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2017-03-28
Technical Paper
2017-01-1565
Xiangkun He, Kaiming Yang, Xuewu Ji, Yahui Liu, Weiwen Deng
Abstract 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.
2017-03-28
Technical Paper
2017-01-1326
Santhoji Katare, Ravichandran S, Gokul Ram, Giri Nammalwar
Abstract Model based computer-aided processes offer an economical and accelerated alternative to traditional build-and-test "Edisonian" approaches in engineering design. Typically, a CAE based design problem is formulated in two parts, viz. (1) the inverse design problem which involves identification of the appropriate geometry with desired properties, and (2) the forward problem which is the prediction of performance from the product geometry. Solution to the forward problem requires development of an accurate model correlated to physical data. This validated model could then be used for Virtual Verification of engineering systems efficiently and for solving the inverse problem. This paper demonstrates the rigorous process of model development, calibration, validation/verification, and use of the calibrated model in the design process with practical examples from automotive chassis and powertrain systems.
2017-03-28
Technical Paper
2017-01-1494
Weinan Tao, Bingzhao Gao, Hongqing Chu, Mengjian Tian, Hong Chen
Abstract 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.
2017-03-28
Technical Paper
2017-01-1495
Srinivas Kurna, Ruchik Tank, Krishna Srikanth Achanta
1. Abstract At the time of invention of road coaches, the vehicle consisted only of an axle with wheels and a body attached. Smooth roads were built for a better ride comfort however they were not consistent. The road coaches were too bumpy and uncomfortable for the passenger along with the driver who was not able to control the vehicle. That's why the engineers had to shift their attention to the suspension system for a better ride comfort and handling. The technology has advanced with time so as the suspension system. Rubber ended type leaf spring is one of the suspension system types available in the industry. The main function of a suspension in order of importance is as below: 1 Acts as a cushioning device ensuring the comfort of the driver and passengers;2 Maximizes the contact between the tires and the road surface to provide steering stability with good handling;3 Protects the vehicle itself and any cargo or luggage from damage and wear.
2017-03-28
Technical Paper
2017-01-1480
Zhenfeng Wang, Mingming Dong, Yechen Qin, Feng Zhao, Liang Gu
Abstract The study of controllable suspension properties special in the characteristics of improving ride comfort and road handling is a challenging task for vehicle industry. Currently, since most suspension control requires the observation of unmeasurable state, how to accurately acquire the state of a suspension system attracts more attention. To solve this problem, a novel approach interacting multiple mode Kalman Filter (IMMKF) is proposed in this paper. Suspension system parameters are crucial for the performance of state observers. Uncertain suspension system parameters in various conditions, e.g. due to additional load, have significant effect on state estimation. Simultaneously, state transition among different models may be happened on the condition of varying system parameters.
2017-03-28
Technical Paper
2017-01-1488
Srinivas Kurna, Ruchik Tank, Riddhish Pathak
Abstract The job of a suspension system is to maximize the friction between the tires and the road surface, to provide steering stability with good handling and to act as a cushioning device ensuring the comfort of the driver & passengers. The suspension also protects the vehicle itself and any cargo or luggage from damage and wear. Almost all heavy duty vehicles use inverted type suspension system which is also called as bogie type suspension system. The design of this type of suspension is a complex and difficult science which has evolved over many years. It was recognized very early in the development of suspensions that the interface between vehicle body and wheel needed some sort of cushioning system to reduce the vibration felt as the vehicle moved along. This was already part of road coach design and took the form of leaf (laminated) steel springs mounted on the axles, upon which the vehicle body rested.
2017-03-28
Technical Paper
2017-01-1491
Manish Kumar Seth, Jens Glorer, Ralf Schellhaas
Abstract For long automakers around the globe are trying to reduce weight and cost of the components in order to make vehicles more cost and fuel efficient. This paper deals with same problem for rear twist beam for an upcoming vehicle, the task was to reduce the weight and cost of the twist beam structure without compromising on attributes as compared to the surrogate part. This problem was solved by inventing a new torsion profile and gusset combination which uses shape instead of thickness to use material more efficiently thereby reducing weight and cost. This invention has been successfully patented as well.
