The frames of many commercial vehicles are composed of rectangular tubular steel and are a significant portion of the gross vehicle weight. The introduction of a composite frame would potentially reduce weight and increase structural properties. We compare a baseline frame section to new composite sections injected with two different types of foam: a polyurethane and aluminum foam. The objective was to increase the overall strength and stiffness, while leaving the overall weight of the frame unchanged or reduced by reducing the plate thickness of the tubular steel. Sections of rectangular tubular steel are tested individually with and without the inclusion of aluminum and closed cell polyurethane foam. The potential advantages include light weighting vehicles, increasing strength and durability, improving ride through a more ridged/stiffer un-sprung mass, and the ability to make quick structural repairs of a compromised vehicle frame. The study revealed that injecting of polyurethane foam produced increase in strength while the aluminum foam did not increase the strength.
{"title":"Design and Simulation Analysis of Intelligent Suspension for Manned Lunar Rover","authors":"Tao Li, Chongfeng Zhang, Weijun Wang, Junwei Shi","doi":"10.56884/nstj2451","DOIUrl":"https://doi.org/10.56884/nstj2451","url":null,"abstract":"The frames of many commercial vehicles are composed of rectangular tubular steel and are a significant portion of the gross vehicle weight. The introduction of a composite frame would potentially reduce weight and increase structural properties. We compare a baseline frame section to new composite sections injected with two different types of foam: a polyurethane and aluminum foam. The objective was to increase the overall strength and stiffness, while leaving the overall weight of the frame unchanged or reduced by reducing the plate thickness of the tubular steel. Sections of rectangular tubular steel are tested individually with and without the inclusion of aluminum and closed cell polyurethane foam. The potential advantages include light weighting vehicles, increasing strength and durability, improving ride through a more ridged/stiffer un-sprung mass, and the ability to make quick structural repairs of a compromised vehicle frame. The study revealed that injecting of polyurethane foam produced increase in strength while the aluminum foam did not increase the strength.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128166064","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}
Ride comfort is an important topic for on- and off-road suspension design. Difference thresholds of whole-body vibration is important to determine perceptibility of changes in a vehicle’s dynamics. Difference thresholds can be used to guide ride comfort improvements. Difference thresholds have been estimated for vertical and multi-axial seat vibration in laboratory settings. In order to determine the applicability of these laboratory difference thresholds and/or to estimate difference thresholds during driving, it is required that changes can be made in the vehicle’s vibration that is transmitted to the occupants i.e. the stimulus. Ride comfort is quantified by the weighted vertical seat pad vibration and compared between four suspension modes of a vehicle over three roads from ten repeat runs. Significant differences in the median weighted vertical seat pad vibration were found between Mode 1 and the other three modes over Road 1 and Road 2. No significant differences were found over Road 3. The significant differences over Road 1 are in the range of the median relative difference threshold reported in literature. Over Road 2 the differences are below the reported 25th percentile relative difference thresholds. Some combinations of the suspension modes and roads result in ride comfort differences. The suspension mode and road combinations could be used to verify the applicability of available difference thresholds during driving.
