MYMOSA: Towards the Simulation of Realistic Motorcycle Manoeuvres by Coupling Multibody and Control Techniques

Multibody dynamics simulation technology can provide a great help to understand and analyze motorcycle dynamics. In fact, its application in this field has grown very fast in the last years. However, apart from the mathematical model of the vehicle, a virtual rider is essential in order to properly simulate a motorcycle. This is due to the unstable nature of two-wheeled vehicles, which makes them very difficult to simulate by using open-loop maneuvers. The problem of developing a virtual rider for motorcycles has already been covered in literature but most of the proposed control algorithms achieved their purpose without considering the physiological limits of the rider. The objective of the research activities presented here are the preliminary development of a realistic virtual rider based on an experimental campaign and its subsequent simulation together with a detailed multibody model of a motorcycle. Special emphasis was put on making the rider model as simple as possible to facilitate the posterior design of the controller. Real rider movements were measured under laboratory conditions by means of the Motion Analysis technique. Several volunteers with different riding experiences, gender and anthropometry were involved in the experiments in order to provide a valid dataset for the analysis. For the present research, the virtual rider controls the direction of the motorcycle by means of both a torque on the handlebars and the movement of his body. The upper part of the rider’s body was modeled as an inverted pendulum. With regard to the longitudinal dynamics, the motorcycle is controlled by means of the brake torques and by the engine torque, which is transmitted to the rear wheel by means of a simplified model of the chain. First results of the developed virtual rider are presented at the end of this paper.

Autonomous Parking Strategy

Parallel parking can be a difficult task for novice drivers or drivers who seldom drive in congested city where parking space is limited. Parking Assist is an innovative system designed to aid the driver in performing sometimes difficult parallel parking maneuvers. Many companies are developing such systems with major automakers, such as Valeo, Aisin Seiki, Hella, Robert Bosch, and TRW. For example, Toyota IPA (Intelligent Parking Assist) system uses a rear view camera and automatically steer the vehicle into the parking spot with driver controlling braking. This paper describes the development of parking path planning strategies based on available parking space. A virtual turn center will first be defined and derived based on vehicle configuration. Required parking space for one or two cycle parking maneuver will then be determined. Path planning strategies for both one and two turn parking maneuvers will be developed next. Finally CarSim simulation will be performed to verify the design.

Nomographs for Enumeration of Clutching Sequences Associated With Epicyclic-Type Automatic Transmission Mechanisms

A new methodology for the enumeration of feasible clutching sequences for a given epicyclic gear mechanism (EGM) is presented using the kinematic nomographs of epicyclic-type transmission mechanisms. From such nomographs, the kinematic characteristics of an epicyclic gear mechanism can be expressed in terms of the gear ratios of its gear pairs. From a single nomograph, the angular velocities for all of the coaxial links can be estimated and compared directly without specifying the exact size of each gear. In addition, the angular velocities can be arranged in a descending sequence without using complicated artificial intelligence or algorithmic techniques. Then, a procedure for the enumeration of feasible clutching sequences associated with a transmission mechanism composed of two or more fundamental gear entities (FGEs) is developed. The reliability of the methodology is established by applying it to two transmission gear trains for which solutions are either fully or partially available in the literature. In the process, an incomplete in the results reported in previous literature is brought to light. And the root cause of this incompleteness is explored. The present methodology is judged to be more efficient for enumeration of all feasible clutching sequences of an EGM.

Design of CNG Tank Supports on Vehicle for Crash Test Simulation

Typical structural members in the automotive body have complex geometrical shapes and no standard size. Thus, generating crash behavior database for all possible dimensions of even single shape is an extremely expensive task. A remedy is to generate databases containing relatively few sizes of the structural members, then employ different methods to approximate the behavior of the structural members over the complete design domain of the dimensions. This paper simulates the behavior of the CNG tank and structural members to crash conditions by using Finite Element Method. According to standard ISO15500, these conditions are acceleration with: i)± 20g longitudinal direction, ii) ± 8g side direction and iii) 4.5g vertical direction [1]. Then, experimental tests were done to validate theoretical results.

Two-Dimensional Numerical Simulations of a Biphasic Representation of Human Tibia in Car-Pedestrian Accidents

A two-dimensional poroelastic model of the tibia was developed to improve the understanding of injury mechanism of tibia during car-to-pedestrian impacts. A “poroelastic” approach was utilized to establish the governing equations of human tibia, and the finite element method was applied to solve these governing equations. Both the cortical and cancellous components of tibia were represented using a poroelastic material model consisted of a solid and a fluid phase. The geometry of the model was reconstructed from CT scans of the left tibia of a living human volunteer. A lateral-medial impact direction was selected in the simulation analysis. Correspondingly, the tibia poroelastic model was validated against published shearing experiments with the whole PMHS tibia. The model predictions showed good agreement against the PMHS test data. The developed poroelastic model can be used as a helpful tool to investigate injury mechanism of the tibia in car-to-pedestrian accidents.

