Browse Topic: Vehicle handling

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A Torque Distribution Strategy for the Six-Wheeled Lunar Rover2025-01-8308To be published on 04/01/2025
As a crucial tool for lunar exploration, lunar rovers are highly susceptible to instability due to the rough lunar terrain, making control of driving stability essential during operation. This paper focuses on a six-wheel lunar rover and develops a torque distribution strategy to improve vehicle handling stability. Based on a layered control structure, firstly, the strategy establishes a two-degree-of-freedom single-track model with front and rear axle steering at the state reference layer to compute the ideal yaw rate and center of gravity side slip angle. In the desired torque decision layer, a sliding mode control-based strategy is used to calculate the desired total driving torque. In the torque distribution layer, optimal control allocation is employed to maximize tire stability margins. Finally, a multi-body dynamics model of the six-wheel lunar rover is built using the open-source multi-physics simulation engine Chrono, exploring its dynamic behavior on soft terrain. Various
liu, pengcheng, Zhang, Kaidi, Shi, Junwei, Yang, Wenmiao, Zhang, Yunqing, Wu, Jinglai
Technical Paper
Research on Control Algorithm for Active Rear Wheel Steering System of Passenger Cars2025-01-8755To be published on 04/01/2025
With the continuous advancement of automotive technology, the active rear wheel steering system, serving as a crucial component for enhancing vehicle handling performance and safety, has garnered extensive attention. In this paper, the control algorithm and performance optimization of the active rear wheel steering system are deeply studied. Firstly, a complete vehicle dynamics model is established, providing a theoretical foundation for the research on control algorithms. Subsequently, the optimal control theory is adopted to achieve the control of the rear wheel steering angle, and the LQR control strategy with variable weight coefficients is proposed in response to the linear and nonlinear variations of the vehicle tire sideslip characteristics. Finally, taking the 2WS vehicle, the proportional steering control strategy for the front and rear wheels, and the proportional feedforward + yaw rate feedback control strategy as references, modeling and joint simulation based on the CarSim
Zhang, Yi, Zheng, Hongyu, Kaku, Chuyo, Zong, Changfu
Technical Paper
Aerodynamic Effect on Vehicle Handling2025-01-8754To be published on 04/01/2025
Vehicle handling is significantly influenced by aerodynamic forces, which alter the normal load distribution across all four wheels, affecting vehicle stability. These forces, including lift, drag, and side forces, cause complex weight transfers and vary nonlinearly with the vehicle's apparent velocity and orientation relative to wind direction. In this study, we simulate the vehicle traveling on a circular path with constant steering input, calculate the normal load on each tire using a weight transfer formula, calculate the effect of lift force on the vehicle on the front and rear, and calculate the vehicle dynamic relation at steady state because the frequency of change due to aero load is significantly less than that of yaw rate response. The wind velocity vector is constant while the vehicle drives in a circle, so the apparent wind velocity relative to the car is cyclical. Our approach focuses on the interaction between two fundamental nonlinearities: the nonlinear aerodynamic
Patil, Harshvardhan, Williams, Daniel
Technical Paper
Rough Road Vehicle dynamics analysis for vehicle vibration assessment2025-01-8306To be published on 04/01/2025
Multibody dynamics analysis in vehicle development provides a few useful vehicle design guidelines in a few disciplines. The first discipline is vehicle handling simulation, where the major recommendation is suspension geometry and tuning of bushings, shocks and springs. The vehicle dynamics simulations on rough roads give insights about vehicle durability performance: vehicle components, subsystems, and the vehicle body systems. Almost all inputs to the vehicle systems come from tire to ground interactions, tire modeling is the most critical aspect in vehicle durability simulation, e.g. load prediction. The third discipline is the vehicle vibration performance assessment using vehicle dynamic simulations. This study is to demonstrate a vehicle dynamics simulation process to assess vehicle vibration performance. A vehicle dynamics model is simulated on ride roads, first. Hardware measurement can be done in a similar fashion to get the vehicle target performance or bench marking data
Hong, Hyung-Joo, Maddula, Pavan Kumar, Jun, Hyochan
Technical Paper
A Study of Tire Handling and Ride Performance Map according to Tire Tread Wear State2025-01-8760To be published on 04/01/2025
The electric vehicle market is expected to grow further within the automotive industry, driven by the increasing computing power of vehicle ECUs and the advancement of SDV(Software Defined Vehicle) systems. The results of these advanced and expanded vehicle technologies will offer customers higher quality and increased productivity in the market. A practical application of this technology is tire wear prediction algorithms. Tire wear prediction algorithms can inform customers of the optimal time to change tires while also allowing chassis control systems and other ADAS systems to adjust to varying tire performance as wear conditions change. This trend is growing, prompting several automakers to invest in developing these advanced technologies to enhance their product quality and safety. Therefore, it is essential to understand how vehicle handling and ride performances can change in response to varying tire wear conditions to evaluate the effectiveness of tire wear algorithms. This
Kim, Changsu
Technical Paper
Optimized Stiffness Design of Rubber Bushings with Metal Inserts2025-01-8322To be published on 04/01/2025
Rubber bushings play a critical role in the overall vehicle handling and stability of vehicles. In the paper, a method is proposed to optimize the design of rubber bushing with metal inserts for four-directional stiffness: radial stiffness, axial stiffness, yaw stiffness and torsional stiffness. Firstly, the Ogden model is used as the material constitutive model of the rubber bushing, and the finite element analysis method for the calculation of the static stiffness of the bushing is established according to this model. The static stiffness calculation model of the bushing is verified through the measured six-directional stiffness of the bushing's. A multi-objective optimization model is then established, targeting the anisotropic stiffness as design objectives, and a genetic algorithm is employed to solve the model. According to the optimization results, a prototype rubber bushing with metal inserts was manufactured. The radial stiffness, axial stiffness, yaw stiffness and torsional
Liu, Sheng, Shangguan, Wenbin, Lei, Xiao, Yin, Lifeng
Technical Paper
Modal Analysis Approach for Analysis and Design of Vehicle Transient Behavior2025-01-8794To be published on 04/01/2025
