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Advanced Cost Functions for Evaluation of Lateral Vehicle Dynamics

FISITA 2012 paper F2012-G06-015
by

Valentin Ivanov

on 25 June 2018

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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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