Browse Topic: Vehicle dynamics

Items (8,423)
Powertrain mounts are vital for isolating vibrations and enhancing vehicle ride comfort and performance, making their dynamic behavior critical for effective design. This study provides a comprehensive analysis of powertrain mount decoupling by integrating virtual simulations, physical testing, and analytical calculations. In our approach, we first derived stiffness data through analytical calculations, which were validated through multi-body dynamics (MBD) simulations that modeled interactions within the powertrain mounts. By adjusting bush stiffness parameters within the MBD framework, we predicted decoupling frequencies and analyzed kinetic energy distribution. The iterated stiffness values from simulations were then confirmed through physical testing, ensuring consistency in decoupling frequencies and energy distribution. This alignment between virtual and experimental data enhances the reliability of our findings and helps identify overlapping frequencies across vehicle systems
Shende, KalyaniShingavi, ShreyasRane, VisheshHingade, Nikhil
The unsteady wind conditions experienced by a vehicle whilst driving on the road are different to those typically experienced in the steady-flow wind tunnel development environment, due to turbulence in the natural wind, moving through the unsteady wakes of other road vehicles and travelling through the stationary wakes generated by roadside obstacles. This paper presents an experimental approach using a large SUV-shaped vehicle to assess the effect of unsteady wind on the modulated noise performance, commonly used to evaluate unsteady wind noise characteristics. The contribution from different geometric modifications were also assessed. The approach is extended to assess the pressure distribution on the front side glass of the vehicle, caused by the aerodynamic interactions of the turbulent inflow in straight and yawed positions, to provide insight into the noise generation mechanisms and differences in behaviour between the two environments. The vehicle response to unsteady wind
Jamaluddin, Nur SyafiqahOettle, NicholasStaron, Domenic
Centralization of electrically driven hydraulic power packs into the body of aircraft has increased attention on the noise and vibration characteristics of the system. A hydraulic power pack consists of a pump coupled to an electrical motor, accumulator, reservoir, and associated filter manifolds. In previous studies, the characteristics of radiated acoustic noise and fluid borne noise were studied. In this paper, we focus on the structure-borne forces generated by the hydraulic pump characterized through blocked force measurements. The blocked force of the pump was determined experimentally using an indirect measurement method. The indirect method required operation with part under test fixed to an instrumented receiver structure. Measured operational accelerations on the receiver plate were used in conjunction with transfer function measurements to predict the blocked forces. Blocked forces were validated by comparing directly measured accelerations to predicted accelerations at
Smither, MatthewTuyls, ZacharyPatel, PratikYan, XinHerrin, David
This work presents a comprehensive procedure for predicting the acoustic emissions of mechanical systems, using a bent-axis pump as a case study. The procedure is developed as a workflow integrating multibody dynamics (MBD), harmonic structural analysis, and acoustic solvers. By modeling the mechanical system, we capture the pump’s dynamic response and the vibration behavior of the enclosure’s surface, enabling the estimation of equivalent radiated power (ERP) and the prediction of sound pressure level (SPL). To validate the simulation results, experimental investigations were conducted in a semi-anechoic chamber, where data was collected using a microphone placed at a specific distance from the pump. At the time of this publication, preliminary correlations between the simulation model and real-world measurements demonstrate promising accuracy and reliability. However, further investigation is needed to identify potential sources of discrepancies. Findings from this project offer
Kwarta, MichaelBanerjee, BhaskarAbdel Mallak, ZuherVallebrant, Per-OlaWiklund Lång, MarcusKayani, Omer
The acceleration vibe of a car's engine can be enhanced and a brand-specific auditory identity can be created via active sound design. Currently, experienced engineers are desperately required when the active sound design for car acceleration roar was processing, which consumed substantial time and human resources. Therefore, it is critical to conduct a research on the evaluation model for estimating car acceleration sound quality to improve sound design efficiency and reducing costs. 1,003 acceleration roars samples of common cars were collected in this paper, all of which could be commonly heard by the road. Nine psychoacoustic objective parameters, such as loudness, sharpness, and roughness, were calculated through Artemis Suite software, establishing a database for the sound quality of car acceleration sounds.Moreover, subjective evaluations of sound playback and objective data analysis were conducted to obtain the ratings of acceleration sounds. Firstly, five objective
Xiong, ChenggangXie, LipingZhang, ZheweiShi, WeijieQian, YushuLiu, Zhien
Road noise caused by road excitation is a critical factor for vehicle NVH (Noise, Vibration, and Harshness) performance. However, assessing the individual contribution of components, particularly bushings, to NVH performance is generally challenging, as automobiles are composed of numerous interconnected parts. This study describes the application of Component Transfer Path Analysis (CTPA) on a full vehicle to provide insights into improving NVH performance. With the aid of Virtual Point Transformation (VPT), blocked forces are determined at the wheel hubs; afterward, a TPA is carried out. As blocked forces at the wheel hub are independent of the vehicle dynamics, these forces can be used in simulations of modified vehicle components. These results allow for the estimation of vehicle road noise. To simulate changes in vehicle components, including wheel/tire and rubber bushings, Frequency-Based Substructuring (FBS) is used to modify the vehicle setup in a simulation model. In this
Kim, JunguReichart, Ronde Klerk, DennisSchütler, WillemMalic, MarioKim, HyeongjunKim, Uije
