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Tunay, T., Drugge, L. & O'Reilly, C. J. (2024). The Effects of Different Drivers’ Steering Inputs on the Response of Heavy Ground Vehicles to Crosswind Disturbances. Applied Sciences, 14(1), Article ID 270.
Open this publication in new window or tab >>The Effects of Different Drivers’ Steering Inputs on the Response of Heavy Ground Vehicles to Crosswind Disturbances
2024 (English)In: Applied Sciences, E-ISSN 2076-3417, Vol. 14, no 1, article id 270Article in journal (Refereed) Published
Abstract [en]

The general approach in the previous studies was to ignore the driver’s steering contribution to a vehicle while investigating the interactions between crosswind and vehicle. Therefore, the goal of this study is to find out how steering inputs by drivers affect a heavy-ground vehicle’s dynamic reaction to crosswinds. In the investigation, a two-way interaction between vehicle dynamics and aerodynamic simulations was employed. The steering inputs of drivers were modelled using a driver model taken from the previous literature that is able to reproduce the steering responses of a human driver. The study’s findings demonstrated that the steering inputs made by drivers significantly impacted how the vehicle responded to crosswinds. For instance, the greatest lateral displacement of the least skilled driver (Driver 1) was around 1.53 times the greatest lateral displacement of the most skilled driver (Driver 3) at the delay time of t_δ,delay = 0.5 s in the steering input. Additionally, the maximum lateral displacement results of Driver 1 and Driver 3 at t_δ,delay = 1.0 s became 1.39 and 1.56 times greater than their maximum lateral displacement results at tδ,delay = 0.5 s. Similarly, the total steering inputs of Driver 1 and Driver 3 at t_δ,delay = 1.0 s were 1.4 and 2.2 times greater than their total steering inputs at t_δ,delay = 0.5 s, respectively. In general, the results of a driver who is more skilled than Driver 1 (Driver 2) fall in between the respective results of Driver 1 and Driver 3. On the other hand, each driver’s total steering inputs at t_δ,delay = 0.5 s were roughly the same as their total steering inputs at t_δ,delay = 0 s. In all delay scenarios for the start of the driver’s steering inputs, the drivers’ steering inputs amplified the yaw moment applied to the vehicle. Meanwhile, they diminished the lateral force and roll moment.

Place, publisher, year, edition, pages
MDPI AG, 2024
Keywords
coupled simulation, crosswind, driver model, driver behaviour, heavy-ground vehicle
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-341970 (URN)10.3390/app14010270 (DOI)
Note

QC 20240109

Available from: 2024-01-09 Created: 2024-01-09 Last updated: 2024-03-18Bibliographically approved
Zhao, L., Nybacka, M., Rothhämel, M. & Drugge, L. (2023). Influence of sound, vibration, and motion-cueing feedback on driving experience and behaviour in real-life teleoperation. In: : . Paper presented at The 28th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks, August 21-25, 2023 Ottawa, Canada.
Open this publication in new window or tab >>Influence of sound, vibration, and motion-cueing feedback on driving experience and behaviour in real-life teleoperation
2023 (English)Conference paper, Oral presentation with published abstract (Other academic)
Abstract [en]

Driving feedback is an important way of providing remotedrivers with physical world information during teleoperation. In thisstudy, a teleoperation experiment is conducted to explore how sound,vibration and motion-cueing feedback influence the drivers’ driving experience and behaviour. To this end, four types of driving feedback modesare used as variables to investigate this, including no feedback, motioncueing feedback, sound and vibration feedback, and a combination ofsound, vibration, and motion-cueing feedback. A prototype of teleoperation platform is first built, which includes a teleoperated vehicle anda driving station capable of generating sound, vibration, and motioncueing feedback. Then, the scenario with disturbances is built to investigate how the driving behaviour changes under various driving feedbackmodes. Both subjective and objective assessments are used in this study.For driving experience, the driving feeling, such as presence feeling, roadsurface feeling, etc, are explored. For driving behaviour, the throttle reversal rate is investigated. Furthermore, the relationship between throttle reversal rate and driving experience is studied. The results show thatthe combined feedback mode could provide drivers with the highest rateddriving experience; the motion-cueing feedback could provide better roadsurface feeling while the sound and vibration feedback could provide better speed feeling. The throttle reversal rate with motion-cueing feedbackis higher than without it, which may be caused by the increased roadsurface feeling provided by motion cues.

