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Advanced Cost Functions for Evaluation of Lateral Vehicle Dynamics

FISITA 2012 paper F2012-G06-015
by

Valentin Ivanov

on 6 March 2013

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Transcript of Advanced Cost Functions for Evaluation of Lateral Vehicle Dynamics

Paper
F2012-G06-015 V. Ivanov, K. Augsburg, D. Savitski
Ilmenau University of Technology
(Germany) ADVANCED COST FUNCTIONS FOR
EVALUATION OF LATERAL VEHICLE DYNAMICS J. Plihal, P. Nedoma, J. Machan
Škoda Auto
(Czech Republic) INTRODUCTION LATERAL STABILITY
CONTROL Individual wheel control Torque-based control Brake-based control REASONS FOR
COST FUNCTIONS Assessment of vehicle dynamics in
terms of stability and performance Optimization of vehicle dynamics
control systems Choice of proper control strategy by
simultaneous operation of several systems
like ABS, TCS, TV DOMAINS AND PARAMETERS OF VEHICLE DYNAMICS COST FUNCTIONS FOR VEHICLE DYNAMICS: TARGETS Individual cost functions for each domain: longitudinal / lateral dynamics, driving comfort etc. Dimensionless form (comparison of reference and actual parameters) Use of weighting factors INTRODUCTION NUMERICAL APPROACH CASE STUDY:
VEHICLE SIMULATOR CASE STUDY:
EXPERIMENTS CONCLUSIONS NUMERICAL APPROACH CONCEPT OF DIMENSIONLESS COST FUNCTIONS DOMAIN Longitudinal
dynamics Lateral
dynamics Driver
comfort ... Vehicle
velocity Longitudinal
acceleration Wheel
slip Lateral
acceleration Yaw
rate Sideslip
angle Throttle
pedal
dynamics Brake
pedal
dynamics Steering
wheel
dynamics ... ... ... Lateral
acceleration Yaw
rate Sideslip
angle Function for
normalization Weighting
factor Global
cost function The "best" case
The "worst" case REFERENCE
LATERAL ACCELERATION Target behaviour of reference vehicle: Less understeer gradient
Extended linear part of understeer charcateristic
Higher maximum level of lateral acceleration VARIATION OF
REFERENCE CHARACTERISTICS REFERENCE YAW RATE AND
SIDESLIP ANGLE WEIGHTING COEFFICIENTS Manoeuvre Comment Priority for yaw dynamics Avoidance, dry road Avoidance, ice Track keeping on circle Braking on mixed road Slalom Higher priority for sideslip
due to low road friction Priority for lateral acceleration Higher priority for
sideslip angle dynamics Equal priority for yaw rate
and lateral acceleration 0,3 0,1 0,6 0,2 0,3 0,5 0,6 0,05 0,35 0,1 0,4 0,5 0,4 0,2 0,4 CASE STUDY: SIMULATOR VEHICLE SIMULATOR CONSTANT CIRCLE (r=42,5 m) SLALOM (18 m) ISO AVOIDANCE MANOEUVRE CASE STUDY: EXPERIMENTS ELECTRONIC STABILITY CONTROL ESC EFFECT ON UNDERSTEER BEHAVIOUR COST FUNCTIONS AND ESC OPERATION CONCLUSIONS The cost functions are based on the comparison of baseline and reference values of lateral acceleration, yaw rate and sideslip angle The reference characteristics for lateral acceleration and yaw rate require the variation depending on the longitudinal acceleration Composition of cost functions and weighting factors for singular components can be proposed in a dimensionless form in the range from 0 to 1 The reference can be obtained from the variation of understeer characteristics of the baseline vehicle. At that the reference vehicle should possess less understeer APPLICATIONS Assessment of vehicle dynamics Optimization of control strategy of
automotive control systems ADVANCEMENT Cost functions for longitudinal dynamics Cost functions for driving comfort Avoidance test Constant circle
test w/o ESC with ESC ESC after
tuning Vcrit,
km/h Vcrit,
km/h 43 50 54 0,45 0,25 0,2 108 126 135 0,9 0,35 0,28
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