2017-03-28
Journal Article
2017-01-1489
Duanxiang Zhang, Bo Lin, Ahmet Kirli, Chinedum Okwudire
Abstract Electric Power Assisted Steering (EPAS) is widely adopted in modern vehicles to reduce steering effort. It is probable that some EPAS systems will experience a shutdown due to reliability issues stemming from electrical and/or electronic components. In the event of EPAS failure, power assist becomes unavailable and the steering system reverts to a fully manual state, leading to excessive steering torque demands from the driver to maneuver the vehicle at lower speeds, i.e., under 30 mph. This situation has resulted in dozens of reported crashes and several OEM safety recalls in the past few years. Inspired by recent work which utilizes independent driving torque of in-wheel-motor vehicles to reduce steering torque, this paper proposes the use of Differential Braking Assisted Steering (DBAS) to alleviate steep increases in steering torque upon EPAS failure. DBAS requires software upgrades with minimal hardware modification to EPAS, which is preferable for a backup system.
2017-03-28
Technical Paper
2017-01-1284
Khushal Ahmad, Monis Alam
Abstract With the ever increasing number of vehicles on road and the rise of the electric and automated vehicles, it is important to minimize the consumption of energy by each vehicle, regenerative braking is in wide use today, however, the research in the field of regenerative suspension is limited. The regenerative suspension has huge capabilities in power generation especially on third world roads having rather bumpy rides. A huge amounts of energy is wasted in shock absorbers due to friction. This study emphasizes on the implementation of the energy present in the suspension system by replacing the Shock Absorber with a Energy transfer system Involving Hydraulic cylinder, Hydraulic Motor and Dynamo. The energy which is usually lost as heat due to friction in conventional Suspension is used to drive a dynamo through Hydraulic System designed in this paper and electricity is generated.
2017-03-28
Technical Paper
2017-01-1405
Tzu-Sung Wu
Abstract Autonomous Emergency Braking Systems (AEBS) usually contain radar, (stereo) camera and/or LiDAR-based technology to identify potential collision partners ahead of the car, such that to warn the driver or automatically brake to avoid or mitigate a crash. The advantage of camera is less cost: however, is inevitable to face the defects of cameras in AEBS, that is, the image recognition cannot perform good accuracy in the poor or over-exposure light condition. Therefore, the compensation of other sensors is of importance. Motivated by the improvement of false detection, we propose a Pedestrian-and-Vehicle Recognition (PVR) algorithm based on radar to apply to AEBS. The PVR employs the radar cross section (RCS) and standard deviation of width of obstacle to determine whether a threshold value of RCS and standard deviation of width of the pedestrian and vehicle is crossed, and to identity that the objective is a pedestrian or vehicle, respectively.
2017-03-28
Technical Paper
2017-01-1483
Jia Mi, Lin Xu, Sijing Guo, Mohamed A. A. Abdelkareem, Lingshuai Meng
Abstract Systematic research on dynamic model, simulation analyses, prototype production and bench tests have been carried out in recent years on the most popular energy-harvesting shock absorbers-the mechanical motion rectifier (MMR), and the hydraulic-electromagnetic energy-regenerative shock absorber (HESA). This paper presents a novel application of the HESA into bogie system of railway vehicles. In order to study the differences of suspension performance and energy harvesting property between first suspension system and second suspension system of the application, simulation models are built in AMESim to make comparison studies on the different department suspensions caused by the nonlinear damping behaviors of the HESA. The simulation results show that the system can effectively reduce the impact between wheel and rail tracks, while maintaining good potential to recycle vibratory energy.
2017-03-28
Technical Paper
2017-01-1556
Jianbo Lu, Li Xu, Daniel Eisele, Stephen Samuel, Matthew Rupp, Levasseur Tellis
Abstract This paper presents an advanced yaw stability control system that uses a sensor set including an inertial measurement unit to sense the 6 degrees-of-freedom motions of a vehicle. The full degree of the inertial measurement unit improves and enhances the vehicle motion state estimation over the one in the traditional electronic stability controls. The addition of vehicle state estimation leads to the performance refinement of vehicle stability control that can improve performance in certain situations. The paper provides both detailed system description and test results showing the effectiveness of the system.
2017-03-28
Technical Paper
2017-01-1225
Jayaraman Krishnasamy, Martin Hosek
Abstract An advanced electric motor with hybrid-field topology has been developed for automotive traction applications. Departing from the conventional radial- and axial-field designs, the hybrid-field motor features three-dimensional magnetic flux paths, which are enabled by a novel isotropic soft magnetic material produced by a unique additive-manufacturing process based on spray forming. The motor is expected to offer an unprecedented combination of high power output, compact size, low weight and energy efficiency, achieving more than two times higher power density than state-of-the-art high-performance traction motors.