The active sound synthesis system of electric vehicles plays an important role in improving the sound perception and transmission of working condition information inside the vehicle. Nowadays, the active sound synthesis system inside the vehicle has become standard equipment in electric vehicles of major electric vehicle manufacturers to meet the user groups' demand for driving and riding experience. In order to enrich the driving experience of electric vehicles and automatic transmission vehicles, the sound performance should be close to the immersiveness and dynamic feedback brought by traditional manual transmission fuel vehicles. Based on the active sound synthesis algorithm in the car, this paper proposes an adaptive shift sound quality control strategy suitable for complex and changeable working conditions, with the aim of simulating the real shift sound of the engine. First, the motor speed offset is accurately calculated based on the transmission ratio of each gear of the
Zhou, XilongLiu, ZhienXie, LipingYu, ShangboLu, ChihuaGao, XiangYongsheng, Wang
The frequency and amplitude content of powertrain noise is motor torque and speed dependent and tends to influence the driver’s subjective perception of the vehicle. This provides manufacturers with an opportunity to drive product differentiation through consideration of powertrain noise in early stages of the development cycles for electric vehicles (EVs). This paper focuses on the evaluation of customer preference and perception of acoustic feedback from different powertrain design options based on targeted powertrain orders and expected wind and road masking during high acceleration maneuvers. A jury study is used to explore customer feedback to a two-stage gearbox design with AC permanent magnet motor order combinations. The subjective influence of order spacing, dominant frequency content and the number of audible orders is studied to understand aural perspective product differentiation opportunities.
Joodi, BenjaminJayakumar, VigneshConklin, ChrisPilz, FernandoIyengar, ShashankWeilnau, KelbyHodgkins, Jeffrey
This paper introduces a novel, automated approach for identifying and classifying full vehicle mode shapes using Graph Neural Networks (GNNs), a deep learning model for graph-structured data. Mode shape identification and naming refers to classifying deformation patterns in structures vibrating at natural frequencies with systematic naming based on the movement or deformation type. Many times, these mode shapes are named based on the type of movement or deformation involved. The systematic naming of mode shapes and their frequencies is essential for understanding structural dynamics and “Modal Alignment” or “Modal Separation” charts used in Noise, Vibration and Harshness (NVH) analysis. Current methods are manual, time-consuming, and rely on expert judgment. The integration of GNNs into mode shape classification represents a significant advancement in vehicle modal identification and structure design. Results demonstrate that GNNs offer superior accuracy and efficiency compared to
Tohmuang, SitthichartSwayze, James L.Fard, MohammadFayek, HaythamMarzocca, PiergiovanniBhide, SanjayHuber, John
Gear whine has emerged as a significant challenge for electric vehicles (EVs) in the absence of engine masking noise. The demand from customers for premium EVs with high speed and high torque density introduces additional NVH risks. Conventional gear design strategies to reduce the pitch-line velocity and increase contact ratio may impact EV torque capacitor or its efficiency. Furthermore, microgeometry optimization has limited design space to reduce gear noise over a wide range of torque loads. This paper presents a comprehensive investigation into the optimization of transfer gear blanks in a single-speed two-stage FDW electric drive unit (EDU) with the objective of reducing both mass and noise. A detailed multi-body dynamics (MBD) model is constructed for the entire EDU system using a finite-element-based time-domain solver. This investigation focuses on the analysis and optimization of asymmetric gear blank design features with three-slot patterns. A design-of-experiment (DOE
He, SongBahk, CheonjaeLi, BoDu, IsaacPatruni, Pavan KumarBaladhandapani, Dhanasekar
With the increasing adoption of electric vehicles (EVs), Active Sound Design (ASD) has become a crucial method for enhancing both sound quality and the overall driving experience, addressing the absence of the distinctive engine sounds found in internal combustion vehicles. This paper presents an ASD offline simulation software developed on the MATLAB platform. The software integrates a vehicle dynamics model with three key sound synthesis algorithms—order synthesis, pitch shifting, and granular synthesis—enabling comprehensive control strategy development, real-time sound playback, and rapid adjustments. It comprises multiple functional modules, including configuration, order generation, pitch shifting, and granular synthesis interfaces, offering a user-friendly environment for flexible sound parameter tuning under various simulated driving conditions. Users can easily configure vehicle dynamics, adjust gain values, and visually manipulate sound parameters to create a customized ASD
Qian, YushuXie, LipingXiong, ChenggangLiu, Zhien
The “Model Architecture and Interfaces Recommended Practice for Ground Vehicle System and Subsystem Dynamical Simulation” defines the architectural structure of a ground vehicle system dynamical model by partitioning it into subsystem models and by defining subsystem interfaces required to enable plug-and-play operation of a dynamical simulation models. All types of ground vehicle were considered in the development of the architecture, such as, passenger cars, light and medium duty trucks, heavy duty tractor trailer trucks, and vehicles/equipment for military, farming, construction, and mining. Versatility of this architectural partitioning is demonstrated by showing how it can be applied to different vehicle configurations. Application examples of architecture are provided for a large number of the publicly known ground vehicle configurations in production, testing, or development. This recommended practice encompasses standards to enable seamless plug-and-play reusability of
Dynamical Modeling and Simulation Committee
To define a test procedure that will provide repeatable measurements of a vehicle’s maximum acceleration performance for launch and passing maneuvers and standardize time zero used in reported results.
