Pub Date : 2023-06-26DOI: 10.59490/6482e9b4d8611d76b7ba3369
Yannick Hanakam, J. Wrede, M. Pfeiffer, S. Hillenbrand
Despite having complex dynamics, a bicycle can be stabilized easily by steering into the direction the bicycle leans, also known as steer-into-the-fall. Although this can be a difficult task for the cyclist, this basic control law can easily be implemented by a technical system to help the cyclist to stabilize the bicycle. As several studies on bicycle dynamics show, at least theoretically in simulations, a proportional controller based on the steer-into-the-fall principle is sufficient to stabilize a bicycle (Åström et al., 2005; Schwab et al., 2008). A steering assistance system consisting of a proportional controller and an electric motor applying torque to the handlebars can provide steering assistance and thus help stabilizing the bicycle. However, the design of a proportional controller working in parallel with the rider can be tricky. To prevent the cyclist from being irritated, the natural steering behavior of the bicycle must be affected as little as possible by the steering interventions. In addition, the cyclist always must be in control of the handlebars. In this study, we propose a control strategy based on a proportional controller that is designed using classical control engineering methods. Used in a pedelec with a prototype steering assistance system, this study investigates the effect of the controller on the stability of the pedelec and the impact of the steering interventions on the cyclist's riding experience.
尽管有复杂的动力学，自行车可以很容易地通过转向自行车倾斜的方向来稳定，也被称为转向转向。虽然这对骑自行车的人来说是一项艰巨的任务，但这个基本的控制规律可以很容易地通过技术系统来实现，以帮助骑自行车的人稳定自行车。正如几项关于自行车动力学的研究所表明的那样，至少在理论上的模拟中，基于转向到坠落原理的比例控制器足以稳定自行车(Åström et al.， 2005;Schwab et al.， 2008)。转向辅助系统由比例控制器和向车把施加扭矩的电动机组成，可以提供转向辅助，从而帮助稳定自行车。然而，比例控制器的设计与骑手并行工作可能是棘手的。为了防止骑自行车的人受到刺激，必须尽可能减少转向干预对自行车自然转向行为的影响。此外，骑车人必须时刻控制车把。在本研究中，我们提出了一种基于比例控制器的控制策略，该策略采用经典控制工程方法设计。本研究以带有转向辅助系统原型的pedelec为例，研究了控制器对pedelec稳定性的影响，以及转向干预对骑车人骑行体验的影响。
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Pub Date : 2023-06-26DOI: 10.59490/6491cea96173c4e52306e06f
M. Pezzola, E. Leo, N. Taroni, simone calamari, F. Cheli
On board motorcycles’ control logics are arising in number and complexity. It follows how on road testing, for correct response verification, becomes danger and time consuming. E.g. the mandatory ABS system, that shall be tested on both the high and the low road friction with installation of outriggers to prevent falling (UNECE Reg. No. 78). The testing complexity induces the acceptance criteria to be mostly limited to the subjective feeling of the tester. With the more challenging Cornering-ABS it is almost not possible to test due to limited availability of steering lanes with dedicated road frictions, where calibration and verification can be successfully accomplished. It is becoming harder and harder to objectify systems’ performances with reproducible and repeatable metric. This becomes even harder when dealing with several interacting control logics. The latest Advanced Rider Assistance System (ARAS)s, for example, such as the self-braking, radar-based Adaptive Cruise Control (ACC): there is a lack of real scenarios on which to execute calibration and verification tests and, even when available, the dangerousness in execution increases, and the subjective final assessment falters, bringing the rider’s psychophysical capabilities to the limits (N.Valsecchi, 2020). With multiple demanding control logics’ performances and state dependencies, the needed time for on-road calibration amplifies in duration and mileage; moreover, weather conditions and proving ground availability may frustrate the calibration and verification results. The possibility