2017-03-28
Technical Paper
2017-01-1396
Sarah S. Sharpe, Robyn Brinkerhoff, Caroline Crump, Douglas Young
Unintended acceleration events due to pedal misapplication have been shown to occur more frequently in older vs. younger drivers. While such occurrences are well documented, the nature of these movement errors is not well-characterized in common pedal error scenarios: namely, on-road, non-emergency stopping or slowing maneuvers. It is commonly assumed that drivers move in a ballistic or “direct hit” trajectory from the accelerator to the brake pedal. However, recent simulator studies showed that drivers do not always move directly between pedals, with older drivers displaying more variable foot trajectories than younger drivers. Our study investigated pedal movement trajectories in drivers ages 67.9 ± 5.2 years (7 males, 8 females) during on-road driving in response to traffic light changes. Three different sedans and a pick-up truck were utilized.
2017-03-28
Technical Paper
2017-01-1478
Srinivas Kurna, Sajal Jain, Palish Raja, Laxman Vishwakarma
Abstract In an automobile, main function of the steering system is to allow the driver to guide the vehicle on a desired course. Steering system consists of various components & linkages. Using these linkages, the torque from steering wheel is transferred to tyre which results in turning of the vehicle. Over the life of vehicle, these steering components are subjected to various loading conditions. As steering components are safety critical parts in the vehicle, therefore they should not fail while running because it will cause vehicle breakdown. In commercial vehicle segment, vehicle breakdown means delay in freight delivery which results in huge loss to costumer. Therefore, while designing steering components one should consider all the possible loadings condition those are possible. But, it can’t be done through theoretical calculation. Therefore, physical tests have to be carried out to validate design of steering system, which is very costly & time-consuming process.
2017-03-28
Technical Paper
2017-01-1727
Yumin Lin, Bo-Chiuan Chen, Hsien-Chi Tsai, Bi-Cheng Luan
Abstract A model-based sensor fault detection algorithm is proposed in this paper to detect and isolate the faulty sensor. Wheel speeds are validated using the wheel speed deviations before being employed to check the sensor measurements of the vehicle dynamics. Kinematic models are employed to estimate yaw rate, lateral acceleration, and steering wheel angle. A Kalman filter based on a point mass model is employed to estimate longitudinal speed and acceleration. The estimated vehicle dynamics and sensor measurements are used to calculate the residuals. Adaptive threshold values are employed to identify the abnormal increments of residuals. Recursive least square method is used to design the coefficients of the expressions for adaptive threshold values, such that the false alarms caused by model uncertainties can be prevented. Different combinations of estimations are employed to obtain 18 residuals.
2017-03-28
Technical Paper
2017-01-1427
Daniel Koch, Gray Beauchamp, David Pentecost
Abstract Tire disablement events can cause a drag force that slows a vehicle. In this study, the magnitude of the deceleration was measured for different phases of 29 high speed tire tread separation and air loss tests. These deceleration rates can assist in reconstructing the speed of a vehicle involved in an accident following a tire disablement.
2017-03-28
Journal Article
2017-01-0404
Anatoliy Dubrovskiy, Sergei Aliukov, Sergei Dubrovskiy, Alexander Alyukov
Currently, a group of scientists consisting of six doctors of technical sciences, professors of South Ural State University (Chelyabinsk, Russia) has completed a cycle of scientific research for creation of adaptive suspensions of vehicles. We have developed design solutions of the suspensions. These solutions allow us to adjust the performance of the suspensions directly during movement of a vehicle, depending on road conditions - either in automatic mode or in manual mode. We have developed, researched, designed, manufactured, and tested experimentally the following main components of the adaptive suspensions of vehicles: 1) blocked adaptive dampers and 2) elastic elements with nonlinear characteristic and with improved performance.
2017-03-28
Journal Article
2017-01-0421
Xiang Liu, Wei Chen, Ying Chen, Jing Zhao
The leaf spring has significant hysteresis characteristics due to the interleaf friction. The traditional three-link model could not simulate the hysteresis characteristics at all. According to the dynamic load test results one can find that the dynamic stiffness of leaf spring has a nonlinear relationship with the travel distance and the load frequency has a tiny influence on it. Based on the traditional three-link model, this paper proposed a simulation modeling method by introducing torsional friction on the revelute joint. The key parameters including torsional spring stiffness, friction torque preload, stiction transition velocity and max stiction deformation are optimized by combining the ADAMS, OPTIMUS and MATLAB. The comparsion analysis between the simulation and test results of front and rear leaf springs have revealed that the simulation precision is up to 92%.