Light Duty Vehicle Performance and Economy Measure Committee
To optimize vehicle chassis handling stability and ride safety, a layered joint control algorithm based on phase plane stability domain is proposed to promote chassis performance under complicated driving conditions. First, combining two degrees-of-freedom vehicle dynamics model considering tire nonlinearity with phase plane theory, a yaw rate and side slip angle phase plane stability domain boundary is drew in real time. Then based on the real-time stability domain and hierarchical control theory, an integrated control system with active front steering (AFS) and direct yaw moment control (DYC) is designed, and the stability of the controller is validated by Lyapunov theory. Finally, the lateral stability of the vehicle is validated by Simulink and CarSim simulations, real car data, and driving simulators under moose test and pylon course slalom test. The experimental results confirm that the algorithm can enhance the maneuverability and ride safety for intelligent vehicles.
Liao, YinshengZhang, ZhijieSu, AilinZhao, BinggenWang, Zhenfeng
This SAE Recommended Practice describes a test method for measuring the forces and moments generated at a high frequency response spindle when a rolling tire impacts a cleat. The cleat is configured either with its crest perpendicular, 90 degrees, to the path of the tire or optionally with its crest inclined at an angle to the path of the tire. The carriage to which the spindle is attached is rigidly constrained in position during each test condition to provide a good approximation to fixed loaded radius operation. The method discussed in this document provides impact force and moment time histories essentially free from variations due to tire non-uniformities. The method applies to any size tire so long as the equipment is properly scaled to conduct the measurements for the intended test tire. The data are suitable for use in determining parameters for road load models and for comparative evaluations of the measured properties in research and development.
Vehicle Dynamics Standards Committee
This specification covers a biodegradable deodorant in the form of a liquid concentrate, solid, or gel.
AMS J Aircraft Maintenance Chemicals and Materials Committee
This study presents empirical modifications of Blade Element Momentum Theory (BEMT) to improve rotor performance prediction for open rotors in hovering conditions. The empirical adjustments were made to the inflow ratio, factoring in the real rotor wake area and estimated induced power losses. A comparison between experimental data and two analytical models, one using an empirical inflow formula and the other a theoretical formula (classical BEMT), was conducted for two rotors. The empirical inflow model demonstrated superior accuracy in predicting thrust and torque. These modifications are applied to the inflow ratio by accounting for the actual rotor wake area and estimated induced power losses. The findings highlight the potential for more accurate performance prediction through the integration of empirical data into theoretical frameworks.