of doing most of the work in-door, in safe and repeatable conditions, despite adverse weather, already exists exploiting the HIL approach, that nowadays is becoming more and more popular. But still some limitations occur, when attempting to make multiple control logics working together, with real systems in the loop operating as on the real riding conditions. It may result more efficient to have the human in the loop able to ride the real vehicle, fully connected to a real time (RT) computer, reproducing road scenarios in the simulation environment. Human reactions and scenarios-dependent behavior can be realistically reproduced. Driven by the above motivations, the innovative idea to connect the whole motorbike in the RT simulations loop enables this investigation capability and allows to reduce the on-road riding risks to properly verify the behavior of all the involved systems operating together and include the real human response as well. The whole Vehicle-In the-Loop proposed in this work allows testing in full safe, manned or unmanned riding modes, through the exploitation of the automation suite, decoupling systems complexity and, finally, executing hard to replicate on-road scenarios otherwise. The final scope of the work is to stress the ARAS ACC implemented on a state-of-the art motorcycle, investigating the performances of the system when running the typical public road scenarios. To achieve
车载摩托车的控制逻辑越来越多，越来越复杂。接下来是如何在道路测试中，为了正确的响应验证，变得危险和耗时。例如，强制性ABS系统，应在高和低道路摩擦下进行测试，并安装伸出架以防止坠落(UNECE Reg)。78号)。测试的复杂性导致验收标准大多局限于测试人员的主观感受。对于更具挑战性的转弯防抱死系统，由于具有专用道路摩擦的转向车道的可用性有限，几乎无法进行测试，因此可以成功完成校准和验证。用可再现和可重复的度量来客观化系统的性能变得越来越困难。在处理多个交互控制逻辑时，这变得更加困难。例如，最新的高级乘员辅助系统(ARAS)，如自动制动、基于雷达的自适应巡航控制(ACC):缺乏执行校准和验证测试的真实场景，即使有，执行中的危险性也会增加，主观的最终评估也会下降，从而使乘员的心理物理能力达到极限(N.Valsecchi, 2020)。由于控制逻辑的多重性能要求和状态依赖关系，在道路上进行校准所需的时间在持续时间和里程上都有所增加;此外，天气条件和试验场的可用性可能会影响校准和验证结果。尽管天气恶劣，但利用HIL方法在室内、安全和可重复的条件下完成大部分工作的可能性已经存在，这种方法现在正变得越来越受欢迎。但是，当试图使多个控制逻辑协同工作时，仍然存在一些限制，在环路中实际系统在真实的骑行条件下运行。让参与其中的人能够驾驶真实的车辆，完全连接到实时(RT)计算机，在模拟环境中再现道路场景，可能会更有效率。人类的反应和依赖场景的行为可以真实地再现。在上述动机的推动下，将整个摩托车连接到RT模拟循环中的创新想法使这种调查能力得以实现，并允许减少公路骑行风险，从而正确验证所有相关系统共同运行的行为，并包括真实的人类反应。在这项工作中提出的整个Vehicle-In - The - loop允许在完全安全、有人驾驶或无人驾驶的驾驶模式下进行测试，通过利用自动化套件，解耦系统复杂性，最后，执行难以复制的道路场景。最后的工作范围是强调在一辆最先进的摩托车上实施的ARAS ACC，研究该系统在典型公共道路场景下的性能。为了达到这个范围，目标摩托车已经完全连接到实时PC，欺骗ecu，现在由模拟PWM车轮速度编码器和IMU信号在虚拟环境中计算。为了使系统相信交通的存在，对原有雷达进行了旁路，并建立了目标注入机制。已经实现了高保真汽车模型，包括在目标表面上表征的适当轮胎模型(D.Vivenzi, 2019)。Leo et Al. 2019)。已经实现了可参数化的用例，从而能够测试具有移动交通对象的道路上现实的关键情况。更详细地说，将一辆匀速前进的汽车作为交通对象;自我摩托车，以更高的速度，接近前面的汽车。然后分析了不同的情况。场景#1_the platooning:检测前方车辆，计算碰撞时间，并将自我车辆减速至队列状态的逻辑能力;不同ACC用户模式下的重复(例如，相对距离很短、中等、很长);场景# 2_紧急刹车:真正的骑手操作油门，减少安全相对距离;自动制动逻辑仅在释放油门以重新建立安全距离时激活，避免正面碰撞(如果可能的话);紧急标志应当及时提醒骑车人;场景#3_theµ-drop:在自动制动实现队列状态时，在给定速度下，制动时道路摩擦µ下降，激活ABS逻辑;观察两种逻辑的相互作用，选择并验证实现的分层标准(例如ACC立即断开连接)。 尽管场景具有可变性和复杂性，但测试执行的可重复性和再现性都得到了保证，保持了相同的边界条件(初始条件、环境条件、路况、不平度和轮胎与地面的摩擦特性)，允许选择性灵敏度执行和控制逻辑参数设置。在最相关的结果之间，调整前后制动压力的可能性，以实现目标车辆减速以及相对于前车的相对距离和速度;验证车辆响应是否符合预期;ACC和ABS之间的相互作用。最后，在功能故障的情况下监控逻辑行为的可能性(BS ISO 26262, ed. 2020)。效果的分离允许简化和加速分析，确认性能改进的有效性。
{"title":"Innovative whole Vehicle-In the-Loop approach for Advanced Rider Assistance Systems calibration and verification: application to self-braking Adaptive Cruise Control","authors":"M. Pezzola, E. Leo, N. Taroni, simone calamari, F. Cheli","doi":"10.59490/6491cea96173c4e52306e06f","DOIUrl":"https://doi.org/10.59490/6491cea96173c4e52306e06f","url":null,"abstract":"On board motorcycles’ control logics are arising in number and complexity. It follows how on road testing, for correct response verification, becomes danger and time consuming. E.g. the mandatory ABS system, that shall be tested on both the high and the low road friction with installation of outriggers to prevent falling (UNECE Reg. No. 78). The testing complexity induces the acceptance criteria to be mostly limited to the subjective feeling of the tester. With the more challenging Cornering-ABS it is almost not possible to test due to limited availability of steering lanes with dedicated road frictions, where calibration and verification can be successfully accomplished. It is becoming harder and harder to objectify systems’ performances with reproducible and repeatable metric. This becomes even harder when dealing with several interacting control logics. The latest Advanced Rider Assistance System (ARAS)s, for example, such as the self-braking, radar-based Adaptive Cruise Control (ACC): there is a lack of real scenarios on which to execute calibration and verification tests and, even when available, the dangerousness in execution increases, and the subjective final assessment falters, bringing the rider’s psychophysical capabilities to the limits (N.Valsecchi, 2020). With multiple demanding control logics’ performances and state dependencies, the needed time for on-road calibration amplifies in duration and mileage; moreover, weather conditions and proving ground availability may frustrate the calibration and verification results.\u0000The possibility of doing most of the work in-door, in safe and repeatable conditions, despite adverse weather, already exists exploiting the HIL approach, that nowadays is becoming more and more popular. But still some limitations occur, when attempting to make multiple control logics working together, with real systems in the loop operating as on the real riding conditions. It may result more efficient to have the human in the loop able to ride the real vehicle, fully connected to a real time (RT) computer, reproducing road scenarios in the simulation environment. Human reactions and scenarios-dependent behavior can be realistically reproduced.\u0000Driven by the above motivations, the innovative idea to connect the whole motorbike in the RT simulations loop enables this investigation capability and allows to reduce the on-road riding risks to properly verify the behavior of all the involved systems operating together and include the real human response as well. The whole Vehicle-In the-Loop proposed in this work allows testing in full safe, manned or unmanned riding modes, through the exploitation of the automation suite, decoupling systems complexity and, finally, executing hard to replicate on-road scenarios otherwise. The final scope of the work is to stress the ARAS ACC implemented on a state-of-the art motorcycle, investigating the performances of the system when running the typical public road scenarios. To achieve","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"379 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122860384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-26DOI: 10.59490/6489dba0d56c14e8d00e85c3
M. Formentini, E. Marconi, Enrico Giolo, Alessandro Rovarin
This work deals with the longitudinal vibrations of the front fork of a bicycle that may originate under front braking, reporting novel experimental evidence and proposing interpretative models to gain insights into the possible causes. In order to acquire experimental evidence of the phenomenon under study, specific road tests were conducted using four component combinations. A modal analysis was performed to investigate the dynamic properties of the front-end components of the bicycle involved in the vibrations observed on the road and estimate the parameters necessary to populate the lumped-element model, devised with the aim of seeking a set of structural parameters that can reduce the sensitivity of the vehicle to different combinations of brake friction materials.