2017-03-28
Journal Article
2017-01-0412
Mina M.S. Kaldas, Kemal Çalışkan, Roman Henze, Ferit Küçükay
Nowadays the semi-active suspension system is a challenge in the Automobile industry to improve the ride comfort performance of the vehicles. Hence, improving the vehicle ride comfort performance by using the semi-active suspension has a negative effect on the harshness performance of the vehicle. Therefore, this paper suggests a solution to improve the harshness performance of the vehicle through optimizing the damper top mount characteristics of the of the semi-active suspension system. In this study an optimization technique for optimizing the damper top mount characteristics to improve vehicle harshness is developed. The proposed optimization technique employs a new combined objective function based on ride comfort and harshness evaluation. A detailed and accurate damper top mount mathematical model is implemented inside a validated full vehicle model to provide a realistic simulation environment for the optimization study.
2017-03-28
Technical Paper
2017-01-0413
Mustafa Ali Arat, Emmanuel Bolarinwa
Most ground vehicles related accidents occur when the friction demand to perform a maneuver with a certain vehicle and tires exceeds the coefficient of friction of the pavement surface. As generally known, the forces and moments acting on the vehicle body are mainly generated by tire forces which highly depend on this surface friction coefficient. The common characteristics of tire forces on any surface include a linear region where the forces vary linearly with respect to the relative slip values; and a nonlinear region where the forces saturate and may even start decreasing. The experience of most of the daily drivers on the roads is limited within this linear region where the dynamic behavior of the vehicle remains proportional to the driver’s inputs. Therefore, an unexpected change in tire or surface characteristics (due to a change in surface friction, large driver inputs, etc.) may easily cause the driver to panic and/or to lose his/her ability to maintain a stable vehicle.
2017-03-28
Technical Paper
2017-01-0454
Colin Young
Contacts between different meshed components in a finite element model frequently present modeling challenges. Tracking the progress of contact and separation is computationally expensive and may result in non-convergence of the model. In many contact problems of practical interest, such as bolted assemblies or in a shaft bearing where the shaft is constrained against rotation, it is clear that the components are in essentially constant contact and relative motion between them is negligible. In these cases, we can reduce the computational burden by defining an interface between the bodies using modeling devices other than the contact commands. Some approaches in common use, such as tying the meshed surfaces together, while they resolve convergence issue, can result in non-physical stress distributions and un-conservative results in some cases.
2017-03-28
Technical Paper
2017-01-0347
Yat Sheng Kong, Dieter Schramm, M. Zaidi Omar, Sallehuddin Mohd. Haris, Shahrum Abdullah
This paper presents the development of a relationship between objective vehicle ride level and coil spring durability life using road data to shorten suspension design process. Current development processes of vehicle suspension systems which include vehicle ride and suspension spring durability are categorized into different stages of analysis and therefore, consumes lots of time. Through the developed predictive model, the ISO weighted accelerations were used to describe durability of spring components or vice versa. This model has led to immediate solution of suspension design with reduced number of testing. In order to construct the model, strain and acceleration data from various roads were measured using data acquisition which was involving car movements. Prior to the strain measurement, a finite element model of the spring was measured to identify the critical region of the spring and strain gauges were applied on the particular spot.
2017-03-28
Technical Paper
2017-01-0348
Mani Shankar, I V N Sri Harsha, K V Sunil, Ramsai Ramachandran
In an automobile, road loads due to tire-road interaction are transferred to vehicle body through suspension. This makes suspension a critical component from the body durability perspective. During vehicle design and development, optimization of suspension parameters to suit ride and handling performance is a continuous and iterative process. These changes on suspension can affect vehicle body durability performance. This paper tries to establish a process to evaluate the effect of changes in suspension parameters on body durability, thus helping in understanding the impact of these changes. The process starts with virtual model building in Multi Body Dynamics software. The base line model is co-related with testing using responses like spring displacement at suspension, acceleration and strain data at the vehicle body.
2017-03-28
Technical Paper
2017-01-0056
Naveen Mohan, Martin Törngren, Sagar Behere
Abstract With the advent of ISO 26262 there is an increased emphasis on top-down design in the automotive industry. While the standard delivers a best practice framework and a reference safety lifecycle, it lacks detailed requirements for its various constituent phases. The lack of guidance becomes especially evident for the reuse of legacy components and subsystems, the most common scenario in the cost-sensitive automotive domain, leaving vehicle architects and safety engineers to rely on experience without methodological support for their decisions. This poses particular challenges in the industry which is currently undergoing many significant changes due to new features like connectivity, servitization, electrification and automation. In this paper we focus on automated driving where multiple subsystems, both new and legacy, need to coordinate to realize a safety-critical function.