In order to solve the increasingly serious global environmental problems, the automobile industry is rapidly shifting to EVs and plug-in hybrid EVs, so vehicle weights are increasing. In addition, the use of low rolling resistance tires to improve energy efficiency is increasing. In order to ensure the maneuverability and stability of such vehicles, it is becoming increasingly necessary to design performance based on better understanding of the basic principles of vehicle dynamics. Vehicle dynamics is fundamentallilly based on planar motion, but the accompanying roll motion also affects the planar motion and also driver's subjective evaluation. Vehicle dynamics analysis considering roll has been discussed by parameter studies, by characteristic analysis using equivalent models, or by characteristic root analysis. However, with the exception of R.S Sharp's report, which mentions the three vibration modes of motorcycles, there are very few examples of vehicle dynamics analysis in terms
Kusaka, Kaoru, Yuhara, Takahiro
Technical Paper
Deceleration Testing on Various Driving Surfaces for Off-Road Vehicle Operation2025-01-8704To be published on 04/01/2025
Recreational Off-Highway Vehicles (ROVs) also referred to as “side-by-side” vehicles are involved in accidents / crashes due to driver error. This can often be attributed to an operator’s inexperience and failure to differentiate vehicle handling characteristics from that of a traditional automobile. Decelerating is a commonly used method of avoiding or mitigating crash damage when effectively employed by an operator. Test data is available for deceleration capabilities of homologated vehicles on road surfaces. However, testing has not been widely performed and published for off-road vehicles on various surfaces. This work examines the dynamic performance of multiple classes of vehicle on various driving surfaces. Exemplars are used to gather practical deceleration performance data, which can be examined and compared to the performance of traditional roadgoing automobiles
Swensen, Grant, Warner, Wyatt, Warner, Mark
Technical Paper
Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control2025-01-8300To be published on 04/01/2025
In this paper, a coordinated control strategy for the longitudinal, lateral, and vertical dynamics of distributed electric vehicles is proposed to comprehensively enhance vehicle handling, stability, and comfort. First, to analyze the vehicle's dynamic characteristics, a coupled vehicle dynamics model that incorporates longitudinal, lateral, and vertical dynamics is developed. Next, a vehicle motion controller is established based on model predictive control, which coordinates Active Front Steering, Direct Yaw Moment Control, Active Suspension System, and Anti-Slip Regulation modules through multi-objective optimization to improve vehicle coordination. To prevent tire slippage and lock-up, an optimized torque distribution method based on slip ratio feedback is proposed, constraining torque distribution by calculating the maximum transferable longitudinal force through the anti-slip control module. Finally, the control effectiveness of the proposed scheme is verified through Carsim
Jia, Jinchao, Yue, Yang, Sun, Aobo
Technical Paper
Tire Change Influence on Handling Performance2024-36-000412/20/2024
The tire is one of the components that is most influent on vehicle dynamics behavior and is a part that suffer wear and needs to be replaced. In this case what a doubt is always recurrent, keep the same tire or change the model or brand but keeping the sizes. Some vehicle owners want to change not only the worn-out tire but change its sizes for aesthetic proposals. There is a belief on the tire market if keeps the same outer diameter is acceptable. The proposal for this study is to compare the handling performance considering different sizes and models or brands of tires. For this study a vehicle modeled in multibody representing the vehicle mass inertias, suspension mechanisms kinematics and components dampers and stiffness will be the adopted tool. The constant radius and constant speed steady state maneuver defined by standard SAE J266 [1] was performed, on the virtual environment, changing the tire properties and comparing the key handling performance metrics as understeer gradient
Terra, Rafael Tedim, Chaves, Marilia, Santos, Alex Cardoso
Technical Paper
Parametrized Twist Beam Suspension for Enhanced Ride and Handling: A Design Iteration Approach2024-28-018112/05/2024
The parametrized twist beam suspension is a pivotal component in the automotive industry, profoundly influencing the ride comfort and handling characteristics of vehicles. This study presents a novel approach to optimizing twist beam suspension systems by leveraging parametric design principles. By introducing a parameter-driven framework, this research empowers engineers to systematically iterate and fine-tune twist beam designs, ultimately enhancing both ride quality and handling performance. The paper outlines the theoretical foundation of parametrized suspension design, emphasizing its significance in addressing the intricate balance between ride comfort and dynamic stability. Through a comprehensive examination of key suspension parameters, such as twist beam profile, material properties, and attachment points, the study demonstrates the versatility of the parametric approach in tailoring suspension characteristics to meet specific performance objectives. To validate the
Pakala, Pradeep Kumar, Ganesh, Lingadalu
Technical Paper
Real Time Vehicle State Estimation Using Error Map Function2024-28-026612/05/2024
The estimation of vehicle handling and control parameters in dynamic conditions is challenging due to errors and delays in real-time data logging with low-resolution onboard sensors. These issues significantly impact the performance of vehicle stability and control algorithms, particularly in vehicles under testing. This study presents error mapping concept parallel to statistical error method for real-time vehicle state estimation that addresses the limitations of low-resolution sensors with errors and delays in measured signal. In this study, a real-time (RT) model is developed and trained with in-house electric SUV to estimate yaw velocity and slip angle. The model leverages other measured signals available from the vehicle’s onboard sensor setup. It integrates an error and delay function with error predictive model to estimate the targeted parameter signal response in real time. The RT model introduces an error function method that enhances prediction accuracy by combining the
Kumar, Avinash, Asthana, Shivam, Rasal, Shraddhesh, M, Sudhan, Vellandi, Vikraman
Technical Paper
BALANCE OF PERFORMANCE PARAMETERS FOR SURVIVABILITY AND MOBILITY IN THE DEMONSTRATOR FOR NOVEL DESIGN (DFND) VEHICLE CONCEPTS2024-01-332011/15/2024
ABSTRACT This paper addresses the balance of performance parameters of occupant survivability and vehicle mobility during trade study analysis and simulation for the TARDEC Demonstrator for Novel Design (DFND) vehicle concepts. Occupant survivability and vehicle mobility are often competing attributes in the design of current armor protected tactical and combat ground vehicles. Increased armor weight and high stand-off height parameters are favorable for occupant survivability during underbelly blast events but are detrimental to vehicle dynamics mobility performance. TARDEC and Pratt & Miller Engineering are implementing a motorsports based design process and simulation approach using a holistic systems engineering trade study to develop potential concepts that maximize force protection, vehicle mobility, and vehicle survivability. A number of specialized simulation tools including hypervelocity explicit finite element analysis and multi-body simulation are used interactively to
Kaplin, Casey A., Houghton, Kristian B.
