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Advances in Dynamics of Vehicles on Roads and Tracks : Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden
- 2020
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Proceedings (redaktörskap) (övrigt vetenskapligt/konstnärligt)abstract
- This volume contains the official proceedings of the 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, which took place on 12–16 August 2019, at the Lindholmen Conference Centre in Gothenburg, Sweden. The main objective of the International Association for Vehicle System Dynamics (IAVSD, see www.iavsd.org) is to promote the development of, and applications in, the field of ground vehicle system dynamics. The IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks is a leading international symposium bringing together researchers, scientists and engineers from academia and industry to present and exchange their latest ideas and results. These biennial symposia, held at various locations around the world, have contributed greatly to a better understanding of ground vehicle system dynamics-related problems. The organisers of the 26th Symposium were the Department of Mechanics and Maritime Sciences, Chalmers Railway Mechanics (CHARMEC), which is the Centre of Excellence in Railway Mechanics at Chalmers University of Technology, and the Vehicle and Traffic Safety Centre at Chalmers (SAFER). Both centres are part of the Transport Area of Advance hosted at Chalmers University of Technology. The symposium was attended by 380 delegates from 28 countries and five continents (Africa, Asia, Australia, Europe and North America). Most participants arrived from China (88), Sweden (73), UK (36), Germany (32), Japan (25), Austria (18), Italy (12) and Korea (11). Each day of the symposium started with a plenary session and an invited state-of-the-art presentation (60 minutes). These state-of-the-art papers have been published in the journal Vehicle System Dynamics (Taylor & Francis), volume 57, issue number 7 (July 2019). After the morning coffee break, the presentations were divided into five parallel sessions with various themes on road and railway vehicle dynamics. The number of extended abstracts submitted to the symposium was 338 with 131 related to road vehicle dynamics and 207 to railway vehicle dynamics. After peer review by the International Scientific Committee, 63 road abstracts and 83 railway abstracts were selected for 30-minute oral presentations, while 38 road and 47 railway abstracts were selected for poster presentations (3-minute oral introduction followed by individual discussions in front of each poster). Out of those, 218 presentations were selected for publication as full papers in this book, which represents the official conference proceedings. Part of the chapters gathered in this book covers different topics in railway vehicle system dynamics such as adhesion and friction, vehicle modelling, condition monitoring, wheel and rail profiles, active suspension, switches and crossings, and wheel out-of-roundness. Further topics include vibration and control, track modelling, traction and braking, vehicle design and components, safety and derailment analysis, wheel‒rail contact, wheel and rail damage, pantograph‒catenary dynamics, and wheel and rail wear. The remaining chapters cover themes in road vehicle system dynamics such as advanced driver-assistance systems (ADAS), handling dynamics, driving automation, integrated chassis control and powertrain/driveline control. Further topics include state estimation, standards, assessment and validation, tyre modelling, suspension and ride, and specialised vehicles. We expect that this volume of the Lecture Notes in Mechanical Engineering, published by Springer Nature, will serve as a timely reference guide and a source of inspiration for scientists and engineers in the field of ground vehicle system dynamics.
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| 2. |
- Andersson, Mats, et al.
(författare)
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Road Friction Estimation
- 2007
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- This project is part of the Swedish IVSS program. The aim of IVSS is to stimulate research and development for the road safety of the future. Road conditions with low friction have been identified as a frequent cause of traffic accidents. Therefore, technology to automaticallydetect changes in road conditions and alert the driver or take proper actions with active driver support systems would be a key contribution to increased road safety.The aim of this project was to investigate the possibilities to estimate the tire to road friction.Three different approaches have been developed and evaluated, from concept to early prototypes in test vehicles. In the first method, the estimation of the coefficient of friction is based on the forces and torques that are produced at the front tires at cornering maneuvers.The second method is based on a physical model of the tire behavior and estimates road friction from information on the forces that are produced at straight driving. The third method is based on an optical sensor that classifies the road surface ahead of the vehicle.The three methods have been successfully evaluated in proving ground and public road tests in summer and winter conditions with different tires, and have been compared with reference measurements. The conclusion is that all three methods can be used for tire to road frictionestimation and are recommended for further development and industrialization.