Dayhoum, AbdallahRamirez-Serrano, AlejandroMartinuzzi, Robert
This article reviews the key physical parameters that need to be estimated and identified during vehicle operation, focusing on two key areas: vehicle state estimation and road condition identification. In the vehicle state estimation section, parameters such as longitudinal vehicle speed, sideslip angle, and roll angle are discussed, which are critical for accurately monitoring road conditions and implementing advanced vehicle control systems. On the other hand, the road condition identification section focuses on methods for estimating the tire–road friction coefficient (TRFC), road roughness, and road gradient. The article first reviews a variety of methods for estimating TRFC, ranging from direct sensor measurements to complex models based on vehicle dynamics. Regarding road roughness estimation, the article analyzes traditional methods and emerging data-driven approaches, focusing on their impact on vehicle performance and passenger comfort. In the section on road gradient
Chen, ZixuanDuan, YupengWu, JinglaiZhang, Yunqing
The wheel hub motor–driven electric vehicle, characterized by its independently controllable wheels, exhibits high torque output at low speeds and superior dynamic response performance, enabling in-place steering capabilities. This study focuses on the control mechanism and dynamic model of the wheel hub motor vehicle’s in-place steering. By employing differential torque control, it generates the yaw moment needed to overcome steering resistance and produce yaw motion around the steering center. First, the dynamic model for in-place steering is established, exploring the various stages of tire motion and the steering process, including the start-up, elastic deformation, lateral slip, and steady-state yaw. In terms of control strategy, an adaptive in-place steering control method is designed, utilizing a BP neural network combined with a PID control algorithm to track the desired yaw rate. Additionally, a control strategy based on tire/road adhesion ellipse theory is developed to
Huang, BinCui, KangyuZhang, ZeyangMa, Minrui
This article conducts a thorough review of contemporary air suspension systems on the market for passenger cars. The evolution of suspension structures and control methodologies are briefly discussed. The layout of air suspension systems is introduced in detail, with each component receiving a comprehensive description and analysis. The open-loop and closed-loop arrangements are explained. Various types of air springs are discussed and compared. The sensory system, special working conditions, and failure analysis are also elaborated. In the case studies, some example models are listed to show a complete guide of how air suspension is implemented on passenger cars, which includes functionalities, air spring configurations, control methods, signal flow, service modes, and diagnostic messages. The major sources are OEMs’ official websites and previously released documents, such as user manuals and maintenance manuals, which are valid up to April 2023. Finally, the article concludes with a
Ma, ChangyeLu, YukunZhen, RanLiu, YegangPan, BingweiKhajepour, Amir
This SAE Recommended Practice establishes consistent test procedures for determination of steady-state directional control properties for passenger cars and light trucks with two axles. These properties include the steering-wheel angle gradient, reference steer angle gradient, sideslip angle gradient, vehicle roll angle gradient, and steering-wheel torque gradient with respect to lateral acceleration. They also include the yaw velocity gain, lateral acceleration gain, and sideslip angle gain with respect to steering-wheel angle. Additionally, the characteristic or critical speed and the front and rear wheel steer compliances may be determined.
Vehicle Dynamics Standards Committee
With the advancement of control technology in the automotive field, there is a possibility of cross-system redundant control between various actuators. As for the braking system, current brake-by-wire system often uses mechanical backup braking methods to give the vehicle a certain braking capacity after failure. However, in the mechanical backup braking mode, the brake master cylinder is connected to the supporting wheel cylinder, and the brake assist is lost, which leads to an increase in brake pressure and makes it difficult for the driver to step on the brake pedal. Meanwhile, due to the limitation of the brake master cylinder stroke, the maximum braking deceleration of the vehicle is only 3 m/s2 after the driver fully presses the brake pedal. The above two defects greatly affect the safety of the vehicle during backup braking. To solve the above problems, this article takes electric vehicles as the research object, designs a new type of hydraulic circuit for the braking system
Tian, BoshiLi, LiangLiao, YinshengLv, HaijunHu, ZhimingSun, YueQu, Wenying
The objective of this experimental study was to investigate the change of shifting rate of metal V-belt type CVT during speed up/down under quasi-idle loading condition. Changes in the rotational speeds of the driving and driven pulleys were simultaneously measured by the rotational speed sensors installed on the driving and driven shafts during speed up/down shifting, respectively. In addition, the interaxial force applied to the driving and driven pulleys was measured by a load cell. The shifting rate was defined as the ratio of the calculated radial displacement to the tangential displacement of the belt in the pulley groove. This study found that the shifting rate was determined not only by the slippage between the pulley and the belt element, but also by the elastic deformation of the belt element in the pulley groove. The power transmission performance was improved when the elastic deformation was small even though radial slippage between the pulley and the belt element was
Mori, YuichirouOkubo, KazuyaObunai, Kiyotaka
