A Virtual Development Approach Using Advanced HiL Steering Bench

Talarico, Enrico Maria; Raimondi, Giuseppe; Alfatti, F; Vitaliti, Daniele; Annicchiarico, Claudio

doi:10.1007/978-3-662-64550-5_27

Cited by 5 publications

(3 citation statements)

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“…The brake bench has been installed on the driving simulator thanks to the collaboration with the company Meccanica 42. The simulator setup is the same as reported in [6,11,12,13]: for the scope of this work, the simulator can be described as composed by four main parts: the driver cockpit, the real time simulator, the EPSiL steering bench, and the Braking bench. With this specific setup, the driver can then test both steering and brake unit hardware, equipped with stock ADAS functionalities.…”

Section: Real-time Driving Simulator Setupmentioning

confidence: 99%

Hardware in the Loop Methodology for AEB system development

Alfatti

Annicchiarico²,

Capitani

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Thanks to ADAS systems, vehicle and occupants safety has increased. These systems have however a great impact on design complexity, increasing the time necessary for the launch of the functionality on the market. In this work, a Hardware in the Loop tool and methodology that integrates the Autonomous Emergency System (AEB) is presented, with the objective to speed up the development process. A commercial brake-by-wire braking system has been installed on a static simulator. The unit stock AEB can be activated during the real-time simulation, thanks to a custom strategy reproduced via Software in the Loop approach. In order to assess the capabilities of the proposed methodology, two different controllers have been proposed: the first reproduces the AEB functionality of a commercial car, while the second represent a possible design alternative that must be evaluated during the design phase. The two controllers have been tested in EuroNCAP relevant scenarios, and the performances have been compared in terms of Time To Collision necessary to avoid the impact, deceleration request and final distance from the obstacle. The proposed methodology highlights the role of the static simulator as a development tool that can vastly reduce the time necessary for the development of the AEB system, thanks to an extensive testing of both hardware and control strategy.

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Section: Real-time Driving Simulator Setupmentioning

confidence: 99%

Hardware in the Loop Methodology for AEB system development

Alfatti

Annicchiarico²,

Capitani

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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“…This modeling approach could also be applied to a front and rear wheels steering vehicle by increasing the dimension of matrix B to 3 × 2 in (38), with control input u = [δ f ; δ r ; M zz ] T . Considering the vector x des = [β des ; r des ] T and the assumption (39), with k the k-th sampling step at a rate of T s , the model of ( 40) is valid and corresponds to the state space model of the desired side-slip angle and yaw rate, obtained by differentiation of the kinematic Equations ( 7) and (8).…”

Section: Modeling Approach: High-level Layermentioning

confidence: 99%

“…Indeed, through CAN connection, it is possible to observe the feedback signals and tune the parameters of the EPS parameters to calibrate the system, while the driver can assess the effect of each modification on multiple testing conditions. The unit proved itself capable of accurately reproducing real-vehicle tie-rod forces, resulting in an efficient and reliable steering feeling [39].…”

Section: Epsil Steering Benchmentioning

confidence: 99%

Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator

et al. 2023

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This study concerns the comparative investigation of two advanced lateral stability automotive controllers with respect to a commercial solution. The research aims to improve the stability performances achieved by a combined tracking of yaw rate and side-slip angle through the application of optimal efforts. The proposed solutions are based on Linear Quadratic Regulation and Sliding Mode Control, respectively. Both rely on the same approach for the control objective definition but differ from the action perspective. This solution involves the adoption of a differential braking actuation technique to deliver a desired yaw moment to the car body to track controlled states. Indeed, a sliding controller can also traction torques of hub-motor configurations as well as steering corrections, achieving vehicle stability and a driving response in accordance with the pilot’s intentions. Calibration and validation of the controllers are performed through a Hardware-in-the-Loop simulation rig, along with a real-time static simulator, performing different close-loop maneuvers to assess achievements in terms of lateral stability. Results show that both solutions ensure higher handling performances if compared to Non-controlled or Commercial-controlled vehicle scenarios.

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