparation for the mid-term evaluation (MTE) of the 2022-2025 LD GHG emissions standards, the model is being revalidated with newly acquired vehicle data. In the effort to model the current and future US Light-Duty fleet there are times when complete and exact engine and powertrain component data are unavailable and must be approximated using components with comparable levels

Newman, Kevin A., Doorlag, Mark, Barba, Daniel

Defying the disruptors and DRIVING

16AUTP04_0104/01/2016

Four top engineering executives discuss how their “traditional” companies are finding new technology opportunities and business growth amid the start-ups- and are even doing some disrupting themselves. Need proof of the auto industry's crazy pace of change? Look no further than the daily news, where reports of each emergent player-and their impact on what remains of the status quo-seem less and less startling. Consider a vacuum cleaner company that has its eye on more than cleaning carpets. Dyson, whose efficient high-suction machines created a new technology paradigm, has applied for government funding in its native U.K. and is looking to hire up to 500 engineers, ostensibly to develop electric vehicles. Dyson, which purchased Michigan solid-state battery start-up Sakti3 for $90 million, said it plans to invest nearly $1.5B in battery technology through 2020.

Brooke, Lindsay

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