Keywords
Teleoperation, driving feedback, driving experience, driving behaviour, motion-cueing feedback, sound and vibration feedback, subjective assessment, objective assessment
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-335396 (URN)
Conference
The 28th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks, August 21-25, 2023 Ottawa, Canada
Funder
Vinnova, 202201647
Note

QC 20230908

Available from: 2023-09-06 Created: 2023-09-06 Last updated: 2023-09-08Bibliographically approved
Zhang, W., Drugge, L., Nybacka, M. & Jerrelind, J. (2023). Integrated control of motion actuators for enhancing path following and yaw stability of over-actuated autonomous vehicles. Energies, 16(12)
Open this publication in new window or tab >>Integrated control of motion actuators for enhancing path following and yaw stability of over-actuated autonomous vehicles
2023 (English)In: Energies, E-ISSN 1996-1073, Vol. 16, no 12Article in journal (Refereed) Published
Abstract [en]

Advanced active safety systems play a crucial role in ensuring the safe driving of vehicles in critical conditions such as an obstacle avoidance manoeuvre. However, conventional techniques relying mainly on braking interventions may not result in the desired vehicle response in such situations. Over-actuation through the control of individual motion actuators could potentially improve the safety performance of vehicles. This study evaluates various configurations of motion actuators for path following and yaw stability control of vehicles in critical driving scenarios. The configurations include active front steering (S), active front steering + torque vectoring (ST), active front steering + active camber (SC) and active front steering + torque vectoring + active camber (STC). The evaluation is achieved based on a nonlinear model predictive control formulation, which considers yaw stability and the physical limits of motion actuators. This problem formulation uses a double-track vehicle model, combined with the Dugoff tyre model and its variant with the camber effect, to model the vehicle dynamics. The actuator configurations are evaluated regarding the passing velocity, tracking accuracy, safety distance and robustness to reference trajectory variation. The results indicate that the integrated control of STC performs the best among all the four configurations while S performs the worst. Furthermore, SC is generally superior to ST.

Place, publisher, year, edition, pages
MDPI, 2023
Keywords
Integrated control, yaw stability, path following, over-actuation, nonlinear model predictive control, autonomous vehicle, electric vehicle
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering; SRA - Transport
Identifiers
urn:nbn:se:kth:diva-311845 (URN)10.3390/en16124776 (DOI)001017012600001 ()
Funder
TrenOp, Transport Research Environment with Novel Perspectives
Note

QC 20220523

Available from: 2022-05-04 Created: 2022-05-04 Last updated: 2023-08-28Bibliographically approved
Hyttinen, J., Ussner, M., Österlöf, R., Jerrelind, J. & Drugge, L. (2023). Truck tyre transient rolling resistance and temperature at varying vehicle velocities: Measurements and simulations. Polymer testing, 122, Article ID 108004.
Open this publication in new window or tab >>Truck tyre transient rolling resistance and temperature at varying vehicle velocities: Measurements and simulations
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2023 (English)In: Polymer testing, ISSN 0142-9418, E-ISSN 1873-2348, Vol. 122, article id 108004Article in journal (Refereed) Published
Abstract [en]

Rolling resistance is causing a significant part of the energy consumption in truck applications, especially at lowspeed levels. To be able to better estimate the energy consumption or remaining driving range, the truck tyre rolling resistance must be understood well. Temperature is a vital parameter for rolling resistance estimations. This article shows truck tyre rolling resistance and temperature measurements in a climate wind tunnel and simulations of tyre temperature and rolling resistance. During the climate wind tunnel tests, tyre temperature at the shoulder and tread was measured. In addition, on-road driving was conducted with inner-liner infrared temperature measurements. Tyre temperature simulations were conducted using a thermal tyre model with speed-variable thermal inertia. The comparison of tyre temperature simulations with measured inner-liner and shoulder temperatures showed good agreement with the test data. The rolling resistance was simulated using the principle of time-temperature superposition, and a master curve for rolling resistance and a curve for tyre temperature shift were constructed. These curves were used to simulate rolling resistance at a wide range of speed levels with good agreement to the experimental results. The investigation showed that the tyre shoulder temperature is a better indicator of rolling resistance than infrared measurements from the tyre tread.

