hil simulation of closed-loop-driving maneuvers to predict ... · september16th, 2010 dr.-ing....
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www.opel.com
HiL simulation of closed-loop-driving
maneuvers to predict the handling
performance of passenger cars
Dr.-Ing. Michael Kochem, Dr.-Ing. Henning Holzmann
GME Vehicle Simulation
September 16th, 2010
Agenda
September 16th, 2010 Dr.-Ing. Michael Kochem2
• Motivation
• Road-Lab-Math (RLM) Strategy
• Closed-Loop-Driving Maneuvers
• Simulation Environment
• Driver Model (IPGDriver)
• Validation of Closed-Loop-Driving Maneuvers
• Prediction of Handling Performance Ratings
• Conclusions
3
Is it possible to predict an automotive journal`s
handling score based on simulation results?
Question:
• How subjective/objective are the magazine’s handling scores?
• How does the simulation of closed-loop maneuvers reflect reality?
September 16th, 2010 Dr.-Ing. Michael Kochem
4
Road – Lab – Math (RLM) Strategy
Architecture Development
System Integration
Parameter Optimization
SiL - Simulation(Math)
Controller Application
Random Testing
Validation
Driving Test(Road)
Performance Check
Diagnosis
Failsafe
HiL - Simulation(Lab)
September 16th, 2010 Dr.-Ing. Michael Kochem
5
Closed-Loop-Driving Maneuvers
• Slalom (18m)
• ISO Lane Change
• VDA Double Lane Change
• Double Lane Change on wet surface
• Constant radius, constant speed
• Driving maneuvers with a driver in the loop
• Basic maneuvers to evaluate the handling performance of a vehicle
(e.g. used by auto motor und sport magazine in their Mastertest):
• Intensive dialogue with journalists and testers how these maneuvers are driven
• Boundary conditions and evaluation criteria are important
© auto motor und sport, 2009
September 16th, 2010 Dr.-Ing. Michael Kochem
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Slalom (18m)
• Driver strategy:
• as fast as possible
• soft steering to reduce ESC intervention
• speed increase in 1-2 kph steps up to the limit
• ESC is active
• Pylon hit makes test invalid, slight pylon shift is allowed
• Objective evaluation: average speed (180m/time)
• Subjective evaluation: vehicle controllability, ESC interventions, steering effort
September 16th, 2010 Dr.-Ing. Michael Kochem
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VDA Double Lane Change
• ESC is active and inactive (if switchable)
• Pylon hit makes test invalid, slight pylon shift is allowed
• Objective evaluation: entrance and exit speed
• Subjective evaluation: controllability, rollover stability, steering effort
• Driver strategy:
• free rolling after throttle off according to VDA definition (ISO 3888-2)
• rapid steering to provoke ESC intervention and/or instability
• speed increase in 1-2 kph steps up to the limit
September 16th, 2010 Dr.-Ing. Michael Kochem
CompilerLinker
ComponentModels
ManeuverDefinitions
ANSI-C
Suspension Simulation
Kinematic
Analysis
Compliance
Analysis
Virtual Vehicle
Chart
Characteristic
Plots
Data
Processing
BodyTopology
SuspensionTopology
Tire Data
BodyGeometry
Road Data
SuspensionGeometry
ASCII
Equationsof motion
Builder
ADAMSMesaverde
VehicleSimulation
Handling
Analysis
Ride
Analysis
Virtual Vehicle
Chart
Characteristic
Plots
HyperWorks
MotionView
CarMaker
Simulink Pro
SiL-/HiLSimulation
Data
ProcessingRoll-over
Analysis
Ground
Clearance
Compliance
Analysis
Simulation Environment
8 September 16th, 2010 Dr.-Ing. Michael Kochem
9
Hardware-in-the-Loop Simulation (HiL)
Simulation
Results
VV Chart
Simulink-based
Vehicle ModelAxle-Model
ABS/ESP ECU
1
1
IVCS
IVCS
[man_mcp]
man_mcp
ESP / ABS / TCS
Demux
1
1
IVCS
[man_mcp]
man_mcp
CDC
Demux
CDC ECU
1
1
IVCS
[man_mcp]
man_mcp
AWD ECU Hardware-in-the-Loop
Simulation (HiL)
Integration of
Vehicle Model
and real ECUs
September 16th, 2010 Dr.-Ing. Michael Kochem
10
Driver Model (IPGDriver)
Main applications of the IPGDriver
Control strategies and handling of active systems• Improvements of the longitudinal and lateral controllers
-- for driving at the limit, but also -- for driving slowly (standstill) or driving in small curves
• Getting a realistic behavior in all kinds of real driving situations and with all kinds of active systems like ABS, ESP, AFS …
Additional inputs• Speed profile
• traffic signs (speed limit, stop signs etc.)