{"title":"Bicycle fork longitudinal vibrations induced by front braking","authors":"M. Formentini, E. Marconi, Enrico Giolo, Alessandro Rovarin","doi":"10.59490/6489dba0d56c14e8d00e85c3","DOIUrl":"https://doi.org/10.59490/6489dba0d56c14e8d00e85c3","url":null,"abstract":"This work deals with the longitudinal vibrations of the front fork of a bicycle that may originate under front braking, reporting novel experimental evidence and proposing interpretative models to gain insights into the possible causes. In order to acquire experimental evidence of the phenomenon under study, specific road tests were conducted using four component combinations. A modal analysis was performed to investigate the dynamic properties of the front-end components of the bicycle involved in the vibrations observed on the road and estimate the parameters necessary to populate the lumped-element model, devised with the aim of seeking a set of structural parameters that can reduce the sensitivity of the vehicle to different combinations of brake friction materials.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132236731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-26DOI: 10.59490/647bd5221539af025bb4e5a2
T. Haraguchi, T. Kaneko
Studying the relationship between the suspension geometry and the pitching posture during turning in a personal mobility vehicle with two front wheels and one rear wheel that tilts inward when turning, it is shown that the combination of front telescopic type suspension and rear swing arm type suspension is appropriate to simultaneously avoid pitching of the vehicle body during turning and disturbance from the road surface due to the tread change on wheel stroke.
{"title":"A Study of Suspension Geometry for Personal Mobility Vehicles (PMVs) with Inward Tilt Mechanism","authors":"T. Haraguchi, T. Kaneko","doi":"10.59490/647bd5221539af025bb4e5a2","DOIUrl":"https://doi.org/10.59490/647bd5221539af025bb4e5a2","url":null,"abstract":"Studying the relationship between the suspension geometry and the pitching posture during turning in a personal mobility vehicle with two front wheels and one rear wheel that tilts inward when turning, it is shown that the combination of front telescopic type suspension and rear swing arm type suspension is appropriate to simultaneously avoid pitching of the vehicle body during turning and disturbance from the road surface due to the tread change on wheel stroke.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125667716","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-21DOI: 10.59490/645b85b32e41cde9599a9048
S. Kaul
This paper examines the influence of several nonlinearities of an engine mounting system on the planar (in-plane) dynamics of a motorcycle. While the primary aim of the engine mounting system is to enhance ride comfort, some of the nonlinearities associated with the system can influence handling in a motorcycle due to the coupled dynamics of the rear unsprung mass and the swing arm. The use of engine mounts (or vibration isolation systems) is not common in motorcycle powertrains except for a few commercial manufacturers who use isolators to mitigate shaking forces produced by the engine, or to isolate the frame from torque recoil, or to provide isolation at idling or low speeds.