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| 3. |
- Arikere, Adithya, 1987, et al.
(författare)
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Experimental Verification of Evasive Manoeuvre Assist Controller for Collision Mitigation with Oncoming Vehicles
- 2018
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Ingår i: Proceedings of the 14th International Symposium on Advanced Vehicle Control (AVEC’ 18), Beijing, China.
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Konferensbidrag (refereegranskat)abstract
- An evasive manoeuvre assist controller to mitigate the risk of collision with oncoming vehicles while performing evasive manoeuvres has previously been formulated and tested in simulation. In this work, a real-time application of this controller is implemented and used in experiments with a Volvo XC90 hybrid test vehicle. For comparison, manoeuvres are also carried out without the controller but with the driver adopting different speed control strategies. Analysis of the results show that the controller can consistently mitigate collision risk with the oncoming vehicle and while driver control of speed can perform better, it is far less robust and is heavily dependant on the driver skill and performance.
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| 4. |
- Arikere, Adithya, 1987, et al.
(författare)
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Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles
- 2018
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Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 56:10, s. 1577-1603
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Tidskriftsartikel (refereegranskat)abstract
- Development and deployment of steering based collision avoidance systems are made difficult due to the complexity of dealing with oncoming vehicles during the evasive manoeuvre. A method to mitigate the collision risk with oncoming vehicles during such manoeuvres is presented in this work. A point mass analysis of such a scenario is first done to determine the importance of speed for mitigating the collision risk with the oncoming vehicle. A characteristic parameter was identified, which correlates well with the need to increase or decrease speed, in order to reduce the collision risk. This finding was then verified in experiments using a Volvo XC90 test vehicle. A closed-loop longitudinal acceleration controller for collision mitigation with oncoming vehicles is then presented. The longitudinal control is combined with yaw stability control using control allocation to form an integrated controller. Simulations in CarMaker using a validated XC90 vehicle model and the proposed controller showed consistent reductions in the collision risk with the oncoming vehicle.
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| 5. |
- Arikere, Adithya, 1987, et al.
(författare)
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Optimal motion control for collision avoidance at Left Turn Across Path/Opposite Direction intersection scenarios using electric propulsion
- 2019
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Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 57:5, s. 637-664
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Tidskriftsartikel (refereegranskat)abstract
- Collision avoidance at intersections involving a host vehicle turning left across the path of an oncoming vehicle (Left Turn Across Path/Opposite Direction or LTAP/OD) have been studied in the past, but mostly using simplified interventions and rarely considering the possibility of crossing the intersection ahead of a bullet vehicle. Such a scenario where the driver preference is to avoid a collision by crossing the intersection ahead of a bullet vehicle is considered in this work. The optimal vehicle motion for collision avoidance in this scenario is determined analytically using a particle model within an optimal control framework. The optimal manoeuvres are then verified through numerical optimisations using a two-track vehicle model, where it was seen that the wheel forces followed the analytical global force angle result independently of the other wheels. A Modified Hamiltonian Algorithm (MHA) controller for collision avoidance that uses the analytical optimal control solution is then implemented and tested in CarMaker simulations using a validated Volvo XC90 vehicle model. Simulation results showed that collision risk can be significantly reduced in this scenario using the proposed controller, and that more benefit can be expected in scenarios that require larger speed changes.
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| 6. |
- Arikere, Adithya, 1987, et al.