Technical Paper
Modeling of Bradley Tracked Vehicle Steering and Fuel Consumption with a Detailed Kinematic Model of the HMPT500-3 Transmission and Simplified Vehicle Dynamics2024-01-354111/15/2024
ABSTRACT The HMPT500-3 is a split torque path hydrostatic / mechanical CVT used in the Bradley Fighting Vehicle. A previous paper detailed a linear algebraic approach to model forward operation of the HMPT500-3 without steering using a reduced equation set. This model was expanded to the full equation set to allow transmission operation with steering. The equations showed that opposite to a typical automotive “open” differential, the HMPT500-3 enforces a speed difference between the sprockets for steering, but does not have an inherent torque bias. The typical regenerative steering torque from the decelerated inside track must be provided by interfacing with a vehicle model. A simplified 2-D planar dynamics model of the Bradley was developed to explore vehicle performance and fuel consumption with steering. The integrated model showed that fuel consumption during minimum radius turns can double that of straight-ahead operation at the same speed. Commercial vehicle performance codes
McGough, Matthew G
Technical Paper
Continuous Curvature Parking Path Planning for Unmanned Mining Trucks Using Transition Curves and Model Predictive Control02-18-01-000311/15/2024
Geometric methods based on Reeds–Shepp (RS) curves offer a practical approach for the parking path planning of unmanned mining truck, but discontinuous curvature can cause tire wear and road damage. To address this issue in mine scenario, a continuous curvature parking path planning method based on transition curve and model predictive control (MPC) is proposed for mine scenarios. Initially, according to the shovel position information issued by the cloud dispatching platform, a reference line is planned using RS curves. In order to mitigate the wear and tear of the tires and the damage to unstructured roads due to the in situ steering caused by the sudden change of the curvature, a transition curve consisting of clothoid–arc–clothoid that satisfies the kinematics of continuous vehicle steering is designed on the basis of RS curves to achieve the continuity of road curvature, which will contribute to the economy of tire and handling performance. The calculation of Fresnel integral
Zhang, Haosen, Chen, Qiushi, Wu, Guangqiang
Journal Article
A COMPARISON OF VEHICLE HANDLING FIDELITY BETWEEN THE GAZEBO AND ANVEL SIMULATORS2024-01-380611/15/2024
ABSTRACT This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators. Citation: R. Brothers, D. Bevly, “A Comparison of Vehicle Handling Fidelity Between the Gazebo and ANVEL Simulators”, In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019
Brothers, Robert, Bevly, David
Technical Paper
TERRAMECHANICS IMPACT OF THE WHEEL NORMAL REACTION ON MOBILITY AND STEERABILITY MARGINS2024-01-391011/15/2024
ABSTRACT The normal reaction force in the tire-soil patch is a continuously changing wheel parameter. When a vehicle moves over uneven ground, motion in the vehicle’s sprung and unsprung masses produce dynamic shifts in the magnitude of the load transmitted to the ground. With the damping force controlled for better ride quality, tight constraining of the sprung mass motion may lead to significant dynamic changes of the normal load. At excessive loads, the wheel can dig into the soil. Considerably reduced loads can negatively impact vehicle steerability and diminish traction performance. The purpose of this paper is to develop a method that allows for establishing boundaries of the dynamic normal reaction in the tire-soil patch on uneven terrain. The boundary constraints are considered for both maximum and minimum values to establish conditions for mobility and steerability. Using differential equations describing the motion two masses of a single-wheel module representing a vehicle
Paldan, Jesse, Vantsevich, Vladimir, Gorsich, David, Goryca, Jill, Singh, Amandeep, Moradi, Lee
Technical Paper
Novel Approach to Optimize the Ride Handling Performance by Reducing Vehicle Development Time and Cost2024-28-004310/17/2024
The automobile industry strives to develop high-quality vehicles quickly that fulfill the buyer’s needs and stand out within the competition. Full utilization of simulation and Computer-Aided Engineering (CAE) tools can empower quick assessment of different vehicle concepts and setups without building physical models. This research focuses on optimizing vehicle ride and handling performance by utilizing a tuning specifications range. Traditional approaches to refining these aspects involve extensive physical testing, which consumes both time and resources. In contrast, our study introduces a novel methodology leveraging virtual Subjective Rating through driving simulators. This approach aims to significantly reduce tuning time and costs, consequently streamlining overall development expenditures. The core objective is to enhance vehicle ride and handling dynamics, ensuring a superior driving experience for end-users. By meticulously defining and implementing tuning specifications, we
Ganesh, Lingadalu
Technical Paper
Enhancing Safety and Handling of Autonomous Vehicles in Simulated Traffic: A Co-Simulation Framework Using Multibody Dynamics and CARLA2024-28-002610/17/2024
In recent years, there has been an increased emphasis on autonomous driving technologies to improve vehicle road safety amidst rising traffic congestion and the complexities of intersection jaywalking and diverse road conditions. Therefore, improving the vehicle's handling ability is crucial for safe and efficient traffic navigation, particularly emphasising collision prevention and safety in unforeseen circumstances. Evaluating safety perspectives in such situations, the lane change event serves as an important measure for addressing the matter and forms the focus of this paper. However, for such new-age technology, conducting proving ground tests replicating urban conditions is a costly endeavour. Hence, simulation is a better approach, which can mimic real traffic conditions, develop control systems, and simulate vehicle handling behaviour all working together within a closed-loop system. An autonomous lane change manoeuvre event of a four-wheeled vehicle is created in a simulation
Mudaliyar, Ruthran, Karthikeyan, Vikram Raj, Gumma, Muralidhar, Gopakumar, Sreekanth
Technical Paper
Integrated Control of Intelligent Vehicle Driving Stability Using Three-Dimensional Phase Space10-09-01-000210/16/2024
To enhance vehicle dynamic stability during driving, we developed a three-dimensional phase space model that incorporates the sideslip angle of center of mass, yaw rate, and lateral load transfer rate. This model enabled real-time evaluation and active control of vehicle stability. First, longitudinal and lateral controllers were implemented to ensure precise vehicle trajectory. Second, a hierarchical control strategy was designed to actively manage the desired sideslip angle, yaw rate, and roll angle based on the vehicle’s destabilizing conditions, thereby maintaining the vehicle within a stable state space. We simulated and tested the stability analysis methods and integrated control strategies for both cars and trucks under DLC (double lane change) and CDC (circular driving condition) scenarios using joint simulations with CarSim/TruckSim and Simulink. The proposed integrated stability control strategy, which combined MPC-based trajectory tracking with direct yaw moment control and