{"title":"Planar Dynamics of a Motorcycle: Parameter Sensitivity of Ride Comfort to Engine Mounting System Nonlinearities","authors":"S. Kaul","doi":"10.59490/645b85b32e41cde9599a9048","DOIUrl":"https://doi.org/10.59490/645b85b32e41cde9599a9048","url":null,"abstract":"This paper examines the influence of several nonlinearities of an engine mounting system on the planar (in-plane) dynamics of a motorcycle. While the primary aim of the engine mounting system is to enhance ride comfort, some of the nonlinearities associated with the system can influence handling in a motorcycle due to the coupled dynamics of the rear unsprung mass and the swing arm. The use of engine mounts (or vibration isolation systems) is not common in motorcycle powertrains except for a few commercial manufacturers who use isolators to mitigate shaking forces produced by the engine, or to isolate the frame from torque recoil, or to provide isolation at idling or low speeds.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126522051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-21DOI: 10.59490/647daeb569d559aa327d02f6
Hanna Zsofia Horvath, D. Takács
A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.
{"title":"Balancing Standstill Motorcycles by Steering Control with Feedback Delay","authors":"Hanna Zsofia Horvath, D. Takács","doi":"10.59490/647daeb569d559aa327d02f6","DOIUrl":"https://doi.org/10.59490/647daeb569d559aa327d02f6","url":null,"abstract":"A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133931800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-12DOI: 10.59490/645be2c02d0b52c3ea6fba8d
P. Ethier
The 2-Skate was tested but the rider might have been a circus acrobat. So the present study aimed at determining if ordinary persons can ride it with confidence, with the same phase lag between torso and vehicle leaning when slaloming, and the same torso and vehicle lean angles in steady state curves as predicted. 12 riders tested the 2-Skates and on their first trial, they could ride it and go slaloming. Phase lag and lean angle were as predicted by the Torso-Arms-Handlebar Steering Theory presented by Ethier, with differential non-holonomic and servomechanism system equations. This confirmation (a) sheds light on how bicycles are steered, (b) clarifies that Countersteering is done automatically at low speeds, (c) supports and clarifies the way mountain bike steering is taught, (d) suggests a slight modification in teaching motorcycle Countersteering, (e) can be used to develop different approachs to 2-Wheeler simulators, (f) and can renew interest for motorcycles with seat belts and protective structure like the BMW-C1 and the award winning Peraves e-Tracer.
{"title":"2-Skate-Single-Track-Vehicle with Zero-Fork-Angle & Zero-Trail & Zero-Power: Tested for Rideability, Phase-Lag and Steady-State-Lean-Angles","authors":"P. Ethier","doi":"10.59490/645be2c02d0b52c3ea6fba8d","DOIUrl":"https://doi.org/10.59490/645be2c02d0b52c3ea6fba8d","url":null,"abstract":"The 2-Skate was tested but the rider might have been a circus acrobat. So the present study aimed at determining if ordinary persons can ride it with confidence, with the same phase lag between torso and vehicle leaning when slaloming, and the same torso and vehicle lean angles in steady state curves as predicted. 12 riders tested the 2-Skates and on their first trial, they could ride it and go slaloming. Phase lag and lean angle were as predicted by the Torso-Arms-Handlebar Steering Theory presented by Ethier, with differential non-holonomic and servomechanism system equations. This confirmation (a) sheds light on how bicycles are steered, (b) clarifies that Countersteering is done automatically at low speeds, (c) supports and clarifies the way mountain bike steering is taught, (d) suggests a slight modification in teaching motorcycle Countersteering, (e) can be used to develop different approachs to 2-Wheeler simulators, (f) and can renew interest for motorcycles with seat belts and protective structure like the BMW-C1 and the award winning Peraves e-Tracer.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128138197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-12DOI: 10.59490/6461fae57a7554ff28deada4
Clemens Groß, Steffen Müller
In the past years, cargo bicycles in different configurations have gained popularity for many use cases. Their configurations differ substantially. Single-track cargo bicycles and their kinematics are linked closely to conventional bicycles. The kinematics of inverted tricycles, so-called tadpole trikes, are very different. In the final paper, we will present a novel physical model of a tadpole style cargo tricycle for the mathematical description of the driving behavior, which can be used for e.g. stability analysis or motion prediction. We will furthermore present our instrumented tadpole cargo tricycle which is used to parametrize our kinematic model and used to validate the theoretically derived equations of motion.