Contemporary Japanese society relies heavily on vehicles for transportation and leisure. This has led to environmental concerns owing to vehicle emissions, prompting a shift toward environmentally friendly alternatives, such as clean diesel and electric vehicles. Clean diesel vehicles aim to reduce harmful emissions, whereas electric vehicles are favored because of their minimal emissions and quiet operation. However, the lack of engine noise in electric vehicles can make it difficult for drivers to perceive speed changes, potentially increasing the risk of accidents, and simply amplifying all sounds is not viable because it may cause discomfort. Therefore, this study explored how deviations from expected engine sounds affect the perceived sound quality and vehicle performance assessment. Unlike traditional gasoline-powered and clean diesel vehicles, electric vehicles produce very little running noise, which makes road surface noise more prominent. Given the novelty of electric
Nitta, MisakiIshimitsu, ShunsukeFujikawa, SatoshiIwata, KiyoakiNiimi, MayukoKikuchi, MasakazuMatsumoto, Mitsunori
This study examines the acoustic properties of engine-knocking sounds in gasoline engines, arising from misfires during spark ignition that negatively affect driving performance. The aim was to understand the frequency characteristics of acceleration sounds and their connection to the proximity of the order components. The study also explores “booming,” where two different frequencies of sounds occur simultaneously, potentially linked to the unpleasant nature of engine knocking. Using a sinusoidal model, we generated engine acceleration sound models with 5th-, 10th-, and 15th-order components, including engine knocking. Two types of sound stimuli were created: one with the original amplitude (OA) and one with a constant amplitude (CA) for each component order, emphasizing the order-component proximity in CA sounds. Aural experiments with 10 participants in an anechoic room using headphones and the MUSHRA method revealed an inverse relationship between OA and CA ratings as the component
Suzuki, RyuheiIshimitsu, ShunsukeNitta, MisakiSakakibara, MikaHakozaki, TomoyukiFujikawa, SatoshiIwata, KiyoakiMatsumoto, MitsunoriKikuchi, Masakazu
In traditional four-wheeled automobiles, the imbalance between the roll moment, which is the product of the centrifugal force during a turn acting on the center of gravity and the height of the center of gravity, and roll stiffness, which is the product of the left-right difference in tire vertical load and the tread width and commonly used among automotive suspension engineers, of the front and rear sections necessitates body torsional rigidity. However, there is a lack of specific cases and guidelines for constructing the body structure of three-wheeled PMVs (Personal Mobility Vehicles) with a tilting mechanism from the perspective of vehicle dynamics characteristics. In this paper, the basic considerations related to the dynamics of such three-wheeled PMVs are investigated. We use the term “torsional rigidity” to refer to the stiffness as the torsional deformation of the body itself, and the term “roll stiffness” to refer to the moment that counteracts the roll moment during a turn
Haraguchi, TetsunoriKaneko, Tetsuya
The possibilities and challenges of adding a rider model to the motorcycle dynamics simulation were investigated for the future planning of a full virtual test. The human model was added to a multi-body dynamics model that reproduces the equations of motion of a motorcycle, called the 10 degrees of freedom (10-DoF) model. The human model is composed from multiple masses and joints, and the steering angle can be controlled by determining the angle of the arms and shoulder. To study the effect of this model, three distinct simulations were carried out: ‘the eigenvalue analysis’, ‘the steady-state circular test simulation’ and ‘the slalom running simulation’. In the eigenvalue analysis, the eigenvalues of the wobble mode shifted to a stable side in the root locus when both hands were fixed on the handlebars. As a result of the slalom running simulation, the response of the handlebar control through the human model produced a more convex trajectory than a direct control of the steering
Ueki, MotohitoTakayama, AkihiroYabe, Noboru
In this study, vibration characteristics inside an electric power unit at gravity center where direct measurement is impossible were estimated by using virtual point transformation to consider guideline for effective countermeasures to the structure or generated force characteristics inside the power source. Vibration acceleration, transfer function and the generated force in operation at the gravity center of the electrical power source were obtained by vibration characteristics at around the power source which can be measured directly. In addition, the transfer functions from the gravity center to the power source attachment points on the product were also estimated. And then, the contribution from the gravity center to the power unit attachment point was obtained by multiplying generated force with the transfer function. As results, the obtained total contribution was almost same with the actual measured vibration at the attachment point. Furthermore, the rotational contribution
Kubo, RyomaHara, KentaYoshida, Junji
Off-road vehicle demand is on the rise, particularly in North America. In connection with this trend, there is a demand for dynamic modeling to describe the behavior of off-road vehicles when driving terrains surfaces with successive bumps. However, conventional dynamic models has been insufficient in representing the situation where the tire-ground contact and detachment states switch successively during whoops behavior. Therefore, in this study, rigid-body multibody dynamics methodology was employed to model the vehicle and conduct numerical simulations. Numerical simulations were conducted using the constructed vehicle model, demonstrating that the behavior of off-road vehicles in whoops closely resembles the actual phenomenon.
