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
Vehicle Dynamics Lab.

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
Vehicle Dynamics Lab.

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.

Vehicle Dynamics Lab.

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

Vehicle Dynamics Lab.

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

des ired vehicle speed

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

des ired vehicle speed

leading vehicle s peed
following vehicle1 speed
following vehicle2 speed
following vehicle3 speed
following vehicle4 speed
following vehicle5 speed
following vehicle6 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