{"title":"Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference Threshold Experiments During Driving","authors":"Cor-Jacques Kat, K. Praet, M. Dhaens, S. Els","doi":"10.56884/mgkw8503","DOIUrl":"https://doi.org/10.56884/mgkw8503","url":null,"abstract":"Ride comfort is an important topic for on- and off-road suspension design. Difference thresholds of whole-body vibration is important to determine perceptibility of changes in a vehicle’s dynamics. Difference thresholds can be used to guide ride comfort improvements. Difference thresholds have been estimated for vertical and multi-axial seat vibration in laboratory settings. In order to determine the applicability of these laboratory difference thresholds and/or to estimate difference thresholds during driving, it is required that changes can be made in the vehicle’s vibration that is transmitted to the occupants i.e. the stimulus. Ride comfort is quantified by the weighted vertical seat pad vibration and compared between four suspension modes of a vehicle over three roads from ten repeat runs. Significant differences in the median weighted vertical seat pad vibration were found between Mode 1 and the other three modes over Road 1 and Road 2. No significant differences were found over Road 3. The significant differences over Road 1 are in the range of the median relative difference threshold reported in literature. Over Road 2 the differences are below the reported 25th percentile relative difference thresholds. Some combinations of the suspension modes and roads result in ride comfort differences. The suspension mode and road combinations could be used to verify the applicability of available difference thresholds during driving.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128030059","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}
Marco Polastri, Damiano Chiarabelli, Silvia Gessi, M. Martelli, E. Mucchi, P. Marani
Vehicle dynamics is of primary importance for the determination of the vertical load on wheels and consequently on their traction capability. This is even more true if the vehicle is travelling on an uncompacted soil and influenced by a variable load applied to the hitch, as it is for a ploughing tractor. In this framework, the authors present a comprehensive lumped parameter approach for performance assessment of agricultural tractors in real operating conditions. The proposed methodology integrates in a modular context different numerical models related to the main subsystems of a modern tractor, i.e. diesel engine, hydro-mechanical transmission, full multibody frame and tire mechanics. In particular, the engine and transmission modules reproduce powertrain characteristics and control strategy, the multibody module characterizes the dynamic behaviour of the vehicle detailing the interaction between the tractor rigid bodies, and the tire model predicts tractive capability and resistance to motion on soft soil. It also provides the possibility to properly reproduce real load cycles and their influence on the vehicle setup. The presented lumped parameter model is intended as a powerful simulation tool, capable of considering a large number of phenomena affecting tractor performance, both in terms of fuel consumption and longitudinal response due to load distribution. The predictive capabilities of the proposed modelling approach are presented by simulating a realistic ploughing operation, focusing on tire-soil interaction. Considering the cascade phenomena from the wheel-ground interaction to the engine, passing through the dynamic of vehicle bodies and their mass transfer, numerical results are presented in terms of tractive capability and its effect on fuel consumption.
{"title":"A Comprehensive Lumped Parameter Approach for the Dynamic Simulation of Agricultural Tractors in Real Operating Conditions","authors":"Marco Polastri, Damiano Chiarabelli, Silvia Gessi, M. Martelli, E. Mucchi, P. Marani","doi":"10.56884/zlty2074","DOIUrl":"https://doi.org/10.56884/zlty2074","url":null,"abstract":"Vehicle dynamics is of primary importance for the determination of the vertical load on wheels and consequently on their traction capability. This is even more true if the vehicle is travelling on an uncompacted soil and influenced by a variable load applied to the hitch, as it is for a ploughing tractor. In this framework, the authors present a comprehensive lumped parameter approach for performance assessment of agricultural tractors in real operating conditions. The proposed methodology integrates in a modular context different numerical models related to the main subsystems of a modern tractor, i.e. diesel engine, hydro-mechanical transmission, full multibody frame and tire mechanics. In particular, the engine and transmission modules reproduce powertrain characteristics and control strategy, the multibody module characterizes the dynamic behaviour of the vehicle detailing the interaction between the tractor rigid bodies, and the tire model predicts tractive capability and resistance to motion on soft soil. It also provides the possibility to properly reproduce real load cycles and their influence on the vehicle setup. The presented lumped parameter model is intended as a powerful simulation tool, capable of considering a large number of phenomena affecting tractor performance, both in terms of fuel consumption and longitudinal response due to load distribution. The predictive capabilities of the proposed modelling approach are presented by simulating a realistic ploughing operation, focusing on tire-soil interaction. Considering the cascade phenomena from the wheel-ground interaction to the engine, passing through the dynamic of vehicle bodies and their mass transfer, numerical results are presented in terms of tractive capability and its effect on fuel consumption.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130539138","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}
Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model.