Place, publisher, year, edition, pages
Elsevier BV, 2023
Keywords
Transient rolling resistance, Thermal model, Truck tyre, Tyre testing, Climate wind tunnel, Tyre temperature
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-327441 (URN)10.1016/j.polymertesting.2023.108004 (DOI)000972502600001 ()2-s2.0-85151450750 (Scopus ID)
Note

QC 20230908

Available from: 2023-05-29 Created: 2023-05-29 Last updated: 2023-09-08Bibliographically approved
Papaioannou, G., Ning, D., Jerrelind, J. & Drugge, L. (2022). A K-Seat-Based PID Controller for Active Seat Suspension to Enhance Motion Comfort. SAE International Journal of Connected and Automated Vehicles, 5(2)
Open this publication in new window or tab >>A K-Seat-Based PID Controller for Active Seat Suspension to Enhance Motion Comfort
2022 (English)In: SAE International Journal of Connected and Automated Vehicles, ISSN 2574-0741, Vol. 5, no 2Article in journal (Refereed) Published
Abstract [en]

Autonomous vehicles (AVs) are expected to have a great impact on mobility by decreasing commute time and vehicle fuel consumption and increasing safety significantly. However, there are still issues that can jeopardize their wide impact and their acceptance by the public. One of the main limitations is motion sickness (MS). Hence, the last year's research is focusing on improving motion comfort within AVs. On one hand, users are expected to perceive AVs driving style as more aggressive, as it might result in excessive head and body motion. Therefore, speed reduction should be considered as a countermeasure of MS mitigation. On the other hand, the excessive reduction of speed can have a negative impact on traffic. At the same time, the user's dissatisfaction, i.e., acceptance and subjective comfort, will increase due to a longer journey time. Therefore, additional approaches to mitigating MS should be considered without affecting journey time, such as vehicle and seat suspension designs. In this direction, this article investigates a novel active seat suspension (ActiveK) that operates according to K-seat. The K-seat is a novel passive isolator with negative stiffness (NS) elements proven to enhance comfort, but has difficulties in design, which can be overcome with ActiveK. The ActiveK-seat is benchmarked against a passive seat model, a semi-active model with a continuously controllable electromagnetic damper (EMD), and a simple active model. The seat models are not only compared with regard to comfort but also for their ability to mitigate MS while the vehicle is driving on a real road path with a Class C road roughness. The results are very promising and show up to a 70% and 25% decrease in metrics for discomfort and MS incidence, respectively, compared to the rest of the seat model.

Place, publisher, year, edition, pages
SAE International, 2022
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-309399 (URN)10.4271/12-05-02-0016 (DOI)2-s2.0-85126656740 (Scopus ID)
Note

QC 20220427

Available from: 2022-03-01 Created: 2022-03-01 Last updated: 2022-06-25Bibliographically approved
Yunus, I., Witjaksono, F. F., Naz Basokur, E., Jerrelind, J. & Drugge, L. (2022). Analysis of Human Perception Models for Motion Sickness in Autonomous Driving. In: Katie Plant, Gesa Praetorius (Ed.), AHFE 2022: Human Factors in Transportation. Paper presented at AHFE 2022, 13th International Conference on Applied Human Factors and Ergonomics, Jul 24 - 28, 2022, New York, NY; USA. New York, United States of America: AHFE International, 60
Open this publication in new window or tab >>Analysis of Human Perception Models for Motion Sickness in Autonomous Driving
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2022 (English)In: AHFE 2022: Human Factors in Transportation / [ed] Katie Plant, Gesa Praetorius, New York, United States of America: AHFE International , 2022, Vol. 60Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous vehicle technologies are rapidly growing and are expected to change transportation habits radically. Autonomous cars increase the likelihood of motion sickness by allowing everyone in the vehicle to become passengers and perform non-driving tasks such as reading, working, and socializing. Comfort is one of the critical factors in the acceptance of autonomous vehicles. This makes accurate estimation of motion sickness a necessity in the development stages of autonomous vehicles. The sensory conflict theory is a widely accepted theory that explains the mechanism of motion sickness. Computational models based on the sensory conflict theory are used to predict motion sickness and contain two main parts: a human perception model and a nonlinear fitting function to the subjective feeling of motion sickness. Models of the human perception, including the dynamics of the vestibular system, are used to calculate the difference between sensory inputs and the predicted motions in the brain, i.e. the conflict signal, which is the primary cause of motion sickness. One of the main limitations of motion sickness prediction is how to mathematically model human perception because of the complexity of the psychophysiological systems. The aim of this work is to implement and analyse different human perception modelling techniques, such as observer framework in the control theory and optimal estimator approach using Kalman filters, to evaluate their abilities to integrate with motion sickness prediction. In this study, the different human perception models are implemented and analysed using MATLAB / Simulink and the advantages, as well as disadvantages of the models, are discussed.