2017-03-28
Technical Paper
2017-01-0066
Shogo Nakao, Akihiko Hyodo, Masaki Itabashi, Tomio Sakashita, Shingo Obara, Tetsuya Uno, Yasuo Sugure, Yoshinobu Fukano, Mitsuo Sasaki, Yoshihiro Miyazaki
This paper presents the “Virtual Failure Mode and Effects Analysis (vFMEA)” system, which is a high-fidelity electrical-failure-simulation platform, and applies it to the software verification of an electric power steering (EPS) system. The vFMEA system enables engineers to dynamically inject a drift fault into a circuit model of the electronic control unit (ECU) of an EPS system, to analyze system-level failure effects, and to verify software-implemented safety mechanisms, which consequently reduces both cost and time of development. The vFMEA system can verify test cases that cannot be verified using an actual ECU and can improve test coverage as well. It consists of a cycle-accurate microcontroller model with mass-production software implemented in binary format, analog and digital circuit models, mechanical models, and a state-triggered fault-injection mechanism.
2017-03-28
Journal Article
2017-01-0112
Mingming Zhao, Hongyan Wang, Junyi Chen, Xiao Xu, Yutong He
Abstract Rear-end accident is one of the most important collision modes in China, which often leads to severe accident consequences due to the high collision velocity. Autonomous Emergency Braking (AEB) system could perform emergency brake automatically in dangerous situation and mitigate the consequence. This study focused on the analysis of the rear-end accidents in China in order to discuss about the parameters of Time–to-Collision (TTC) and the comprehensive evaluation of typical AEB. A sample of 84 accidents was in-depth investigated and reconstructed, providing a comprehensive set of data describing the pre-crash matrix. Each accident in this sample is modeled numerically by the simulation tool PC-Crash. In parallel, a model representing the function of an AEB system has been established. This AEB system applies partial braking when the TTC ≤ TTC1 and full braking when the TTC ≤ TTC2.
2017-03-28
Journal Article
2017-01-1111
Marcello Canova, Cristian Rostiti, Luca D'Avico, Stephanie Stockar, Gang Chen, Michael Prucka, Hussein Dourra
Abstract To improve torque management algorithms for drivability, the powertrain controller must be able to compensate for the nonlinear dynamics of the driveline. In particular, the presence of backlash in the transmission and drive shafts excites sharp torque fluctuations during tip-in or tip-out transients, leading to a deterioration of the vehicle drivability and NVH. This paper proposes a model-based estimator that predicts the wheel torque in an automotive drivetrain, accounting for the effects of backlash and drive shaft flexibility. The starting point of this work is a control-oriented model of the transmission and vehicle drivetrain dynamics that predicts the wheel torque during tip-in and tip-out transients at fixed gear. The estimator is based upon a switching structure that combines a Kalman Filter and an open-loop prediction based on the developed model.
2017-03-28
Technical Paper
2017-01-1113
Yulong Lei, Pengxiang Song, Hongpeng Zheng, Yao Fu, Zhenjie Liu, Xuanyi Fu
Abstract Hydraulic retarders have been widely used in heavy-duty vehicles because of its advantages such as large braking torque and long operating hours. They can be used instead of service brakes in non-emergency braking conditions and can also reduce frequency and time of driver’s actions in braking process, thereby minimizing heat-related problems. In order to accurately produce braking torque needed for the vehicle in time by using hydraulic retarder, which enable the vehicle to travel stably and safely during downhill driving, aiming at the constant-speed function of hydraulic retarder, the research of constant-speed control method is conducted in this paper. The structure and working principle of hydraulic retarder is introduced and the dynamic characteristic is analyzed. And the theoretical model of vehicle and hydraulic retarder are established based on dynamic analysis of the vehicle downhill driving.
2017-03-28
Technical Paper
2017-01-1487
Russ Norton, Ben Bulat, Ahmed Mohamed
Abstract A semi-active suspension system is designed to improve secondary ride by lowering damping levels while maintaining or enhancing primary ride control and vehicle handling. In order to provide optimized ride comfort, base damping levels are reduced. Reduced damping levels increase damaging loads through pothole events. The Road Load Mitigation (RLM) algorithm seeks to resolve the tradeoff of high damping levels required to control the vertical and horizontal spindle loads and the need for lower damping forces to improve secondary ride. As the base active damping forces are increased to control these loads, ride benefits or vehicle ride comfort is diminished. RLM looks at suspension velocity at all four corners independently to determine if a pothole signature is detected and requires compensation. Compensation is delivered quickly to reduce wheel drop into the pothole thereby reducing damaging loads.
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