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Optimal steering control input generation for vehicle's entry speed maximization in a double-lane change manoeuvre
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Optimal styrreglering för maximal ingångshastighet i ett dubbelt filbyte (Swedish)
Abstract [en]

In an effort to reduce physical testing during the development process of a new vehicle, the automotive industries develop methods that can facilitate the recreation of the physical testing scenarios in virtual environments using simulation software. This thesis aims to develop a method which would help evaluate the vehicle’s dynamic properties without it being subjected to physical testing. The goal is to develop a tool that can be used in an early development phase by the industry and that would allow for modifications and calibration to take place.

A vehicle model as well as an electronic stability control implementation is built, and the model’s performance to an ISO3888 part-2 double lane change test is evaluated. Since the handling potentials of the vehicle are rated by its entry speed in that test, the model was subjected to an optimization process where its steering action was controlled in order to achieve the highest possible entry speed to the test in an effort to isolate the vehicle’s dynamic potential from the influence of a human driver when conducting this test.

The vehicle modelling procedure is done in steps, from a simple implementation of a linear bicycle model to a more complex implementation of a four-wheel vehicle including roll, tire relaxation and suspension compliance properties as well as a simplified ESC implementation. The results of the steering input optimization process were physically tested on a test track, where the correspondence of the model to the real vehicle was evaluated.

By further promoting the vehicle dynamics modelling, this tool can facilitate study more testing scenarios and options and it can serve as a step toward the reduction of the physical testing when the vehicle’s dynamic and handling performance need to be studied and evaluated.

Abstract [sv]

Under utvecklingsprocessen av nya fordon sker en strävan mot att reducera fysiska tester, bilindustrier utvecklar därför metoder för att återskapa fysiska testscenarier i virtuella miljöer med hjälp av simuleringsmjukvara. Denna studie har som målsättning att utveckla en metod, med vilken fordonets dynamiska egenskaper kan utvärderas utan att utföra fysiska tester. Målet är att utveckla ett simuleringsverktyg som, i en tidig utvecklingsfas, kan användas av fordonsindustrin och som skulle införa både modifikations- och kalibreringsmöjligheter i detta skede.

Såväl en fordonsmodell som ett anti-sladd system är konstruerat och modellens prestanda i ett dubbelt filbyte, specificerat i ISO3888 del 2, är utvärderad. Då bilens dynamiska prestanda klassificeras utifrån ingångshastigheten i detta test utfördes en optimeringsprocess där hjulens styrvinklar reglerades för att uppnå högsta möjliga hastighet vid testets startposition, detta för att separera fordonets dynamiska klassificering från mänsklig inverkan.

Processen att konstruera fordonsmodellen utfördes med succesivt ökande antal av fordonsegenskaper, från en enkel implementering av en linjär cykel-modell till en tvåspårs-modell med krängning, transienta däckegenskaper, hjulupphängningsegenskaper samt ett anti-sladd system. Resultatet av den optimerade styrregleringen testades i motsvarande fordon på en testbana varefter modellen kunde utvärderas med det verkliga testet som referens.

Genom en utökad möjlighet till simulering kan detta verktyg ge möjligheten att studera fler scenarier såväl som alternativa modelleringskonfigurationer; det kan reducera fysiska tester då fordons dynamiska prestanda ska klassificeras, studeras samt utvärderas.

Place, publisher, year, edition, pages
2013. , 141 p.
Series
TRITA-AVE, ISSN 1651-7660 ; 2013:64
Keyword [en]
Vehicle dynamics: steering, brake, tire, suspension
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-140946OAI: oai:DiVA.org:kth-140946DiVA: diva2:693569
Subject / course
Vehicle Engineering
Educational program
Master of Science in Engineering - Design and Product Realisation
Presentation
2013-11-29, Vehicle engineering lab, Teknikringen 8, Stockholm, 13:00 (English)
Supervisors
Examiners
Available from: 2014-03-03 Created: 2014-02-04 Last updated: 2014-03-03Bibliographically approved

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