Place, publisher, year, edition, pages
New York, United States of America: AHFE International, 2022
Series
AHFE Open Access Proceedings
Keywords
human perception models, motion sickness, autonomous driving
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-336659 (URN)10.54941/ahfe1002473 (DOI)
Conference
AHFE 2022, 13th International Conference on Applied Human Factors and Ergonomics, Jul 24 - 28, 2022, New York, NY; USA
Funder
Vinnova, 2016-05195
Note

QC 20230918

Available from: 2023-09-15 Created: 2023-09-15 Last updated: 2023-09-18Bibliographically approved
Hyttinen, J., Österlöf, R., Drugge, L. & Jerrelind, J. (2022). Constitutive rubber model suitable for rolling resistance simulations of truck tyres. Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering
Open this publication in new window or tab >>Constitutive rubber model suitable for rolling resistance simulations of truck tyres
2022 (English)In: Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, ISSN 0954-4070, E-ISSN 2041-2991Article in journal (Refereed) Published
Abstract [en]

Tyres are a vital vehicle component forming an interface between a vehicle and the road, enabling the generation of braking, steering and traction forces. However, they also generate rolling resistance which researchers have tried to minimise through the years for environmental and economic reasons. Despite numerous attempts to model rolling resistance of tyres there still does not seem to exist a simple, flexible and accepted way of modelling rolling resistance in the time domain as well as parametrising models in an easy and accessible way. This study explores a simple and intuitive way of parametrising a hyperviscoplastic parallel rheological framework. In the experimental part of this study, rubber samples with various amounts of carbon black filler are extracted from a truck tyre section and tested using dynamic mechanical analysis. The test data was used to parametrise the material model. The model consists of Mooney-Rivlin hyperelasticity, 40 Prony elements and 8 perfectly plastic elements with Ogden hyperelasticity. The paper introduces a method to obtain a large number of parameters using only six tuneable parameters, which simplifies the tuning of the model drastically. The parametrised model is suitable for tyre rolling resistance simulations with frequency and strain amplitude dependency of the storage and loss modulus. A wide range of strain amplitudes and frequencies can be covered with the proposed method and it is possible to achieve a good fit for the storage and loss modulus values with the benefit of only a few tuneable parameters. Additional Prony or plastic networks do not increase the amount of tuneable parameters. Moreover, the method can be used to parametrise the material using manual iterations which is generally not possible for a parallel rheological framework with such a large amount of parameters. 

Place, publisher, year, edition, pages
SAGE Publications, 2022
Keywords
Truck-tyre, parallel rheological framework, filler reinforced rubber, hyperviscoplastic, parametrisation
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-309476 (URN)10.1177/09544070221074108 (DOI)000751318900001 ()2-s2.0-85123979811 (Scopus ID)
Funder
Vinnova
Note

QC 20230612

Available from: 2022-03-03 Created: 2022-03-03 Last updated: 2023-09-04Bibliographically approved
Hyttinen, J., Ussner, M., Osterlof, R., Jerrelind, J. & Drugge, L. (2022). Effect of Ambient and Tyre Temperature on Truck Tyre Rolling Resistance. International Journal of Automotive Technology, 23(6), 1651-1661
Open this publication in new window or tab >>Effect of Ambient and Tyre Temperature on Truck Tyre Rolling Resistance
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2022 (English)In: International Journal of Automotive Technology, ISSN 1229-9138, E-ISSN 1976-3832, Vol. 23, no 6, p. 1651-1661Article in journal (Refereed) Published
Abstract [en]

Rolling resistance is consuming a large portion of the generated powertrain torque and thus have a substantial effect on truck energy consumption and greenhouse gas emissions. EU labelling of tyres mandates the manufacturers to measure rolling resistance at +25 degrees C ambient temperature after stabilised rolling resistance has been established. This is a convenient way of comparing rolling resistance but disregards aspects such as transient rolling resistance and influence of the ambient temperature. For many purposes, such as dimensioning batteries for electric vehicles, this value is not representative enough to give a good understanding of the rolling resistance. In this article, the rolling resistance of a truck tyre was measured at different ambient temperatures (-30 to +25 degrees C) in a climate wind tunnel and a considerable tyre and ambient temperature dependency on rolling resistance was found. The investigation shows that the temperature inside the tyre shoulder has a good correlation with rolling resistance. Measurements with spraying water on tyres were conducted showing a considerable increase in rolling resistance due to higher cooling effect. Driving range simulations of a long haulage battery-electric truck have been conducted with temperature-dependent rolling and aerodynamic resistance, showing a significant decrease in driving range at decreasing temperature.