{"title":"3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers","authors":"Q. Lan, Zhengyin Wang, Huaiguang Yang, Liang Ding, Haibo Gao","doi":"10.56884/wwux2021","DOIUrl":"https://doi.org/10.56884/wwux2021","url":null,"abstract":"Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131347184","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}
The problem of rescue is necessary for the mobile manipulator in Nuclear power plants (NPPs), however, the research on energy consumption is of great importance to the mobile manipulator in the process of rescue. In this paper, we focus on the energy consumption of nuclear power plant rescue robot about the task of door-opening, and present a method of path planning of the door opening. The energy consumption model is derived to evaluate the performances of modular manipulators. Extensive door-opening capture experiments have been carried out. The compares of the manipulator summation energy consumption of the different holding positions of knob radius rk, and the energy consumption of each joint in the same path planning are studied. Experimental results show that the minimum summation of manipulator energy consumption is the end-effector grasps the position of door knob, which is the value of rk (40mm), and the third joint of the average energy consumption is the maximal in the same path planning.
{"title":"Energy Consumption Analysis of Door Opening with a Mobile Manipulator in the Nuclear Power Plants","authors":"Changyou Ma, Binbin Yan, Xu Xiong, Haibo Gao, Liang Ding","doi":"10.56884/fpqm8003","DOIUrl":"https://doi.org/10.56884/fpqm8003","url":null,"abstract":"The problem of rescue is necessary for the mobile manipulator in Nuclear power plants (NPPs), however, the research on energy consumption is of great importance to the mobile manipulator in the process of rescue. In this paper, we focus on the energy consumption of nuclear power plant rescue robot about the task of door-opening, and present a method of path planning of the door opening. The energy consumption model is derived to evaluate the performances of modular manipulators. Extensive door-opening capture experiments have been carried out. The compares of the manipulator summation energy consumption of the different holding positions of knob radius rk, and the energy consumption of each joint in the same path planning are studied. Experimental results show that the minimum summation of manipulator energy consumption is the end-effector grasps the position of door knob, which is the value of rk (40mm), and the third joint of the average energy consumption is the maximal in the same path planning.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115946455","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}
To improve the efficiency of manual operations in the coal bunker, a completely automatic system based on multi-sensor perceptual positioning and map-based clearance planning is proposed. Firstly, the perceptual positioning link combines semantic segmentation to improve the traditional feature extraction and restricts the loop keyframe by using brute force matching, which improves the localization ability of simultaneous localization and mapping (SLAM) in the coal bunker. Compared with the incremental map maintenance strategy, a neighboring strategy is proposed to update the map in the dynamic environment of the coal bunker. Secondly, in response to the requirements of the coal bunker cleaning operation, based on the SLAM positioning results, we formulate behavior planning combined with a hierarchical finite state machine (FSM) and a grid map-based motion planning. The proposed clearing plan combines the geometric characteristics of crawler rakes, reduces the error of trajectory tracking, and improves the smoothness of trajectory curvature. The system can realize accurate real-time positioning in the bunker environment, and successfully complete the requirements of cleaning. In addition, a high simulation environment based on the unreal engine is built to verify the effectiveness and robustness of the system.