Inoue, TsuyoshiEjiri, HarutoHeya, AkiraYoshida, Masahiro
TOC
Tobolski, Sue
This recommended practice defines methods for the measurement of periodic, random and transient whole-body vibration. It indicates the principal factors that combine to determine the degree to which a vibration exposure will cause discomfort. Informative appendices indicate the current state of knowledge and provide guidance on the possible effects of motion and vibration on discomfort. The frequency range considered is 0.5 Hz to 80 Hz. This recommended practice also defines the principles of preferred methods of mounting transducers for determining human exposure. This recommended practice is applicable to light passenger vehicles (e.g., passenger cars and light trucks). This recommended practice is applicable to motions transmitted to the human body as a whole through the buttocks, back and feet of a seated occupant, as well as through the hands of a driver. This recommended practice offers a method for developing a ride performance index but does not specifically describe how to
Vehicle Dynamics Standards Committee
Hurricane evacuations generate high traffic demand with increased crash risk. To mitigate such risk, transportation agencies can adopt high-resolution vehicle data to predict real-time crash risks. Previous crash risk prediction models mainly used limited infrastructure sensor data without covering many road segments. In this article, we present methods to determine potential crash risks during hurricane evacuation from an emerging alternative data source known as connected vehicle data that contain vehicle speed and acceleration information collected at a high frequency (mean = 14.32, standard deviation = 6.82 s). The dataset was extracted from a database of connected vehicle data for the evacuation period of Hurricane Ida on Interstate-10 in Louisiana. Five machine learning models were trained considering weather features and different traffic characteristics extracted from the connected vehicle data. The results indicate that the Gaussian process boosting and extreme gradient
Syed, Zaheen E MuktadiHasan, Samiul
Automotive signal processing is dealt with in several contributions that propose various techniques to make the most out of the available data, typically for enhancing safety, comfort, or performance. Specifically, the accurate estimation of tire–road interaction forces is of high interest in the automotive world. A few years ago the T.R.I.C.K. tool was developed, featuring a vehicle model processing experimental data, collected through various vehicle sensors, to compute several relevant virtual telemetry channels, including interaction forces and slip indices. Following years of further development in collaboration with motorsport companies, this article presents T.R.I.C.K. 2.0, a thoroughly renewed version of the tool. Besides a number of important improvements of the original tool, including, e.g., the effect of the limited slip differential, T.R.I.C.K. 2.0 features the ability to exploit advanced sensors typically used in motorsport, including laser sensors, potentiometers, and
Napolitano Dell’Annunziata, GuidoFarroni, FlavioTimpone, FrancescoLenzo, Basilio
In this paper, the equivalent elliptic gauge pendulum model of liquid sloshing in tank is established, the pendulum dynamic equation of tank in non-inertial frame of reference is derived, and the dynamics model of tank transporter is constructed by force analysis of the whole vehicle. A liquid tank car model was built in TruckSim to study its dynamic response characteristics. Aiming at the problem that the coupling effect between liquid sloshiness in tank and tank car can easily affect the rolling stability of vehicle, the roll dynamics model of tank heavy vehicle is established based on the parameterized equivalent elliptic gauge single pendulum model, and the influence of different lateral acceleration and suspension system on the roll stability is studied. The results show that the coupling effect between the motion state of the tank car and the liquid slosh lengthens the oscillation period of the liquid slosh in the tank, and the amplitude of the load transfer rate of the tank car
Yukang, Guo
The braking performance of newer anti-lock braking system (ABS) equipped vehicles on roads with varying wetness levels is not well studied. Two late-model ABS-equipped vehicles were used to perform ABS-engaged braking tests on dry and wet asphalt and concrete surfaces from which vehicle speed and deceleration as a function of time were calculated. Tests were initially conducted on a dry surface before a water truck distributed water onto the road to create a wet road condition. A continuous series of tests were then performed until the road dried and the cycle was repeated multiple times. Across all tests of both vehicles on both road surfaces, deceleration levels generally decreased when the road was wet and returned to dry levels only when less than 25% of the road surface remained wet. Also, wet deceleration levels were high compared to the historical values used for wet roads. These findings provide a useful and readily identifiable boundary between what can be considered a dry and
Miller, IanKing, DavidSiegmund, Gunter
When vehicle accidents occur, investigators rely on event data recorders for accident investigations. However current event data recorders do not support accident investigation involving automated or self-driving vehicles when there is state information that needs to be recorded, for example ADS modes, changes in the ODD that the vehicle operates under, and the various states of vehicle features such as intelligent cruise control, automated lane changes, autonomous emergency braking, and others. In this paper, we propose a model to design new types of event data recorders that supports accident investigations involving automated vehicles when there is state information to be recorded. The model is generic enough to be adapted to any automation level and any set of automated vehicle functional features. The model has been instantiated to a specific ADAS system.
