Enhanced AHS Safety Through The Integration of Vehicle Control and Communication

Vehicle Dynamics Lab.
Enhanced AHS Safety Through the

Integration of Vehicle Control and
Communication
October
October 2002
2002
J.
J. K.
K. Hedrick,
Hedrick, R.
R. Sengupta,
Sengupta,
Q.
Q. Xu,
Xu, C.
C. Lee,
Lee, Y.
Y. Kang
Kang
Vehicle
Research Areas
Communication architecture
Goal = wireless network useful for:
1) Cooperative friction estimation
2) Cooperative Emergency Maneuver
3) AHS and cooperative
adaptive cruise control
Tire/road friction estimation

Goal: Real time estimation of
maximum tire-road friction
Emergency Braking
Maneuvers
Goal: Develop a safe control

strategy for the emergency
braking maneuver of
platoons.
Vehicle
Project Goals
Tire/road friction estimation
Road
Condition &
Maximum
Friction
Coeff.
Emergency Braking
Maneuvers
Communication architecture
Information from
other vehicles and
road side infra
structure.
Slip-based
Road Condition Estimation
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Overview and
Benefits of the Research
z Overview
Empirical approach
Effect-based method
Real Time work
z Benefits
Estimation of max. acceleration limit of the vehicle.
Emergency Braking Control for the Platoon.
Road Condition vs. Position Map.
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Slip/Friction Coefficient Calculation

z Slip
r
s=
max(r , )
z Max
ax
max
z Friction
Coefficient
Fx
=
Nz
Acceleration
= max
Fx11 + Fx12 + Fx 21 + Fx 22
Nz
mg
= max
= max
max g
m
m
m
Maximum friction coefficients determines

maximum acceleration or deceleration
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Slip Slope Vs max

Affecting Factors
1
0.9
Fric tio n Co e ffic ie nt
Road Condition
Tire Type
Tread Pattern
Tread Depth
Velocity
Dry
0.8
0.7
0.6
We t
0.5
0.4
Sno wy
0.3
Ic y
0.2
0.1
0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Slip Ra tio
Focus on Linear Region Slip Slope, k
= k s
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Schematic of the max Estimator

Normal
Force
Observer
Effective
Tire Radius
Observer
Wheel
Angular
Speed
Tractive
Force
Estimator
Friction Coefficient
Calculation
Brake
Gain
Estimator
Slip Slope
Estimator
Slip
Calculation
Vehicle
Velocity
Slip Ra tio
Maximum Friction
Coefficient Estimator
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Static Normal Force Observer

Normal Force friction coefficient calculation
effective tire radius estimation
Static normal force observer assumes a static model for
vehicle3% error comparing to dynamic vehicle model
7500
Front Tires
Rear Tires
7000
Static Normal Force Model

Normal Force [N]
6500
lf
lr
6000
5500
5000
4500
4000
3500
Nf
mg
Nr
3
4
Time [S econds ]
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Effective Tire Radius Observer

z Tire
radius is required for Slip

Calculation
R = f ( FN , Ptire , v)
0.336
Normal Force
Tire Pressure
Velocity
0.335
Effective Tire Radius [m]
Tire Radius Change

is a Function of
Front Tires
Rear Tires
0.334
0.333
0.332
0.331
0.33
0.329
3
4
Time [S econds ]
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Tractive Force Estimation

Ge a r
S ta tu s
Th ro ttle
P o s itio n
C a rrie r
Spe e d
To rq u e
C o n ve rte r
Lo o ku p Ta b le
Tt
Tnet
En g in e Ma p
Wh e e l
Spe e d
S h a ft To rq u e
Ob s e rve r
En g in e
Spe e d
Bra ke
P re s s u re
Bra ke Ga in
Es tim a to r
Ts
KB
Tra c tive Fo rc e Es tim a to r
Ft
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Brake Gain Estimator
z
z
Brake Gain Change sometimes

Heat
Water
Wear of Brake Pad,
etc.
Model : Front
Wheel Dynamics
Method : Recursive
Least Square
Method Using
Bounded
Forgetting
3.5
x 10
changes
more than 50%
-4
Meas ured
Es timated
3
2.5
Brake Gain, Kb [m 3 ]
TB = Kb ( Pw Ppo )
1.5
1
0.5
0
12.5
13
13.5
14
Time [S econds ]
14.5
15
15.5
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Slip Slope Vs max