{"title":"Design of Self-Driving Bulldozer System","authors":"Junhua Yang, Biao Zhang, Haokai Tang, Binghua Shen, Linlin Ou, Xinyi Yu, Yu-Cheng Feng, Yu-Cheng Feng, Libo Zhou","doi":"10.56884/cruy6863","DOIUrl":"https://doi.org/10.56884/cruy6863","url":null,"abstract":"To improve the efficiency of manual operations in the coal bunker, a completely automatic system based on multi-sensor perceptual positioning and map-based clearance planning is proposed. Firstly, the perceptual positioning link combines semantic segmentation to improve the traditional feature extraction and restricts the loop keyframe by using brute force matching, which improves the localization ability of simultaneous localization and mapping (SLAM) in the coal bunker. Compared with the incremental map maintenance strategy, a neighboring strategy is proposed to update the map in the dynamic environment of the coal bunker. Secondly, in response to the requirements of the coal bunker cleaning operation, based on the SLAM positioning results, we formulate behavior planning combined with a hierarchical finite state machine (FSM) and a grid map-based motion planning. The proposed clearing plan combines the geometric characteristics of crawler rakes, reduces the error of trajectory tracking, and improves the smoothness of trajectory curvature. The system can realize accurate real-time positioning in the bunker environment, and successfully complete the requirements of cleaning. In addition, a high simulation environment based on the unreal engine is built to verify the effectiveness and robustness of the system.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128296619","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}
J. Yamakawa, Ryosuke Eto, Yasuhiro Ichikado, M. Yoshimoto, T. Nishizawa, Tomohiro Kubo, Hiroyuki Yamada
{"title":"Research on Vehicle Running Performance on Paved Roads Covered with Falling Volcanic Ash","authors":"J. Yamakawa, Ryosuke Eto, Yasuhiro Ichikado, M. Yoshimoto, T. Nishizawa, Tomohiro Kubo, Hiroyuki Yamada","doi":"10.56884/ytyf8036","DOIUrl":"https://doi.org/10.56884/ytyf8036","url":null,"abstract":"","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130800393","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}
Tire-soil tangential interaction involves complex terramechanics. When modeling the tire-soil tangential forces, a great amount of experiments is needed to identify the parameters in the currently available models. The efficiency and accuracy of the current models is still time and cost consuming. The control of the terrain vehicle is introduced gradually to the off-road vehicles. Such application requires more accurate and real-time tire-soil force models. Therefore, the machine learning technique, the reinforcement learning algorithm, is introduced to the tire-soil tangential force modelling. First, the tire-soil rolling experiment is carried out under longitudinal and lateral slip condition with the tire-soil test facility. The tire-soil forces vs slip ratios test data is obtained on the sand and mud road surfaces. The reinforcement learning model, which including the physical interpretation and the uncertainty (with Gaussian Process), is proposed. The model parameters is identified through the supervised learning (training) by the model from the acquired experimental data. The model accuracy could be improved gradually with the iterative off-line learning (training). The trained model could calculate the force-vs-slip ratio relationship with high accuracy and efficiency. The proposed model could also be updated with the new data learning.
{"title":"Tire-Soil Tangential Force Reinforcement Learning Modeling","authors":"Yingchun Qi, Jiaqi Zhao, Ye Zhuang","doi":"10.56884/rhbe9228","DOIUrl":"https://doi.org/10.56884/rhbe9228","url":null,"abstract":"Tire-soil tangential interaction involves complex terramechanics. When modeling the tire-soil tangential forces, a great amount of experiments is needed to identify the parameters in the currently available models. The efficiency and accuracy of the current models is still time and cost consuming. The control of the terrain vehicle is introduced gradually to the off-road vehicles. Such application requires more accurate and real-time tire-soil force models. Therefore, the machine learning technique, the reinforcement learning algorithm, is introduced to the tire-soil tangential force modelling. First, the tire-soil rolling experiment is carried out under longitudinal and lateral slip condition with the tire-soil test facility. The tire-soil forces vs slip ratios test data is obtained on the sand and mud road surfaces. The reinforcement learning model, which including the physical interpretation and the uncertainty (with Gaussian Process), is proposed. The model parameters is identified through the supervised learning (training) by the model from the acquired experimental data. The model accuracy could be improved gradually with the iterative off-line learning (training). The trained model could calculate the force-vs-slip ratio relationship with high accuracy and efficiency. The proposed model could also be updated with the new data learning.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115230056","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}
Varsha S Swamy, Rashna Pandit, Alba Yerro-Colom, C. Sandu, Denise M. Rizzo, K. Sebeck
The mobility of vehicles in off-road environments is critical for many applications. Understanding and predicting the tire-soil interaction is a challenge, especially when the terrain is largely deformable and plastic, and non-linear behavior is expected. This paper presents an overview of the bibliographic references on tires–deformable soil interactions and identifies the gaps present in the literature. The capabilities and challenges of different modeling methods used to assess the traction performance of a vehicle on deformable soil (i.e., analytical, semi-empirical, and numerical are discussed. Also, since the performance of the vehicle highly depends on the soil characteristics, a summary of the different material models used for non-cohesive and cohesive soil and the methods that have been used to characterize the soil is presented. The soil behavior and strength also depend on the water content and permeability along with the soil type. To highlight this, the available works on tire-wet soil interactions are discussed. Lastly, the different tire models and the validation methods that have been used for the soil, tire, and tire-deformable soil interaction are summarized. To conclude, this bibliographic review highlights that there is very limited work in the physics-based study of trafficability in wet soils, in particular in cohesive soil.