Place, publisher, year, edition, pages
Springer Nature, 2022
Keywords
Truck tyre, Rolling resistance, Climate wind tunnel, Ambient temperature, Tyre temperature, Battery-electric truck range
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-324998 (URN)10.1007/s12239-022-0143-6 (DOI)000935589000013 ()2-s2.0-85146270582 (Scopus ID)
Note

Not duplicate with DiVA 1658479

QC 20230327

Available from: 2023-03-27 Created: 2023-03-27 Last updated: 2023-09-04Bibliographically approved
Hyttinen, J., Ussner, M., Österlöf, R., Jerrelind, J. & Drugge, L. (2022). Effect of Ambient and Tyre Temperature on Truck Tyre Rolling Resistance. International Journal of Automotive Technology
Open this publication in new window or tab >>Effect of Ambient and Tyre Temperature on Truck Tyre Rolling Resistance
Show others...
2022 (English)In: International Journal of Automotive Technology, ISSN 1229-9138, E-ISSN 1976-3832Article in journal (Refereed) Accepted
Abstract [en]

Rolling resistance is consuming a large portion of the generated powertrain torque and thus have a substantial effect on truck energy consumption and greenhouse gas emissions. EU labelling of tyres mandates the manufacturers to measure rolling resistance at +25 °C ambient temperature after stabilised rolling resistance has been established. This is a convenient way of comparing rolling resistance but disregards aspects such as transient rolling resistance and influence of the ambient temperature. For many purposes, such as dimensioning batteries for electric vehicles, this value is not representative enough to give a good understanding of the rolling resistance. In this article, the rolling resistance of a truck tyre was measured at different ambient temperatures (-30 to +25 °C) in a climate wind tunnel and a considerable tyre and ambient temperature dependency on rolling resistance was found. The investigation shows that the temperature inside the tyre shoulder has a good correlation with rolling resistance. Measurements with spraying water on tyres were conducted showing a considerable increase in rolling resistance due to higher cooling effect. Driving range simulations of a long haulage battery-electric truck have been conducted with temperature-dependent rolling and aerodynamic resistance, showing a significant decrease in driving range at decreasing temperature.

Keywords
Truck tyre, Rolling resistance, Climate wind tunnel, Ambient temperature, Tyre temperature, Battery-electric truck range
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering
Identifiers
urn:nbn:se:kth:diva-312276 (URN)
Funder
Vinnova, 2016-05195TrenOp, Transport Research Environment with Novel Perspectives
Note

QC 20221114

Available from: 2022-05-16 Created: 2022-05-16 Last updated: 2023-09-08Bibliographically approved
Yunus, I., Jerrelind, J. & Drugge, L. (2022). Evaluation of motion sickness prediction models for autonomous driving. In: Advances in Dynamics of Vehicles on Roads and Tracks II: . Paper presented at 27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021, Virtual, 17-19 August 2021 (pp. 875-887). Springer Nature
Open this publication in new window or tab >>Evaluation of motion sickness prediction models for autonomous driving
2022 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks II, Springer Nature , 2022, p. 875-887Conference paper, Published paper (Refereed)
Abstract [en]

The introduction of autonomous vehicles is expected to change the transportation system radically. One of the essential factors that affect the acceptance and choice of autonomous driving is passenger comfort. All people in the autonomous vehicle will be passengers and be able to perform non-driving tasks like reading etc. which increases the likelihood of motion sickness. This makes accurate estimation of motion sickness a necessity in the design stages of autonomous vehicles. The aim of this work is to review and apply two motion sickness prediction models (ISO-2631 and the 6D-SVC model) and evaluate their ability to capture individual motion sickness feelings using measured data and subjective assessment ratings from field tests. The comparison with the experimental results shows that the applied estimation models can be tuned to capture the individual motion sickness feelings. The results also show that habituation of motion sickness is an important property that needs to be taken into consideration and modelled.

Place, publisher, year, edition, pages
Springer Nature, 2022
Series
Lecture Notes in Mechanical Engineering, ISSN 2195-4356, E-ISSN 2195-4364
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering
Identifiers
urn:nbn:se:kth:diva-309459 (URN)10.1007/978-3-031-07305-2_81 (DOI)2-s2.0-85136920730 (Scopus ID)
Conference
27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021, Virtual, 17-19 August 2021
Funder
Vinnova
Note

Part of ISBN 978-303107304-5

QC 20220408

Available from: 2022-03-03 Created: 2022-03-03 Last updated: 2023-06-22Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-8928-0368

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