{"title":"Parameterized and validated equations of motion for a tadpole style cargo tricycle","authors":"Clemens Groß, Steffen Müller","doi":"10.59490/6461fae57a7554ff28deada4","DOIUrl":"https://doi.org/10.59490/6461fae57a7554ff28deada4","url":null,"abstract":"In the past years, cargo bicycles in different configurations have gained popularity for many use cases. Their configurations differ substantially. Single-track cargo bicycles and their kinematics are linked closely to conventional bicycles. The kinematics of inverted tricycles, so-called tadpole trikes, are very different. In the final paper, we will present a novel physical model of a tadpole style cargo tricycle for the mathematical description of the driving behavior, which can be used for e.g. stability analysis or motion prediction. We will furthermore present our instrumented tadpole cargo tricycle which is used to parametrize our kinematic model and used to validate the theoretically derived equations of motion.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131868406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-12DOI: 10.59490/6454fe8ebbbd7753dc6d1d39
S. Will, T. Hammer, R. Pleß, Nora Leona Merkel, A. Neukum
Whenever driving simulators are used in research and development, to a certain extent the generalizability of the gained results is subject to discussion. Typically, a simulator gets validated in a rather effortful and complex process in order to prove the adequacy of the use of this specific simulator as research tool for a given research question. This paper proposes a new methodological approach to assess a simulator’s overall characteristics and therefore to assess its potential fields of application on a wider basis. The methodology was developed focusing on motorcycle riding simulators.
{"title":"Simulator validation – a new methodological approach applied to motorcycle riding simulators","authors":"S. Will, T. Hammer, R. Pleß, Nora Leona Merkel, A. Neukum","doi":"10.59490/6454fe8ebbbd7753dc6d1d39","DOIUrl":"https://doi.org/10.59490/6454fe8ebbbd7753dc6d1d39","url":null,"abstract":"Whenever driving simulators are used in research and development, to a certain extent the generalizability of the gained results is subject to discussion. Typically, a simulator gets validated in a rather effortful and complex process in order to prove the adequacy of the use of this specific simulator as research tool for a given research question. This paper proposes a new methodological approach to assess a simulator’s overall characteristics and therefore to assess its potential fields of application on a wider basis. The methodology was developed focusing on motorcycle riding simulators.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122178026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-09DOI: 10.59490/64664617311fc849d76663c1
Francesco Bianchin, Enrico Picotti, M. Bruschetta
Learning-based Nonlinear Model Predictive Control (LbNMPC) is a promising framework for applying NMPC using dynamics models obtained directly from riding data. We developed a LbNMPC controller based on a black-box dynamics model and compare it with a previously published NMPC controller based on a physics-based description. The controllers have been tested in a high-fidelity simulation framework, and the LbNMPC outperforms the nominal one in terms of tracking indexes, while requiring twice the solution time.
{"title":"Towards Black-Box Dynamics Modelling within Learning-based Nonlinear Model Predictive Control for Virtual Motorcycles","authors":"Francesco Bianchin, Enrico Picotti, M. Bruschetta","doi":"10.59490/64664617311fc849d76663c1","DOIUrl":"https://doi.org/10.59490/64664617311fc849d76663c1","url":null,"abstract":"Learning-based Nonlinear Model Predictive Control (LbNMPC) is a promising framework for applying NMPC using dynamics models obtained directly from riding data. We developed a LbNMPC controller based on a black-box dynamics model and compare it with a previously published NMPC controller based on a physics-based description. The controllers have been tested in a high-fidelity simulation framework, and the LbNMPC outperforms the nominal one in terms of tracking indexes, while requiring twice the solution time.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121597252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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