{"title":"A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions","authors":"Varsha S Swamy, Rashna Pandit, Alba Yerro-Colom, C. Sandu, Denise M. Rizzo, K. Sebeck","doi":"10.56884/ikfa4933","DOIUrl":"https://doi.org/10.56884/ikfa4933","url":null,"abstract":"The mobility of vehicles in off-road environments is critical for many applications. Understanding and predicting the tire-soil interaction is a challenge, especially when the terrain is largely deformable and plastic, and non-linear behavior is expected. This paper presents an overview of the bibliographic references on tires–deformable soil interactions and identifies the gaps present in the literature. The capabilities and challenges of different modeling methods used to assess the traction performance of a vehicle on deformable soil (i.e., analytical, semi-empirical, and numerical are discussed. Also, since the performance of the vehicle highly depends on the soil characteristics, a summary of the different material models used for non-cohesive and cohesive soil and the methods that have been used to characterize the soil is presented. The soil behavior and strength also depend on the water content and permeability along with the soil type. To highlight this, the available works on tire-wet soil interactions are discussed. Lastly, the different tire models and the validation methods that have been used for the soil, tire, and tire-deformable soil interaction are summarized. To conclude, this bibliographic review highlights that there is very limited work in the physics-based study of trafficability in wet soils, in particular in cohesive soil.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115566786","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}
Mike Huang, Haixuan Qiu, Chunyu Yang, Lian Xia, Zhaomin Lin, Yanqing Wang, Zongqing Xu, Mingfu Tang
Advanced Driver Assist Systems (ADAS) are becoming more prevalent and more sophisticated in passenger vehicles, with features such as automatic lane keeping, pedestrian detection, and emergency breaking. In line with the increased production deployment of ADAS, testing of these systems are becoming more rigorous with more scenarios needing to be considered every year, see, for example, the ADAS testing conducted by Euro NCAP. To fit the need of placing test vehicles and environment factors in very specific and repeatable scenarios, physical driving robots are commonly used. While most current tests set up the test vehicle in near steady state conditions, e.g., constant speed and straight, in the future, more complex, possibly dynamic scenarios will need to be tested. This paper presents a Model Predictive Control (MPC) strategy for controlling a vehicle along dynamic paths and is easily deployable across different vehicles. Experiment results demonstrating the controller capability for both an electric and a conventional vehicle is presented.
{"title":"Model Predictive Control of a Robot Driven Vehicle for Testing of Advanced Driver Assist Systems","authors":"Mike Huang, Haixuan Qiu, Chunyu Yang, Lian Xia, Zhaomin Lin, Yanqing Wang, Zongqing Xu, Mingfu Tang","doi":"10.56884/wzvy2027","DOIUrl":"https://doi.org/10.56884/wzvy2027","url":null,"abstract":"Advanced Driver Assist Systems (ADAS) are becoming more prevalent and more sophisticated in passenger vehicles, with features such as automatic lane keeping, pedestrian detection, and emergency breaking. In line with the increased production deployment of ADAS, testing of these systems are becoming more rigorous with more scenarios needing to be considered every year, see, for example, the ADAS testing conducted by Euro NCAP. To fit the need of placing test vehicles and environment factors in very specific and repeatable scenarios, physical driving robots are commonly used. While most current tests set up the test vehicle in near steady state conditions, e.g., constant speed and straight, in the future, more complex, possibly dynamic scenarios will need to be tested. This paper presents a Model Predictive Control (MPC) strategy for controlling a vehicle along dynamic paths and is easily deployable across different vehicles. Experiment results demonstrating the controller capability for both an electric and a conventional vehicle is presented.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129738517","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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