Lai, Fei, Xiao, Hao, Huang, Chaoqun
Journal Article
Personalized Design of Variable Transmission Ratio and Selection Switching Strategies Considering Drivers’ Steering Characteristics10-08-04-002809/14/2024
In order to meet the driving characteristics and needs of different types of drivers and to improve driving comfort and safety, this article designs personalized variable transmission ratio schemes based on the classification results of drivers’ steering characteristics and proposes a switching strategy for selecting variable transmission ratio schemes in response to changes in driver types. First, data collected from driving simulator experiments are used to classify drivers into three categories using the fuzzy C-means clustering algorithm, and the steering characteristics of each category are analyzed. Subsequently, based on the steering characteristics of each type of driver, suitable speed ranges, steering wheel travel, and yaw rate gain values are selected to design the variable transmission ratio, forming personalized variable transmission ratio schemes. Then, a switching strategy for variable transmission ratio schemes is designed, using a support vector machine to build a
Chen, Chen, Zheng, Hongyu, Zong, Changfu
Journal Article
Subjective Rating Scale for Vehicle Ride and HandlingJ1441_202408 (Current)08/29/2024
This SAE Recommended Practice establishes a rating scale for subjective evaluation of vehicle ride and handling. The scale is applicable for the evaluation of specific vehicle ride and handling properties for specified maneuvers, road characteristics and driving conditions, and on proving ground and public roads. The validity of the evaluation is restricted to the individual ride and handling disciplines defined by these maneuvers and to the particular combination of conditions of the vehicle (e.g., equipment, degree of maintenance) and of the environment (e.g., road, weather). This rating scale may not be suitable for some applications, such as specific types of ride or handling qualities, driver populations and market segments, or for correlating with objective measures. Appendix A discusses rating scales that better suit such applications. This document is intended as a guide toward standard practice and is subject to change to keep pace with experience and technical advances
Vehicle Dynamics Standards Committee
Recommended Practice
Zero Prototype Summit 2024: THE FUTURE IS CLOSER THAN EVER24AUTP06_0206/01/2024
VI-grade introduced a Driver-in-Motion Full-Spectrum Dynamic Simulator for multi-attribute virtual tests. Despite rainy skies above northeastern Italy in mid-May, the mood at VI-grade's 2024 Zero Prototype Summit (ZPS) was decidedly sunny. VI-grade's partners from around the world were on hand to see the world premiere of the company's new Driver-in-Motion Full-Spectrum Dynamic Simulator (DiM FSS) that allows for multi-attribute applications. An update to VI-grade's advanced DiM units, the DiM FSS is a carbon fiber cockpit with shakers that can be mounted on top of VI-grade's existing dynamic simulators to provide NVH simulations at the same time as dynamic simulations
Blanco, Sebastian
Magazine Article
Mercedes unveils tech-heavy electric G-Class24AUTP06_1206/01/2024
Surrounded by celebrities in Beverly Hills, Mercedes-Benz unveiled the 2025 G 580 with EQ Technology on a dock in the middle of a reservoir. That mouthful of a name is met with a large offering of technology packed into the luxury off-roader. Sitting atop a 116-kWh capacity battery pack, four motors (one for each wheel), a redesigned rear axle system, and a sound system feature called G-Roar, the German utility vehicle is ready to tackle the great outdoors as well as Rodeo Drive. While its target audience in the United States will unlikely use any of the following features more than a few times a year, the transition from gas to battery has done nothing to reduce the vehicle's off-road capabilities. If anything, it's enhanced them
Baldwin, Roberto
Magazine Article
Control Strategy of Semi-Active Suspension Based on Road Roughness Identification10-08-02-001304/13/2024
Taking the semi-active suspension system as the research object, the forward model and inverse model of a continuous damping control (CDC) damper are established based on the characteristic test of the CDC damper. A multi-mode semi-active suspension controller is designed to meet the diverse requirements of vehicle performance under different road conditions. The controller parameters of each mode are determined using a genetic algorithm. In order to achieve automatic switching of the controller modes under different road conditions, a method is proposed to identify the road roughness based on the sprung mass acceleration. The average of the ratio between the squared sprung mass acceleration and the vehicle speed within a specific time window is taken as the identification indicator for road roughness. Simulation results show that the proposed road roughness identification method can accurately identify smooth roads (Class A–B), slightly rough roads (Class C), and severely rough roads
Feng, Jieyin, Yin, Zhihong, Xia, Zhao, Wang, Weiwei, Shangguan, Wen-Bin, Rakheja, Subhash
Journal Article
Development of simulation methodology to evaluate Leaf Spring strength and predict the Leaf Interface stresses and correlating with test2024-01-273504/09/2024
Leaf Springs are commonly used as a suspension in heavy commercial vehicles for higher load carrying capacity. The leaf springs connect the vehicle body with road profile through the axle & tire assembly. It provides the relative motion between the vehicle body and road profile to improve the ride & handling performance. The leaf springs are designed to provide linear stiffness and uniform strength characteristics throughout its travel. Leaf springs are generally subjected to dynamic loads which are induced due to different road profiles & driving patterns. Leaf spring design should be robust as any failure in leaf springs will put vehicle safety at risk and cost the vehicle manufacturer their reputation. The design of a leaf spring based on conventional methods predicts the higher stress levels at the leaf spring center clamp location and stress levels gradually reduce from the center to free ends of the leaf spring. In RWUP conditions, the failures of leaf spring can occur at the
Balasubramani, Sritharkumar, S Kangde, Suhas, Mohapatra, Durga Prasad, M, Ayyappadas
Technical Paper
Implementation of a Driver-in-the-Loop Methodology for Virtual Development of Semi-Active Dampers2024-01-275904/09/2024