Each vehicle has its own slip slope under same road
Dry road condition set as Reference slip slope
Maximum friction coefficient change rate / Slip slope
change rate based on reference slip slope
Linear Assumption
1.2
Slip
Slope
Max
Friction
Coefficient
Dry
Wet
52
40
(100%) (76.9%)
0.95
0.75
(100%) (78.9%)
1.0
Maximum Friction Coefficient
Road
Condition
0.8
0.6
0.4
Dry Asphalt
Wet Asphalt
0.2
0.0
10
20
30
Slip Slope
40
50
60
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Slip Slope and max Estimation

z
Example : Wet Dry
max Estimation
Slip Slope Estimation

Using RLS method
Based on slip slope
60
50
Maximum FrictionCoefficient
S lip S lope
40
30
20
0.6
0.4
0.2
10
0.8
0.5
1.5
2
2.5
Time [S econds ]
3.5
4.5
0.5
1.5
2
2.5
Time [S econds ]
3.5
4.5
Emergency Braking Maneuvers
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Emergency Braking Controller

(Longitudinal Control)
z Requirements
for emergency braking
control
Control robustness against the high slip
condition between road and tire.
Friction coefficients estimation algorithm.
z Control
Control
method : Dynamic Surface
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Experimental Set-up
z Experimental
Vehicle used
: Ford red Lincoln town car
z Sensors and actuators
: wheel speed sensors
brake pressure sensors
5th wheel speed sensor
brake and throttle actuators
z Computers
with real-time OS
: QNX operating system
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Simulation Results
z Simulation
with Dynamic Surface

Control (6 m/s2 deceleration)
Space tracking error
Velocity Profile
20
18
0.5
16
14
Velocity[m/s ]
Error[m]
-0.5
-1
10
8
6
4
-1.5
dry road
wet road
-2
12
6.5
max _ wet = 0 . 6 max _ dry

7
7.5
8
Time[s ec]
8.5
des ired vehicle speed

vehicle speed(dry road)
vehicle speed(wet road)
2
9.5
6.5
7.5
8
Time[s ec]
8.5
9.5
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Experimental Results
z Experiments
in same situation
( 6 m/s2 deceleration)
Space tracking error
Velocity Profile
20
18
0.5
16
14
Velocity[m/s ]
Error[m]
-0.5
-1
10
8
6
4
-1.5
6.5

vehicle speed(dry road)
vehicle speed(wet road)
dry road
wet road
-2
12
7.5
8
Time[s ec]
8.5
9.5
6.5
7.5
8
Time[s ec]
8.5
9.5
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Analysis of the Result

z The
performance of the Dynamic

Surface Controller is reasonable(1~2m
error with 6 m/s2) in an emergency
braking situation.
z Control performance depends on
friction coefficients.
Friction coefficient estimation is
important.
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Emergency Braking Control

Strategies for Platoons
z Emergency
braking for the Platoons
: Difference of max. deceleration limit between

vehicles can result in collision.
z Cooperative
( (
Emergency Control.
( (
Vehicle with Worst Braking

Capacity transmits its info.
Vehicle
Vehicle Dynamics
Dynamics Lab.
Lab.
Simulation Results
z Space
& velocity tracking
space tracking error
vehicle speed during the simulation [mph]
0.5
50
45
40
-0.5
35
-1
30
-1.5
[m]
[m/s]
-2
25
20
-2.5
leading vehicle
following vehicle1
following vehicle2
following vehicle3
following vehicle4
following vehicle5
following vehicle6
-3
-3.5
-4

leading vehicle s peed
following vehicle1 speed
15
10
5
8
10
t
12
14
16
18
20
6.5
7.5
8.5
t
9.5
10
10.5
11

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Vehicle Dynamics Lab.

Enhanced AHS Safety Through the

Tire/road friction estimation

Goal: Develop a safe control

Vehicle Dynamics Lab.

Slip/Friction Coefficient Calculation

Maximum friction coefficients determines

Slip Slope Vs max

Fric tio n Co e ffic ie nt

Focus on Linear Region Slip Slope, k

Schematic of the max Estimator

Static Normal Force Observer

Static Normal Force Model

Effective Tire Radius Observer

radius is required for Slip

Tire Radius Change

Tractive Force Estimation

Tra c tive Fo rc e Es tim a to r

Brake Gain Estimator

Brake Gain Change sometimes

Slip Slope Vs max

Maximum Friction Coefficient

Slip Slope and max Estimation

Example : Wet Dry

Slip Slope Estimation

Based on slip slope

Vehicle Dynamics Lab.

Emergency Braking Maneuvers

Emergency Braking Controller

for emergency braking

method : Dynamic Surface

: QNX operating system

with Dynamic Surface

max _ wet = 0 . 6 max _ dry

des ired vehicle speed

des ired vehicle speed

Analysis of the Result

performance of the Dynamic

Emergency Braking Control

braking for the Platoons

: Difference of max. deceleration limit between

Vehicle with Worst Braking

& velocity tracking

space tracking error

vehicle speed during the simulation [mph]

des ired vehicle speed

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