(författare)
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Speed control for reduced risk of collision with oncoming vehicles in obstacle avoidance scenarios
- 2016
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Ingår i: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC’ 16), Munich, Germany, 13–16. - 9781138029927 ; , s. 37-42
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Konferensbidrag (refereegranskat)abstract
- When a driver performs an evasive steering manoeuvre in order to avoid an obstacle, there is an increased risk of collisions with oncoming vehicles in the adjacent lane. A controller to reduce this risk of secondary collision by regulating the vehicle speed is designed and implemented. Simulations are preformed in IPG CarMaker with the new Volvo XC90 vehicle model and performance of the controller are compared with more conventional lateral stability controllers and unassisted manoeuvres. While lateral control can be of benefit in some cases, it can hurt in others. When combined with speed control however, consistent reductions in risk of secondary collisions are seen and in cases involving large velocity ratios or long obstacles, large reductions are observed.
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| 7. |
- Arikere, Adithya, 1987, et al.
(författare)
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The Potential Safety Benefit of Propulsion in Obstacle Avoidance Manoeuvres with Oncoming Traffic
- 2014
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Ingår i: 12th International Symposium on Advanced Vehicle Control (AVEC '14), Tokyo Japan. ; , s. 126-131
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Konferensbidrag (refereegranskat)abstract
- The obstacle avoidance manoeuvre with oncoming traffic scenario is analysed. The possibility of using propulsion, specifically from electric motors, to reduce the risk of collision with oncoming traffic is investigated. Analysis is done using a point mass and a two track vehicle model in anoptimal control framework. It is found that propulsion can be of help in reducing the collision risk in such scenarios for a certain set of manoeuvre parameters.
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| 8. |
- Chen, Weitao, 1989, et al.
(författare)
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A Method to Improve Stability and Transparency for Mechanical Hardware-in-the-Loop Simulation
- 2021
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)abstract
- In mechanical hardware-in-the-loop (MHIL) simulation the test hardware and the simulated environment are coupled by an interface, which typically is a dynamometer rig. This interface determines the simulation accuracy and robustness. In this work, MHIL simulation is analysed in a linear robust control framework. The system consists of an inner loop formed by the load motor controller and the rig, and an outer loop formed by the test hardware and the simulated environment. While the inner loop tracking set the overall performance, instability and poor performance may be introduced by the outer loop. We demonstrate how delay tolerance of MHIL simulation varies with the outer loop dynamics. A new method is introduced to improve the robustness and accuracy. The method utilizes flexibility of the simulation model, and only software changes are needed. The proposed method is applied to an MHIL simulation for vehicle and electric power assisted steering (EPAS) system test. The effectiveness of the method is shown analytically and experimentally.
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| 9. |
- Chen, Weitao, 1989, et al.
(författare)
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An Architecture of Hardware and Driver in the Loop Simulation for Electric Power Assisted Steering System
- 2020
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Ingår i: Lecture Notes in Mechanical Engineering. - Cham : Springer International Publishing. - 2195-4356 .- 2195-4364. - 9783030380762
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Konferensbidrag (refereegranskat)abstract
- This paper introduces an architecture for virtual development of electric power assisted steering (EPAS) system, which is implemented at Volvo Cars. The architecture involves an EPAS power pack rig and driver in the loop, so engineers can test both the ECU software and electric motor on a virtual prototype vehicle. Eective results are shown for tests in low-mid frequency and at mid-high vehicle speed. Currently, the high frequency and low speed test is still challenging due to vibration and instability, which should be addressed by the control improvement.
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| 10. |
- Chen, W., et al.
(författare)
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Design and control of the steering torque feedback in a vehicle driving simulator
- 2018
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Ingår i: The Dynamics of Vehicles on Roads and Tracks. ; 1, s. 213-220
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Konferensbidrag (refereegranskat)abstract
- Vehicle driving simulators allow engineers to evaluate subjectively the virtual prototype in early concept phase. Steering torque feedback as one of the basic haptic cues is usually provided by a servo motor through a force feedback system. The artificial feedback torque calculated from the vehicle model and sent to the servo motor is distorted by this interface. In this paper, it is investigated how the force feedback system dynamics influences the artificial steering feedback. To mask the dynamics of the force feedback system a feedforward compensation method based on the steering states has been proposed when driver is in the loop.
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