In today’s rapidly evolving automotive world, reduction of time to market has prime importance for a new product development. It is critical to have significant front-loading of the development activities to reduce development time while achieving best in class performance targets. Driver-in-the-loop (DIL) simulators have shown significant potential for achieving it, through real time subjective feedback at preliminary stages of the vehicle development. Recent advances in technology of driving simulators have enabled quite accurate representation steering and handling performance, also good prediction on primary ride and low frequency vibrations. In conventional damper development, the definition of the initial dampers tuning specifications typically requires a mule vehicle, or atleast, a comparable vehicle. However, this approach is associated with protracted iterations that consume substantial time and cost. This becomes even more critical when introducing new damper technology on
Rasal, Shraddhesh, Asthana, Shivam, Vellandi, Vikraman, Arconada, Verónica Santos, Tosolin, Guido
Technical Paper
Compatibility between Handling Agility and Stability of Vehicle using Rear Wheel Steering with Dual-Link Actuators2024-01-276104/09/2024
The experimental control findings of increasing the handling performance so that the yaw motion of the vehicle is nimble and stable utilizing the upgraded rear wheel steering system equipped with dual-link actuators are shown in this work. In most automobiles, the steering axis is well defined in front suspension. However, unless the vehicle's rear suspension is a sort of double wishbone, the steering axis is not clearly defined in regular multi-link rear suspensions. As a result, most current automobiles have a suspension geometry feature in which the camber and toe angles change at the same time when the assist link is changed to steer the back wheels. To create lateral force from the rear tire while preserving maximum tire grip, the dual-link actuators control for modifying the strokes of suspension links must keep the camber angle constant and adjust only the toe angle. The relationship between the motion of two suspension link actuators and the camber angle/toe angle is found in
Park, Jaeyong, Na, Sungsoo
Technical Paper
Electrification and Control of a 1:5 Scale Vehicle for Automotive Testing Methodologies2024-01-227104/09/2024
The design and testing of innovative components and control logics for future vehicular platform represents a challenging task in the automotive field. The use of scale model vehicles constitutes an interesting alternative for testing assessment by decreasing time and cost efforts with a potential benefit in terms of safety. The target of this research work is the development of a customized scale vehicle platform for verifying and validating innovative control strategies in safe conditions and with cost reduction. Consequently, the electrification of a radio-controlled 1:5 scale vehicle is carried out and a customized remote real-time controller is installed onboard. One of the main features of this commercial product is its modular characteristics that allows the modification of some component properties, such as the viscous coefficient of the shock absorbers, the stiffness of the springs and the suspension geometry. The original vehicle is equipped with a 2-stroke internal
Vella, Angelo Domenico, Biondo, Luca, Tota, Antonio, Vigliani, Alessandro
Technical Paper
Dynamic Yaw Rate Regulation for Moderate Understeer in Four-Wheel Steering Vehicles with Zero Sideslip Angle2024-01-251604/09/2024
The pursuit of maintaining a zero-sideslip angle has long driven the development of four-wheel-steering (4WS) technology, enhancing vehicle directional performance, as supported by extensive studies. However, strict adherence to this principle often leads to excessive understeer characteristics before tire saturation limits are reached, resulting in counter-intuitive and uncomfortable steering maneuvers during turns with variable speeds. This research delves into the phenomenon encountered when a 4WS-equipped vehicle enters a curved path while simultaneously decelerating, necessitating a reduction in steering input to adapt to the increasing road curvature. To address this challenge, this paper presents a novel method for dynamically regulating the steady-state yaw rate of 4WS vehicles. This regulation aims to decrease the vehicle's sideslip angle and provide controlled understeer within predetermined limits. As a result, the vehicle can maintain a zero-sideslip angle during turns with
Guan, Yihang, Zhou, Hongliang, Jing, Houhua, Miao, Weiwei
Technical Paper
Enhancing Vehicle Architecture Development: A Robust Approach to Predicting Ride and Handling Performance and Optimization through Reliability Analysis2024-01-242304/09/2024
Global automobile manufacturers are increasingly adopting vehicle architecture development systems in the early stages of product development. This strategic move is aimed at rationalizing their product portfolios based on similar specifications and functions, with the overarching goal of simplifying design complexities and enabling the creation of scalable vehicles. Nevertheless, ensuring consistent performance in this dynamic context poses formidable challenges due to the wide range of design possibilities and potential variations at each development stage. This paper introduces an efficient reliability analysis process designed to identify and mitigate the distribution of Ride and Handling (R&H) performance. We employ a range of reliability analysis techniques, including Latin Hypercube Sampling and the enhanced Dimension Reduction (eDR) method, utilizing various types of models such as surrogate models and multi-body dynamics models. This approach is applied to predict R&H
Ji-In, Jung
Technical Paper
Impacts of Dynamic Toe Angle Variations on Four-Wheel Independent Steering Control and their Optimization Strategies2024-01-232104/09/2024
Compared to traditional vehicles, four-wheel independent drive and four-wheel independent steering (4WID-4WIS) vehicles have gained significant attention from researchers due to their enhanced control flexibility and superior handling performance. The steering angle deviation caused by dynamic toe angle changes in two-wheel steering (2WS) systems is often minimal and hence overlooked. However, the impact becomes notably significant in 4WIS systems. This article contrasts the tire slip angle differences between 2WS and 4WIS, and delves into the effects of dynamic toe angle variations on 4WIS control. Solutions are proposed both in terms of steering angle control and suspension design. Firstly, a dynamic model for the 4WID-4WIS vehicle is established. Secondly, a hierarchical tire force distribution strategy is designed for trajectory tracking. The upper layer utilizes a sliding mode controller and PID controller to determine the total required longitudinal, lateral forces, and yaw
Lu, Ao, Li, Runfeng, Yu, Yunchang, Ji, Wenfei, Hou, Yufeng, Tian, Guangyu
Technical Paper
Research on the Control Strategy for Handling Stability of Electric Power Steering System with Active Front Wheel Steering Function10-08-01-000602/07/2024