Pimentel, Juan
Two wheelers motorcycles are used for many purposes e.g. commuting from one place to another, long highway rides, racing and off-roading. Motorcycles which are used in off-road conditions require higher suspension strokes to absorb large oscillations due to terrain conditions. These motorcycles undergo jumps of varying heights and different vehicle orientations. In some of the dynamic situations front wheel may land on the ground before the rear and in other cases it may be vice versa. To make sure that the vehicle is durable enough to withstand loads in such operating conditions, vehicle drop test was developed in test lab where vehicle is dropped from predefined heights in both front & rear wheel landing conditions. Same test case is simulated in multibody dynamics to capture loads at important connections of the frame. This paper presents the correlation exercise carried out to validate MBD model and simulation process with test data captured during lab test. Accelerations at
Jain, Arvind KumarNirala, Deepak
To address the challenges of complex operational simulation for Electric Vehicles (EVs) caused by spatial-temporal variations and driver behavior heterogeneity, this study introduces a dynamic operation simulation model that integrates both data-driven and physics-based principles, referred to as the Electric Vehicle-Dynamic Operation Simulation (EV-DOS) model. The physics-based component encompasses critical aspects such as the powertrain energy transfer module, heat transfer module, charge/discharge module, and battery state estimation module. The data-driven component derives key features and labels from second-by-second real-world vehicle driving status data and incorporates a Long Short-Term Memory (LSTM) network to develop a State-of-Health (SOH) prediction model for the EV power pack. This model framework combines the interpretability of physical modeling with the rapid simulation capabilities of data-driven techniques under dynamic operating conditions. Finally, this study
Jing, HaoHU, JianyaoOuyang, JianhengOu, Shiqi(Shawn)
Model-Based Systems Engineering (MBSE) enables requirements, design, analysis, verification, and validation associated with the development of complex systems. Obtaining data for such systems is dependent on multiple stakeholders and has issues related to communication, data loss, accuracy, and traceability which results in time delays. This paper presents the development of a new process for requirement verification by connecting System Architecture Model (SAM) with multi-fidelity, multi-disciplinary analytical models. Stakeholders can explore design alternatives at a conceptual stage, validate performance, refine system models, and take better informed decisions. The use-case of connecting system requirements to engineering analysis is implemented through ANSYS ModelCenter which integrates MBSE tool CAMEO with simulation tools Motor-CAD and Twin Builder. This automated workflow translates requirements to engineering simulations, captures output and performs validations. System
Upase, BalasahebShroff, Roopesh
Abstract This paper introduces a method to solve the instantaneous speed and acceleration of a vehicle from one or more sources of video evidence by using optimization to determine the best fit speed profile that tracks the measured path of a vehicle through a scene. Mathematical optimization is the process of seeking the variables that drive an objective function to some optimal value, usually a minimum, subject to constraints on the variables. In the video analysis problem, the analyst is seeking a speed profile that tracks measured vehicle positions over time. Measured positions and observations in the video constrain the vehicle’s motion and can be used to determine the vehicle’s instantaneous speed and acceleration. The variables are the vehicle’s initial speed and an unknown number of periods of approximately constant acceleration. Optimization can be used to determine the speed profile that minimizes the total error between the vehicle’s calculated distance traveled at each
Snyder, SeanCallahan, MichaelWilhelm, ChristopherJohnk, ChrisLowi, AlvinBretting, Gerald
Machine learning has witnessed widespread adoption across various domains, bringing about transformative changes in decision-making, trend prediction, task automation, and personalized experiences. Despite the remarkable predictive capabilities of machine learning models, the associated uncertainty in their predictions remains a critical concern. Uncertainty estimation plays a pivotal role in ensuring robust decision-making, going beyond mere outcome prediction to quantify the model's confidence and potential error. This paper first presents a review of existing uncertainty quantification techniques in machine learning, including Monte Carlo dropout and ensemble methods, highlighting their advantages in addressing uncertainty as well as their limitations. Then, it presents an efficient and fast novel technique for uncertainty quantification using a combination of the ensemble technique and Gaussian process regression providing an accurate estimation of uncertainty bounds. Due to its
Chavare, SudeepMourelatos, Zissimos P.
The motor controller, as one of the important controllers in the electric drive system, may cause unexpected acceleration or deceleration of the vehicle by the driver due to systematic failure and random hardware failure. Conducting research on the functional safety of drive motors for new energy vehicles is of great significance for reducing the systematic failure and random hardware failure of the electric drive. This paper has carried out designs including the allowable motor torque design for safety monitoring, the motor torque prediction design for safety monitoring, the rationality judgment design of the motor torque for safety monitoring, the rationality judgment design of the motor direction for safety monitoring, the functional safety motor degradation design, and the active discharge state monitoring of the motor, so that the system can transition to a safe state when an error occurs. Among them, the motor torque prediction design for safety monitoring includes predicting the
Jing, JunchaoZuo, BotaoLiu, YiqiangHuang, WeishanDai, Zhengxing
Trajectory tracking control is a critical component of the autopilot system, essential for achieving high-performance autonomous driving. This paper presents the design of a stable, reliable, accurate, fast, and robust trajectory tracking controller. Specifically, a lateral and longitudinal trajectory tracking controller based on a linear parameter time-varying model predictive control (LPV-MPC) framework is designed. Firstly, a three-degree-of-freedom vehicle dynamics model and a tracking error model are established. Secondly, a multi-objective function and constraints considering tracking accuracy and lateral stability are formulated, and the quadratic programming (QP) method is employed to solve the optimization problem. Finally, PID speed tracking control is introduced in the longitudinal control scheme for comparison with the proposed MPC longitudinal speed control. A step velocity tracking test validates the effectiveness of the MPC speed tracking controller. In the lateral
