Target setting and structural design of an EPS-in-the-Loop test bench for steering feeling simulation

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

2022

In the automotive world, Hardware in the Loop (HiL) methodologies are used to speed up the design and calibration process of the various mechatronics components installed on the vehicle. Installing production parts on advanced driving simulator enables the performance assessment in realistic scenarios, including a test driver earlier in the design process. The scope of this work is to evaluate the effect of ABS and ESC system, replicating their influence on the steering wheel. A brake by wire production system has been installed on a static simulator, equipped with a EPSiL steering bench, capable of accurately replicate tie-rod forces on a production steering unit. Full brake, sine steer maneuvers have been carried out both on real vehicle and on virtual environment. The system showed its capabilities of replicating the same functionalities of the real vehicle, extending the static simulator potentialities to support the activities on calibration and test of vehicle systems.

Section: Epsil Steering Benchmentioning

confidence: 99%

Vehicle stability controller HiL validation on static simulator

Alfatti

Annicchiarico²,

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

2022

Section: Proposed Modelmentioning

confidence: 99%

“…For the σ 2 parameters, the choice of the authors was to separate the viscous term from the nonlinear friction terms related to σ 0 and σ 1 (in quations (1) and (2), the viscous torques c 1 θ · 1 and c 2 θ · 2 are separated from friction torques T f 1 and T f 2 ); however, the friction model in its complete form was written and it was set at σ 2 = 0 to create a plug and play LuGre model for other applications; 21,36 separating linear and nonlinear terms led to a better understanding and an easier debugging of the model.…”

Section: Model Parametrizationmentioning

confidence: 99%

“…Having less parameters, it allows an easy exploration of the design space during preliminary phases, when the detailed characteristics of new steering systems still have to be defined and prototypes are not available to use in steering test-rig. 21 Figure 2 describes the model, characterized by two main inertias: the first one represents the steering wheel, the column and its Hooke's joints; the second one consists of pinion, rack and tie rods.…”

Section: Steering System Modelmentioning

confidence: 99%

“…In this paper, the authors propose a methodology based on an experimental apparatus, usable for each kind of steering system. The custom test-rig used, known as HiLDyS 21 (Human in the Loop Dynamic Steering), was conceived to introduce a real steering rack in the loop of the simulation.…”

Section: Model Parametrizationmentioning

confidence: 99%

See 2 more Smart Citations

Development of a real-time steering system model for driving simulators

Certosini

Vinattieri

Proceedings of the Institution of Mechanical Engineers, Part D:

et al. 2018

Self Cite

Driving simulators have boosted the vehicle design with the introduction of human beings in the simulation loop. For a realistic functioning, the steering system must provide an accurate behaviour, since the hand wheel is a crucial human interface. Despite a large diffusion of steering models, this paper deals with the creation of a specific solution for real-time applications, characterized by precise features as numerical stability and low computational cost. The proposed model is based on a physical structure and considers all the key phenomena, such as the system elasticities, the power steering effects and friction hysteresis, making the model more accurate in terms of steering wheel torque and lateral acceleration than other angle-driven models. Its two degrees of freedom design allows a proper behaviour of the power steering sub-model; another key aspect is the friction model: the use of the LuGre formulation greatly improves accuracy and stability in comparison to the lookup table friction models. Compared to the literature reference torque-driven model, it does not need the use of a torque sensor when implemented in driving simulators having an angle-driven formulation (the input of the steering wheel is its angle and the torque needed is its output), hence it is cheaper to implement; nevertheless, its accuracy is close to state-of-art reference. An original parametrization procedure is proposed since a generalized one is not available in literature; using a steering test-rig, all the model variables are defined. The validation phase combines offline and online simulations, assessing objectively and subjectively the model’s capabilities and showing accurate results in terms of steering wheel torque, lateral acceleration and steering feeling. In addition, a minor contribution of this paper shows how different analyses (steering effort evaluation, experimental data comparison or simulator feedback computation) require different output torques.

Hardware in the Loop Methodology for AEB system development

Alfatti

Annicchiarico²,

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

2023

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.