Due to the presence of uncertain disturbances in the actual steering system, disturbances in the system may affect the handling stability of the vehicle. Therefore, this article proposes an integrated steering system control strategy with stronger anti-disturbance performance. When disturbances exist in the system, the proposed control strategy effectively reduces the attitude changes during the vehicle steering process. In the upper-level control strategy, a variable transmission ratio curve is designed to coordinate the high-speed handling stability and low-speed steering sensitivity of the vehicle. On this basis, a sideslip angle observer is proposed based on the extended state observation theory, which does not depend on an accurate system model, thus determining the intervention timing of the active front wheel steering system. In the lower-level control strategy, DR-PI/DR-PID controllers are designed for the integrated steering system. Finally, experiments are conducted in the
Wei, JinCheng, Zheng, Zhu’An, Chen, JiaLing
Journal Article
A Novel Method to Assess 4WS Vehicle Stability Based on Vehicle Sideslip Angle and Angular Velocity Phase Plane Method2024-01-500401/18/2024
Vehicle dynamic control could improve vehicle performance. Vehicle stability is vital to the determination of vehicle dynamic control strategy. The phase plane method is one of the most common methods to judge vehicle stability. To determine the 4WS (four-wheel steering) vehicle stability status faster and more accurately, a novel method to assess the vehicle stability is based on the vehicle sideslip angle and angular velocity ( β-β˙) phase plane. At first, the 2 DOF (degree of freedom) model with a nonlinear tire model is established to acquire β-β˙ phase plane. Then the boundary of the stability region generated by the current method is compared. A crosspoint-ellipse method is provided based on the boundary comparison with the ideal boundary. The boundary function determined by the crosspoint-ellipse method is fitted based on vehicle dynamic theory and the boundary analysis with different steering angles, velocity, and road adhesion coefficient. At last, the transition area between
Peng, Dengzhi, Xia, Zuguo, Wang, Long, Liu, Qing
Technical Paper
A Novel Method for Evaluation of Tire Structural Durability Performance2024-26-035801/16/2024
In a vehicle, tire is a safety critical component and hence its structural durability performance is of paramount interest to the vehicle users. Therefore, ensuring durability performance is an essential criterion to prevent fatal accidents, unusual road delays, etc. Generally, tire structural durability or endurance performance is ascertained in the indoor laboratory by freely rotating the tire on a smooth steel road wheel. The tire runs straight ahead at a fixed speed and load is applied incrementally till failure or pre-defined level (fixed load step or fixed running kilometer). Although the test conditions used in these types of tests take care of certain parameters but it requires inclusion of additional parameters to simulate more realistic tire operational conditions. One such parameter is camber angle in a vehicle, which is kept non-zero values (positive or negative) to achieve desired vehicle handling performance. Further, the roadways are also having in-built camber to
Upadhyay, Arpit, Kumar, Satheesh, Garg, Raghav, Ray, Kanai Lal, Ghosh, Prasenjit, Mukhopadhyay, Rabindra
Journal Article
Adaptive Steering System for Improved User Experience2024-26-002301/16/2024
The steering system of an automobile serves as the initial point of contact for the driver and is a crucial determinant in the purchasing choice of the vehicle. The present steering system is equipped with a singular Electric Power Assisted Steering (EPAS) map, resulting in a consistent steering sensation during maneuvers conducted at both low and high velocities. Certain vehicles are equipped with a steering system that includes fixed driving modes that require manual intervention. This paper presents a proposed Machine Learning based Adaptive Steering System that aims to address the requirements and limitations of fixed mode steering systems. The system is designed to automatically transition between comfort and sports modes, providing users with the desired soft or hard steering feel. The system utilizes vehicle response to driver input in order to identify driving patterns, subsequently adjusting steering assist and torque automatically. The system consists of driving pattern
Deore, Dhruv, Iqbal, Shoaib, Bhambri, Mihir, Sheth, Malav, Salunkhe, Swapnil
Technical Paper
Experimental Analysis of Multi-Link Rigid Axle Suspension Camber Variation with Vehicle Load2024-26-005401/16/2024
Increased popularity on SUV category in the market has led to high focus on performance attributes of SUVs. Considering high weight & CoG achieving target handling performance is always a challenge. Static Wheel Alignment parameters, especially Camber have shown significant contribution in Handling attributes of vehicle. This paper presents an experimental study on change in wheel camber under the influence of different vehicle loading conditions. In SUVs, generally wheel is subjected to large deflection from its high static loads which makes it quite difficult to maintain an ideal camber angle. Hence, it is important to analyze the camber angle variations under actual loading conditions. An in-house fixture is developed to emulate the actual vehicle loading conditions at rear wheel end. The multi-link rigid axle suspension with watt’s link assembly is mounted on the chassis-frame which is rigidly fixed to ground, and loads are achieved through hydraulic actuators at Wheels. Axle
Jani, Harshil, Rasal, Shraddhesh, Hussain, Inzamam, Asthana, Shivam, Ahire, Manoj, Vellandi, Vikraman, Senniappan, Moorthy
Technical Paper
A Study on Traction Battery Mounting Arrangements in Different EV Buses2024-26-012101/16/2024
Adaption of EV powertrains in existing vehicle architecture has created many unique challenges in meeting performance, reliability, safety, ease of manufacturing & serviceability at optimum cost. Mounting of large size battery packs in existing vehicle architecture is one of them. Specific energy & the energy density of Lithium ion batteries are very lower compared to Diesel & Petrol, which requires high volume & weight for equivalent energy storage. For movement of many passengers and to ensure sufficient range EV buses typically needs large amount of energy and for storage of same bigger size battery packs are required. These large size batteries directly affect vehicle architecture, seating layout, ease of assembly & serviceability. Moreover the heavy mass of batteries directly influences vehicle dynamics & performance characteristics such as vehicle handling, roll & NVH. The most important consideration in design of EV vehicles in general and buses in specific is safety. Protection
Jain, Gaurav, Pathak, Rahul, Gore, Pandurang
Technical Paper
New Generation Front Axle for EV and FCEV Buses2024-26-032101/16/2024