• Speed correction due to banking curves
• Speed correction due to uphill & downhill
Driving vehicles with driving assistance systems• Backwards driving for parking assistance systems
• Steering with steering torque • active steering systems
• lane keeping assistance systems & collision avoidance
• parking assistance
September 16th, 2010 Dr.-Ing. Michael Kochem
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Driver Model (IPGDriver)
Important feature: Driver adaptation
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Validation of Closed-Loop Maneuvers
• Measurements at Opel Test Center Pferdsfeld, Germany
• Test Vehicle: Opel Insignia Sports Tourer 2,0 CDTI
• Standard measurement equipment:
• steering wheel angle, accelerations (lat., long.), yaw rate, vehicle speed,
status flags via CAN
• iMAR inertial measurement platform
• external light barriers for speed measurement
September 16th, 2010 Dr.-Ing. Michael Kochem
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Validation of VDA Double Lane Change
Animation of the maneuver
Max. measured speed: 70 kph
Simulated speed: 70 kph
ams measurement: 70 kph
September 16th, 2010 Dr.-Ing. Michael Kochem
15 16 17 18 19 20-8
-6
-4
-2
0
2
4
Time [s]
Ro
ll A
ng
le [
°]
Measurement 68km/h
Measurement 70km/h
CarMaker
14
15 16 17 18 19 20-300
-200
-100
0
100
200
300
Time [s]
Ste
eri
ng
Wh
eel A
ng
le [
°]
Measurement 68km/h
Measurement 70km/h
CarMaker
15 16 17 18 19 20-15
-10
-5
0
5
10
15
Time [s]
Late
ral A
ccele
rati
on
[m
/s2]
Measurement 68km/h
Measurement 70km/h
CarMaker
15 16 17 18 19 20-60
-40
-20
0
20
40
60
Time [s]
Yaw
Rate
[°/
s]
Measurement 68km/h
Measurement 70km/h
CarMaker
Validation of VDA Double Lane Change
September 16th, 2010 Dr.-Ing. Michael Kochem
15
Validation of Slalom (18m)
Animation of the maneuver
Max. measured speed: 62 kph
Simulated speed: 62 kph
ams measurement: 63 kph
September 16th, 2010 Dr.-Ing. Michael Kochem
16
Validation of Slalom (18m)
12 14 16 18 20 22 24 26 28-200
-150
-100
-50
0
50
100
150
200
Time [s]
Ste
eri
ng
Wh
eel A
ng
le [
°]
Measurement
Special Measurement
CarMaker
12 14 16 18 20 22 24 26 28-15
-10
-5
0
5
10
15
Time [s]
Late
ral A
ccele
rati
on
[m
/s2]
Measurement
Special Measurement
CarMaker
12 14 16 18 20 22 24 26 28-40
-30
-20
-10
0
10
20
30
40
50
Time [s]
Yaw
Rate
[°/
s]
Measurement
Special Measurement
CarMaker
12 14 16 18 20 22 24 26 28-6
-4
-2
0
2
4
Time [s]
Ro
ll A
ng
le [
°]
Measurement
Special Measurement
CarMaker
September 16th, 2010 Dr.-Ing. Michael Kochem
17
Prediction of Handling Performance Ratings
September 16th, 2010 Dr.-Ing. Michael Kochem
18
Conclusions
• Based on GM’s Road-Lab-Math Strategy, an integrated simulation
environment was set up to simulate closed-loop-driving maneuvers
• Simulation environment allows precise predictions of the results of
relevant test maneuvers (IPGDriver is doing an excellent job!)
• Differences in simulation/test results are marginal, even
compared to automotive journal’s measurements
• Journal’s handling scores are based on objective measurements
in combination with subjective evaluation
• Prediction of the objective part is possible
• Subjective evaluation may vary the total score slightly
• Continued cooperation with IPG to improve the steering behavior
of the IPGDriver
September 16th, 2010 Dr.-Ing. Michael Kochem
19 September 16th, 2010 Dr.-Ing. Michael Kochem