Range data in vehicle dynamic simulation
2009 (English)Conference paper (Refereed)
This paper presents a way to merge range data into the vehicle dynamic simulation software CarSim7.1. The range data consists of measurements describing the surface of a road, and thus, creates a close to reallife 3D simulation environment. This reduces the discrepancy between the real life tests and simulation ofvehicle suspension systems, dampers, springs, etc. It is important for the vehicle industry to represent a reallife environment in the simulation software in order to increase the validity of the simulations and to studythe effects that uneven roads have on the systems. Furthermore, a 3D environment based on real life data isalso useful in driving simulators, when for example, analysing driver behaviour, testing driver response, andtraining for various driving conditions. To measure and collect data, a car was equipped with instruments anda computer. On top of the car, a SICK LMS200 2D lidar was mounted tilted downwards, facing the roadin front of the car. To create the 3D environment, all the individual measurements were transformed to aglobal coordinate system using the pose (position and orientation) information from a high-class navigationsystem. The pose information made it possible to compensate for the vehicle motion during data collection.The navigation system consisted of a GPS/IMU system from NovAtel. To reach high navigation performance,the raw GPS/IMU data were post-processed and fused with data from three different fixed GPS base stations.The range data were modified with a Matlab script in order to parse the data into a file that could be read byCarSim software. This created the 3D road used in the vehicle dynamic simulations. The measurements werecollected at a go-kart track in Lule°a, Sweden. Finally, tests have been performed to compare simulation resultsbetween using a 2D surface (i.e. flat) and a 3D surface (close to real life). It is seen that the simulation resultsusing the 2D surface is clearly different from the 3D surface simulation.
Place, publisher, year, edition, pages
Glasgow: University of Strathclyde, 2009.
laser, range measurement, lidar, vehicle dynamics, simulation
IdentifiersURN: urn:nbn:se:kth:diva-69524OAI: oai:DiVA.org:kth-69524DiVA: diva2:485505
10th International Workshop on Research and Education in Mechatronics. Glasgow, UK. September 10th-11th 2009
QC 201205022012-01-292012-01-292012-05-02Bibliographically approved