Front axle is one of the major load-carrying members of Heavy Commercial Buses. With the conversion of the Power train from ICE to Battery electric vehicle, there is a marginal increase in front axle weight due to the Electric and Fuel Cell Electric vehicle architecture. This paper describes various methodologies deployed in front axle design to enhance the Axle durability performance, improve vehicle handling, and lower the total cost of ownership. A Lightweight heavy-duty front axle beam has been designed and validated, digitally and at test bench level for a 12m long low floor EV and FCEV Bus used for mass transportation. Also, major components like stub axle, hub, steering arm, tie rod arm, and tie rod assembly are analyzed for strength, durability, fatigue life, and joint analysis. Fatigue behavior is evaluated in differently manufactured components. Also, the strength of the axle beam is compared for different cross sections for weight optimization and durability improvement. The
Salunkhe, Amarsinh, Kumar, N Ganesh
Technical Paper
Influence of Rear Suspension Local Stiffness on Full Vehicle Ride & Handling Performance2024-26-006101/16/2024
One of the biggest challenges for automotive industry is with respect to material saving and to have control on cost of development and still meeting performance in each aspect. Stringent weight targets help industries to have good margin on component costs. In recent times we have seen vehicle underbody contribution to total vehicle is significant in range of 12% to 18%. Total weight directly impacts the range of electric vehicle which is a key metric for success from real-world usage point of view and customer appeal. Hence control on suspension and frame design for light weighting is prominent trend in industry, this leads to deterioration of suspension compliance as well as vehicle ride and handling performance. Sub-frame and knuckle play crucial role in definition of overall suspension stiffness. Present Study focusses on electric vehicle rear cradle design for weight saving with minimum reduction of stiffness. Understanding compliance which obtained from frame\cradle in vehicle
Asthana, Shivam, Rasal, Shraddhesh, Nidasosi, Basavraj, V, Jesse Daniel, Ganesh, Lingadalu, Ramkumar, J, Nayak, Bhargav, M, Sudhan, Vellandi, Vikraman
Technical Paper
Effect of Lift Axle Suspension Design on Heavy Commercial Vehicle Handling Performance2024-26-004901/16/2024
The cost of fuels used for automobile are rising in India on account of high global crude oil prices. The fuel cost constitutes major portion of total cost of operation for Heavy commercial vehicles. Hence, the trend is to carry the goods transport through higher payload capacity rigid/straight trucks that offer lower transportation cost per unit of goods transported. This is driving the design of multi-axle heavy trucks that have lift axles. In addition, improved network of highways and road infrastructure is leading to increase in average operating speed of heavy commercial vehicles. It has made increased focus on occupant as well as road safety while designing the heavy trucks. Hence, the analysis of lift axle suspension from the point of view of vehicle handling and stability is essential. There are two basic kinds of lift axle designs used in heavy commercial vehicles: self-steered lift axle having single tire on each side and non-steered lift axle with dual tires on each side
Vichare, Chaitanya Ashok, Raval, Chetan, Patil, Sudhir
Technical Paper
A Comparative Study of Vehicle Handling Characteristics of Commercial Vehicle with Innovative Nonlinear Stiffness Mono-Leaf Suspension & Parabolic Spring Suspension through Simulation2024-26-005701/16/2024
In recent years due to significant increased cost of raw material, fuel and energy, vehicle cost is increased. As vehicle cost is one of the major factors that attracts prospective buyers, it has created specific demand for low weight and low-cost components than traditional components with better performance to meet customer expectations. Suspension is one of the critical aggregates where lot of material is used and reduction in weight tends to give lot of cost benefit. As suspension system derives vehicle’s handling performance, it has to be ensured that handling performance of vehicle is maintained the same or made better while reducing weight of the suspension. Advancements in simulation capabilities coupled with manufacturing technology has enabled development non-traditional leaf springs. One of such springs is mono-leaf spring without shackle. This type of leaf spring provides advantages such as low weight and nonlinear stiffness. Hence, this type of spring can cater the need of
Pandhare, Vinay Ramakant, Tiwari, Chaitanya, Deore, Yogesh, Khandekar, Dhiraj
Technical Paper
Methods to Enhance Vehicle Handling by Improving Steering on Centre Feel and Return Ability in Commercial Vehicles Equipped with Hydraulic Assisted Steering System2024-26-005201/16/2024
With rapid improvement in the road infrastructure the average turnaround time of the cargo vehicles has been reduced by 25%.New generation commercial vehicles has better power to weight ratio by integrating high horse power engines. With this latest vehicle configuration average speed of fleet is increased by 30% and more focus is provided towards vehicle safety and handling. Driver confidence on vehicle handling improves with better on Centre feel and return ability, these two parameters are easily tunable with modern electric power assisted steering system, whereas with hydraulic power assisted system these parameters optimization have adverse effect on other steering performance. This paper covers study of following parameters of hydraulic assisted steering system and its optimization on vehicle handling. 1. Steering Gearbox torsion bar stiffness 2. Steering pump flow 3. Caster angle 4. Steering Gearbox valve curve 5. Steering components compliance Base vehicle level objective
K, Arun Kumar, Chikate, Abhishek, Kumar, Ganesh
Technical Paper
Computational Study on the Handling Performance of 125 cc Scooter to Electric Propulsion Using BIKESIM TM2023-28-015811/10/2023
The penetration of Electric vehicle market in India has given rise to an eco-friendly, efficient mode of transport. This work aims to answer the question of whether a powertrain change from an internal combustion engine to electric motor in an existing IC powered 125cc scooter, will change the handling performance of the vehicle. This work was carried out using multi-body dynamics simulation software called BIKESIMTM. The moments of inertia and mass properties were identified by modelling the vehicle chassis, along with the two different powertrains. A 15.6% increase in the overall mass of the vehicle and a 5% increase in the moments of inertia in the pitch, roll and yaw directions when the powertrain is changed from ICE to electric. A slalom test simulation in BIKESIMTM was used to evaluate the differences in maneuverability when the powertrains were changed. The observations from the simulation show a significant change of around 20% in the lateral acceleration, 16.5% in steer angle
