Unsettled Issues in Remote Operation for On-road Driving Automation

On-road vehicles equipped with driving automation features—where a human might not be needed for operation on-board—are entering the mainstream public space. However, questions like “How safe is safe enough?” and “What to do if the system fails?” persist. This is where remote operation comes in, which is an additional layer to the automated driving system where a human remotely assists the so-called “driverless” vehicle in certain situations. Such remote-operation solutions introduce additional challenges and potential risks as the entire vehicle-network-human now needs to work together safely, effectively, and practically. Unsettled Issues in Remote Operation for On-road Driving Automation highlights technical questions (e.g., network latency, bandwidth, cyber security) and human aspects (e.g., workload, attentiveness, situational awareness) of remote operation and introduces evolving solutions. The report also discusses standards development and regulations—both of which are needed to provide frameworks for the deployment of driving automation with remote operation.

Optimal Skyhook and Groundhook Control for Semiactive Suspension: A Comprehensive Methodology

This manuscript establishes a methodology that guides the designers to develop an optimal controller for a semiactive suspension system. The methodology’s processes are generally explained and straightforwardly, so a designer can extrapolate the methodology to a specific problem. Furthermore, this research presents an optimal control strategy for a semiactive control applied to a quarter vehicle model as an example of using the methodology. A particular interest is made in the advantages of such a simple synthesis and in the compromises that must be done in skyhook and groundhook control law applications. This manuscript exposes a logical and straightforward approach for choosing the controllers’ design parameters; also, efforts must be made to express precise performance specifications and constraints in the control design. The herein methodology could be relevant in the process design for intelligent suspensions, from one-quarter toward the entire vehicle.

Investigation on the Model-Based Control Performance in Vehicle Safety Critical Scenarios with Varying Tyre Limits

In recent years the increasing needs of reducing the costs of car development expressed by the automotive market have determined a rapid development of virtual driver prototyping tools that aims at reproducing vehicle behaviors. Nevertheless, these advanced tools are still not designed to exploit the entire vehicle dynamics potential, preferring to assure the minimum requirements in the worst possible operating conditions instead. Furthermore, their calibration is typically performed in a pre-defined strict range of operating conditions, established by specific regulations or OEM routines. For this reason, their performance can considerably decrease in particularly crucial safetycritical situations, where the environmental conditions (rain, snow, ice), the road singularities (oil stains, puddles, holes), and the tyre thermal and ageing phenomena can deeply affect the adherence potential. The objective of the work is to investigate the possibility of the physical model-based control to take into account the variations in terms of the dynamic behavior of the systems and of the boundary conditions. Different scenarios with specific tyre thermal and wear conditions have been tested on diverse road surfaces validating the designed model predictive control algorithm in a hardware-in-the-loop real-time environment and demonstrating the augmented reliability of an advanced virtual driver aware of available information concerning the tyre dynamic limits. The multidisciplinary proposal will provide a paradigm shift in the development of strategies and a solid breakthrough towards enhanced development of the driving automatization systems, unleashing the potential of physical modeling to the next level of vehicle control, able to exploit and to take into account the multi-physical tyre variations.

Drag Reduction on car side mirrors with the implementation of camera modules

The greatest obstacle in the acceleration of a car through air is aerodynamic drag. With this increased drag is the expenditure of fuel. About 50-60% of a vehicles’ total fuel energy is lost to overcome adverse aerodynamic forces. However, with the increase of fuel prices, many solutions have surfaced. One of these solutions are the implementation of camera modules to replace bulky traditional side mirrors. For this report, a thorough analysis was conducted into the aerodynamic benefits of these newly proposed camera modules in comparison to the conventional solid state mirrors. Specifically, one conventional side mirror along with two newly proposed camera module’s were studied in this thesis report. For this analysis, the overall drag of each module was found using CFD simulation under turbulent conditions at 60 km/h using the Realized K- method. The drag and Cd values found for the conventional side mirror were 3.985 N and 0.38 respectively. The values found for the two camera modules, Models B and C, were 0.526 N and 0.857 N. Their Cd values were found to be 0.312 and 0.365. This shows a potential of the drag reduction of the side mirror by almost 87% if the switch was made to the newer technology. This value also agreed with the prediction by Honda on their technology which has stated a possible drag reduction for this part by up to 90%. However, when observing the bigger picture, it became evident that although this drag reduction is significant for locally, it simply is not enough to make a big impact on the drag reduction of the entire vehicle. With a maximum decrease in the total vehicle drag found to to be only 4%, the reduction in the fuel consumption of the vehicle would only decrease by 0.2 gallons per mile. On the other hand, improvements in parts such as the car rims or the underbelly of the car can result in fuel improvements of upwards of 12%-25%. For this reason, it can be concluded that automobile manufacturers research other possible solutions to reduce the vehicle drag such as with the redesign of the underbelly of the car or wheel arches and rims.