Development of Technologies for Eliminating High-Level Noise Emitting Vehicles on Japanese Roads

The purpose of the present study is to improve the on-street exhaust noise measurement technique for regulating vehicles that emit unacceptably large exhaust noise. The method under development uses racing operation of engines with a wide-open throttle on a standing vehicle. In contrast, the engine operation condition considered in the conventional on-street measurement technique considers operation at 75% of rated power followed by the throttle valve being released to its original position. The current regulation considers the maximum noise level during this engine operation condition. Accordingly, the engine is not loaded during testing. This loading condition provides unsatisfactory correlation between the exhaust noise level measured by the on-street method and the ISO vehicle acceleration noise under the wide-open throttle condition. The present paper reports the advantages of the proposed method as well as some important factors in the proper application of the newly proposed method. In the present study, we perform noise measurement along highways, a vehicle experiment in an anechoic chassis dynamometer, and computer simulations. The results revealed that the proposed on-street measurement method can be used to approximately determine the exhaust noise level during full acceleration for most vehicle types. In addition, the sensitivities of the measured noise levels for the testing conditions were clarified. The second item in this study is efficient engine speed measurement using exhaust sound signal only without electric wire harnessing. A survey of the measurement systems proposed by three different companies revealed that the measurement principles of two of these systems have potential application to on-street exhaust measurement. The last item investigated herein is better indices of exhaust noise evaluation. Loudness defined by ISO was found to be much better than the conventional dB(A) scale in terms of correlation with subjective evaluation results.

Generalized Model and Computational Algorithm for Modeling Passive Driveline Systems of AWD Automobiles

The stability of motion and handling, mobility and fuel consumption of an all-wheel drive automobile depend on how the engine power is distributed among the front and rear axles and then between the left and right wheels of each axle. This power distribution is dependent on the properties of the driveline system and its power-dividing units (PDU) located between the drive axles and between the wheels of each drive axle. This paper presents a generalized driveline model and a computer algorithm. This model provides a way to model the power distribution among the four drive wheels of the automobile when using any of the existent passive power dividing units: open differentials, locked units, limited slip differentials with different locker properties and other mechanisms. The computer computational algorithm allows transferring each PDU from one state to another as a function of i) changes in the driving conditions, ii) the properties of the power-dividing unit, iii) variations in the mass and geometry parameters of the vehicle, and iv) its other systems (tires, suspension, transmission and engine). Using this generalized model and the computational algorithm in a MATLAB/Simulink environment, a program package is developed to embed into a computer model (user interested in investigating the effect of various driveline types on the dynamics of an all-wheel drive automobile). The paper presents examples of utilization of the above program package in investigating the features of curvilinear motion of an all-wheel drive automobile.

Development and Testing of an Autonomous Driving Module for Critical Driving Conditions

In the last years a great effort has been devoted to the development of autonomous vehicles able to drive in a high range of speeds in semi-structured and unstructured environments. This article presents and discusses the software framework for Hardware-In-the-Loop (HIL) and Software-In-the-Loop (SIL) analysis that has been designed for developing and testing of control laws and mission functionalities of semi-autonomous and autonomous vehicles. The ultimate goal of this project is to develop a robotic system, named RUMBy, able to autonomously plan and execute accurate optimal manoeuvres both in normal and in critical driving situations and to be used as a test platform for advanced decision and autonomous driving algorithms. RUMBy’s hardware is a 1:6 scale gasoline engine R/C car with onboard telemetry and control systems. RUMBy’s software consists of three main modules: the manager module that coordinates the other modules and take high level decision; the motion planner module which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm; the actuation module that produces the driving command for the vehicle. The article describes the details of RUMBy architecture and discusses its modular configuration that easily allows HIL and SIL tests.

Influence of Vehicle Model Complexity in Autonomous Emergency Manoeuvre Planning

In this paper the effectiveness of an optimal reference manoeuvre is analysed w.r.t. the complexity of the vehicle model used within the optimal control algorithm. The optimal reference manoeuvre is computed by means of a Nonlinear Receding Horizon planning (NRHP) strategy which is based on a simplified vehicle model. The reference manoeuvre is tracked by a controller implemented on a low level faster loop. The system is able to perform autonomously lane change and obstacle avoidance manoeuvres by tracking the computed reference one. The quality of the performed manoeuvres depends on the reference manoeuvre and consequently on the vehicle model used by the NRHP. For manoeuvres with low or mild lateral accelerations reduced order models might yield realistic and reliable reference manoeuvres. However, critical conditions (e.g. evasive manoeuvre) require a manoeuvre planner able to catch highly non-linear vehicle dynamics that characterizes such situations. On the other hand, being the NRHP computational cost generally high and related to the number of equations of the mathematical model, a trade-off between computational efficiency and model complexity is required. The work analyses the reference manoeuvres produced by two vehicle models of increasing complexity used as reference within the NRHP. Optimal planner performance evaluation on evasive manoeuvre in critical conditions will be presented with simulations results.

Influence of Track Properties on Railway Vehicles Wheel Rolling Contact Fatigue

Track properties such as rail inclination, cant and gage width have significant effects on the shape and size of the contact area, actual rolling radius and also on the contact forces. These effects have an important role on rolling contact fatigue (RCF) which is known to be the main reason for large portion of wheel set failures and expenses. In this study the wheel/rail dynamic interaction of an Iranian railway passenger wagon under different track features are investigated through simulations using ADAMS\Rail commercial software. The calculated results regarding contact load data and contact properties of the wheel and rail are used for fatigue analysis to calculate RCF damage to the wheels using damage criteria based on previous studies. Two major parameters believed to have serious roles on RCF are the contact stress and the tangential force in the contact patch. These parameters are obtained from vehicle dynamic simulation studies. This paper describes and compares effects of different track geometries in curved and tangent tracks on RCF of three different wheel profiles S1002, P8 and IR1002. It is to identify which combinations of wheel load, wheel and rail profiles and vehicle dynamic characteristics cause RCF more severely.