K V, Thehaleesan, Sankarasubramanian, Hariharan
Technical Paper
Analytical and Experimental Handling Performance of Ultra-Efficient Lightweight Vehicles2023-24-013508/28/2023
The rising environmental awareness has led to a growing interest in electric and lightweight vehicles. Four-wheeled Ultra-Efficient Lightweight Vehicles (UELVs) have the potential to improve the quality of urban life, reduce environmental impact and make efficient use of land. However, the safety of these vehicles in terms of dynamic behaviour needs to be better understood. This paper aims to provide a quantitative assessment of the handling behaviour of UELVs. An analytical single-track model and a numerical simulation by VI-CarRealTime are analysed to evaluate the dynamic performance of a UELV compared to a city car. This analysis shows that the lightweight vehicle has a higher readiness (i.e. lower reaction time to yaw rate) for step steering and lower steering effort (i.e. higher steady-state value). Experimental analysis through real-time driving sessions on the Dynamic Driving Simulator assesses vehicle responses and subjective perception for different manoeuvres. The driving
Musso, Emanuele, Previati, Giorgio, Mastinu, Gianpiero
Journal Article
A Spline-Based Analytical Model for the Design of an Automotive Anti-Roll Bar2023-01-066904/11/2023
The new corner-based architecture of electrified road vehicles requires a redesign of vehicle suspension components. The design protocol must satisfy the target parameters derived from dynamics requirements. The roll stiffness of the anti-roll bar is a crucial parameter for the handling performance of a vehicle. During the development of a new suspension, the design of the anti-roll bar needs to be modified. To this aim, two-dimensional beam theory models can quickly provide a preliminary design of this component. However, the simplified models might be inaccurate due to the three-dimensional and complex shapes of the bars. The present study aims to overcome this limitation. An analytical beam model based on the spline description of the bar has been developed, which is accurate even for complex geometries of the bars. Assuming a hollow and closed circular cross-section, the model returns the average diameter and the radial thickness needed to achieve the stiffness performance. Three
Chiari, Alessandro, Mantovani, Sara, Skrickij, Viktor, Boulay, Emilie
Technical Paper
Ansys Driver Development: A General Purpose Driver for Handling and Rough Road Simulations2023-01-077604/11/2023
A driver model in multibody dynamic analysis software is to run a vehicle dynamics model in various customer applications: handling events such as lane changes and circle turns, and durability events such as Belgian blocks, hill courses, driveways, and race tracks. Ansys Motion is a robust multibody dynamic analysis software for many applications including vehicle dynamics simulations. This paper discusses Ansys Driver development in Ansys Motion. It addresses developments of critical driver features: identification of vehicle handling capability, a path planning from complex road profiles, an analog filter design, and a longitudinal and lateral control of vehicle models. It also discusses how to achieve the robustness of the driver model for various customer simulation scenarios not affecting simulation output due to too much driver control. This study presents a couple of examples of handling and durability event simulations. Ansys Driver has a robust path following using an optimal
Hong, Hyung-Joo, Jun, Hyochan, Lee, Changwook
Journal Article
Simulation Study of Vehicle Handling Characteristics on Snowy and Icy Terrain2023-01-090204/11/2023
Safety is considered one of the most important parameters when designing a ground vehicle. The adverse effect of weather on a vehicle can lead to a surge in safety issues and accidents. Several safety assistance systems are available in modern vehicles, which are designed to lessen the negative effects of weather hazards. Although these safety systems can intervene during crucial conditions to avoid accidents, driving a vehicle on snowy or icy terrain can still be a challenging task. Road conditions with the least tire-road friction often results in poor vehicle handling, and without any kind of safety system it can lead to mishaps. With the use of Adams Car software and vehicle dynamics modeling, a realistic relationship between the vehicle and road surface may be established. The simulation can be used to have a better understanding of vehicle handling in snowy and icy conditions, tire-ice interaction, and tire modeling. In this work a vehicle dynamics model is created using the
Tekade, Shantanu Gajanan, Sequeira, Criston, Bastiaan, Jennifer
Technical Paper
Development of Automated Driveability Rating System2023-01-042704/11/2023
Trained human raters have been used by organizations such as the Coordinating Research Council (CRC) to assess the vehicle driveability performance effect of fuel volatility. CRC conducts workshops to test fuel effects and their impact on vehicle driveability. CRC commissioned Southwest Research Institute (SwRI) to develop a “Trick Car” vehicle that could trigger malfunctions on-demand that mimic driveability events. This vehicle has been used to train novice personnel on the CRC Driveability Procedure E-28-94. While largely effective, even well-trained human raters can be inconsistent with other raters. Further, CRC rater workshop programs used to train and calibrate raters are infrequent, and there are a limited number of available trained raters. The goal of this program was to augment or substitute human raters with an electronic driveability sensing system. The Automated Driveability Rating System (ADRS) was developed for Light Duty (LD) vehicles and can identify and rate fuel
Gankov, Stanislav, Gunter, Garry, Kyler, CeCe, Rengarajan, Sankar, Rao, Sandesh
Technical Paper
A Methodology for Multi-Objective Design Optimization (MDO) of Automotive Suspension Systems2023-01-002404/11/2023
Original Equipment Manufacturers (OEMs) should innovate ways to delight customers by creating affordable products with improved drive experience and occupant comfort. Vehicle refinement is an important initiative that is often take-up by the project teams to ensure that the product meets the customer’s expectations. A few important aspects of vehicle refinement include improving the Noise Vibration Harshness (NVH), ride and handling performance pertaining to the Functional Image (FI) of the product. Optimizing the suspension design variables to meet both ride and handling performance is often challenging as improving the ride will have a deteriorating effect on handling and vice-versa. The present work involves Multi-Objective Design Optimization (MDO) of the suspension system of an automotive Sports Utility Vehicle (SUV) platform considering both ride and handling requirements, simultaneously. Using advanced simulation tools (ADAMS) and a Design of Experiments (DoE) based approach
Ganesh, Lingadalu
Technical Paper
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