Drag Reduction on car side mirrors with the implementation of camera modules

The greatest obstacle in the acceleration of a car through air is aerodynamic drag. With this increased drag is the expenditure of fuel. About 50-60% of a vehicles’ total fuel energy is lost to overcome adverse aerodynamic forces. However, with the increase of fuel prices, many solutions have surfaced. One of these solutions are the implementation of camera modules to replace bulky traditional side mirrors. For this report, a thorough analysis was conducted into the aerodynamic benefits of these newly proposed camera modules in comparison to the conventional solid state mirrors. Specifically, one conventional side mirror along with two newly proposed camera module’s were studied in this thesis report. For this analysis, the overall drag of each module was found using CFD simulation under turbulent conditions at 60 km/h using the Realized K- method. The drag and Cd values found for the conventional side mirror were 3.985 N and 0.38 respectively. The values found for the two camera modules, Models B and C, were 0.526 N and 0.857 N. Their Cd values were found to be 0.312 and 0.365. This shows a potential of the drag reduction of the side mirror by almost 87% if the switch was made to the newer technology. This value also agreed with the prediction by Honda on their technology which has stated a possible drag reduction for this part by up to 90%. However, when observing the bigger picture, it became evident that although this drag reduction is significant for locally, it simply is not enough to make a big impact on the drag reduction of the entire vehicle. With a maximum decrease in the total vehicle drag found to to be only 4%, the reduction in the fuel consumption of the vehicle would only decrease by 0.2 gallons per mile. On the other hand, improvements in parts such as the car rims or the underbelly of the car can result in fuel improvements of upwards of 12%-25%. For this reason, it can be concluded that automobile manufacturers research other possible solutions to reduce the vehicle drag such as with the redesign of the underbelly of the car or wheel arches and rims.

Combining a Genetic Algorithm and a Fuzzy System to Optimize User Centricity in Autonomous Vehicle Concept Development

The megatrends of individualization and sharing will dramatically change our consumer behavior. The needs of a product’s users will be central input for its development. Current development processes are not suitable for this product development; thus, we propose a combination of a genetic algorithm and a fuzzy system for user-centered development. We execute our new methodological approach on the example of autonomous vehicle concepts to demonstrate its implementation and functionality. The genetic algorithm minimizes the required number of vehicle concepts to satisfy the mobility needs of a user group, and the fuzzy system transfers user needs into vehicle-related properties, which are currently input for vehicle concept development. To present this method, we use a typical family and their potential mobility behavior. Our method optimizes their minimal number of vehicle concepts to satisfy all mobility needs and derives the properties of the vehicle concepts. By integrating our method into the entire vehicle concept development process, autonomous vehicles can be designed user-centered in the context of the megatrends of individualization and sharing. In summary, our method enables us to derive an optimized number of products for qualitatively described, heterogeneous user needs and determine their product-related properties.

Multiple-input and multiple-output force control for automobile component road simulation using model predictive control with proportional–integral–derivative

When developing an entire vehicle system, testing the structure of the vehicle or each component as a module or individually is necessary to determine the reliability and ensure the endurance of the entire vehicle. Various tests have been conducted to check the durability of the parts. However, the most important part is the verification of the fatigue limit of the load vibration from the road surface when the vehicle is being driven. Verification can be achieved by experimenting while driving on a real road with a prototype vehicle best suited to the actual conditions. However, issues such as problems in time, space, and environmental constraints, inconsistency in driving characteristics of the test driver, and continuous monitoring exist. For testing the load vibration of the road surface in automobile parts in the laboratory, hydraulic servo actuators are used because they provide vibrational loads in multiple directions by configuring them in multiple axes rather than a single axis. In this article, a multiple-input multiple-output model predictive control–proportional–integral–derivative hybrid controller is proposed as the method for optimal control of a multi-axis hydraulic servo actuator used in a random road signal reproduction experiment. Its performance is compared with the simple proportional–integral–derivative controller. A method for obtaining an efficient black box multiple-input multiple-output system model using LabVIEW in a laboratory in the field is also introduced, and the effectiveness of the model predictive control–proportional–integral–derivative hybrid controller is shown by reproducing the actual road load.

Development and validation of a simplified automotive steering dynamic model

This paper describes an innovative analytic/numerical method for modeling steering systems for automotive applications. Starting from a detailed literature analysis and pushed by vehicle manufacturers’ needs, a simplified steering dynamic model, characterized by few parameters, has been identified. It guarantees both the replication of the dynamic behavior of real systems, generally represented through more complex multibody models, and the reduction of the simulation time of the entire vehicle system, making it suitable for dedicated numerical computing environments, such as the, so-called, explicit multibody codes. Moreover, particular emphasis has been place on the correct evaluation of the influence of friction on steering system dynamics.