Pan, ShicongLu, JunYu, YinquanZeng, DequanYang, JinwenHu, YimingJiang, ZhiqiangLiu, Dengcheng
The paper provides a detailed analysis of the transmission system design under the single motor drive scheme, with a focus on the 2024 Formula SAE (FSAE). The selection of the motor type is determined based on race rules and battery box output power limits. In terms of transmission ratio design, this study takes into account the car's power, balancing acceleration ability and maximum speed to determine an optimal transmission ratio through theoretical calculations and empirical values. Furthermore, it explores how to optimize overall drive system performance by considering technical parameters, power requirements, economic considerations of each system assembly, and validates these findings through software simulations. Notably, significant improvements in reliability are achieved with the newly designed transmission system and wheel rim system while also proposing lightweighting methods for key components. We have carried out extensive verification in both simulation and real vehicle
Wang, LiuxinLi, ChengfengZhu, XiranLiu, Minmin
Abstract Real-world driving data is an invaluable asset for several types of transportation research, including emissions estimation, vehicle control development, and public infrastructure planning. Traditional methods of real-world driving data collection use expensive GPS-based data logging equipment which provide advanced capabilities but may increase complexity, cost, and setup time. This paper focuses on using the Google Maps application available for smartphones due to the potential to scale-up real-world driving data logging. Samples of the potential data processing and information that can be gathered by such a logging methodology is presented. Specifically, two months of Google Maps driving data logged by a rural Michigan resident on their smartphone may provide insights on their driving range, duration, and geographic area of coverage (AOC) to guide them on future vehicle purchase decisions. Aggregating such statistics from crowd-sourcing real-world driving data via Google
Manoj, AshwinYin, SallyAhmed, OmarVaishnav, ParthStefanopoulou, AnnaTomkins, Sabina
To address the issue of high accident rates in road traffic due to dangerous driving behaviors, this paper proposes a recognition algorithm for dangerous driving behaviors based on Long Short-Term Memory (LSTM) networks. Compared with traditional methods, this algorithm innovatively integrates high-frequency trajectory data, historical accident data, weather data, and features of the road network to accurately extract key temporal features that influence driving behavior. By modeling the behavioral data of high-accident-prone road sections, a comprehensive risk factor is consistent with historical accident-related driving conditions, and assess risks of current driving state. The study indicates that the model, in the conditions of movement track, weather, road network and conditions with other features, can accurately predict the consistent driving states in current and historical with accidents, to achieve an accuracy rate of 85% and F1 score of 0.82. It means the model can
Huang, YinuoZhang, MiaomiaoXue, MingJin, Xin
The current research landscape in path tracking control predominantly focuses on enhancing tracking accuracy, often overlooking the critical aspect of passenger comfort. To address this gap, we propose a novel path tracking control method that integrates vehicle stability indicators and road curvature variations to elevate passenger comfort. The core contributions are threefold: firstly, we conduct comprehensive vehicle dynamics modeling and analysis to identify key parameters that significantly impact ride comfort. By integrating human comfort metrics with vehicle maneuverability indices, we determine the optimal range of dynamics parameters for maximizing passenger comfort during driving. Secondly, inspired by human driving behavior, we design a path tracking controller that incorporates an anti-saturation algorithm to stabilize tracking errors and a curvature optimization algorithm to mimic human driving patterns, thereby enhancing comfort. Lastly, comparative simulations with two
Lu, JunZeng, DequanHu, YimingWang, XiaoliangLiu, DengchengJiang, Zhiqiang
Fatigue design is invariably of prior concern for the automotive industry, no matter of the evolution of the mobility market: at first because carmakers must stay compliant with general structural integrity requirements for reliability, notably applicable to the chassis system, then due to the endless competition for lightweighting in order to mitigate product costs and/or enhance vehicle efficiency. In the past, this key performance was often tackled by basic reference load cases, making use of the simplest signal content, e.g. sinus functions, to practice constant amplitude loads on test rigs and for computations, respectively. Nowadays, full time series coming from proving ground measurements, or any corresponding virtual road load data computations, may be applied to feed complex vehicle computations for virtual assessment and complex test facilities for final approval, under variable amplitude loads. In between, the concept of load spectra (i.e. distribution of amplitudes with
Facchinetti, Matteo LucaTjhung, TanaJaffre lng, SébastienDatta, SandipHayat lng, RomainGuo, Mingchao
Technology development for enhancing passenger experience has gained attention in the field of autonomous vehicle (AV) development. A new possibility for occupants of AVs is performing productive tasks as they are relieved from the task of driving. However, passengers who execute non-driving-related tasks are more prone to experiencing motion sickness (MS). To understand the factors that cause MS, a tool that can predict the occurrence and intensity of MS can be advantageous. However, there is currently a lack of computational tools that predict passenger's MS state. Furthermore, the lack of real-time physiological data from vehicle occupants limits the types of sensory data that can be used for estimation under realistic implementations. To address this, a computational model was developed to predict the MS score for passengers in real time solely based on the vehicle's dynamic state. The model leverages self-reported MS scores and vehicle dynamics time series data from a previous
Kolachalama, SrikanthSousa Schulman, DanielKerr, BradleyYin, SiyuanWachsman, Michael BenPienkny, Jedidiah Ethan ShapiroJalgaonkar, Nishant M.Awtar, Shorya
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