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Ride control of military vehicles is challenging due to varied terrain and mission requirements such as operating weight. Achieving top speeds on rough terrain is typically considered a key performance parameter, which is always constrained by ride discomfort. Many military vehicles using passive suspensions suffer with compromised performance due to single tuning solution. To further stretch the performance domain to achieving higher speeds on rough roads, semi-active suspensions may offer a wide range of damping possibilities under varying conditions. In this paper, various semi-active control strategies are examined, and improvements have been made, particularly, to the acceleration-driven damper (ADD) strategy to make the approach more robust for varying operating conditions. A seven degrees of freedom ride model and a quarter-car model were developed that were excited by a random road process input modeled using an auto-regressive time series model.

Safety and minimal transit time are vital during transportation of essential commodities and passengers, especially in winter conditions. Icy roads are the worst driving conditions with the least available friction, leaving valuable cargo and precious human lives at stake. The study investigates the available friction at the tire-ice interface due to changes in key operational parameters. Experimental analysis of tractive performance of tires on ice was carried out indoor, using the terramechanics rig located at the Advanced Vehicle Dynamics Laboratory (AVDL) at Virginia Tech. The friction-slip ratio curves obtained from indoor testing were inputted into TruckSIM, defining tire behavior for various ice scenarios and then simulating performance of trucks on ice. The shortcomings of simulations in considering the effects of all the operational parameters result in differences between findings of indoor testing and truck performance simulations.

Studying the kinetic and kinematics of the rim-tire combination is very important in full vehicle simulations, as well as for the tire design process. Tire maneuvers are either quasi-static, such as steady-state rolling, or dynamic, such as traction and braking. The rolling of the tire over obstacles and potholes and, more generally, over uneven roads are other examples of tire dynamic maneuvers. In the latter case, tire dynamic models are used for durability assessment of the vehicle chassis, and should be studied using high fidelity simulation models. In this study, a three-dimensional finite element model (FEM) has been developed using the commercial software package ABAQUS. The purpose of this study is to investigate the tire dynamic behavior in multiple case studies in which the transient characteristics are highly involved.

Conventional viscous shock absorbers, in parallel with suspension springs, passively dissipate the excitation energy from road irregularity into heat waste, to reduce the transferred vibration which causes the discomfort of passengers. Energy-harvesting shock absorbers, which have the potential of conversion of kinetic energy into electric power, have been proposed as semi-active suspension to achieve better balance between the energy consumption and suspension performance. Because of the high energy density of the rotary shock absorber, a rotational energy-harvesting shock absorber with mechanical motion rectifier (MMR) is used in this paper. This paper presents the assessment of vehicle dynamic performance with the proposed energy-harvesting shock absorber in braking process. Moreover, a PI controller is proposed to attenuate the negative effect due to the pitch motion.

The present paper describes an application of non-parametric shape optimization to disc brake squeal phenomena. A main problem is defined as complex eigenvalue problem in which the real part of the complex eigenvalue causing the brake squeal is chosen as an objective cost function. The Fre´chet derivative of the objective cost function with respect to the domain variation, named as the shape derivative of the objective cost function, is evaluated using the solution of the main problem and the adjoint problem. A selection criterion of the adoptive mode number in component mode synthesis (CMS), which is used in the main problem, is presented in order to reduce the computational error in complex eigenvalue pairs. A scheme to solve the shape optimization problem is presented using an iterative algorithm based on the H1 gradient method for reshaping. For an application of the optimization method, a numerical example of a practical disc brake model is presented.

Modeling the tire forces and moments (F&M) generation, during combined slip maneuvers, which involves cornering and braking/driving at the same time, is essential for the predictive vehicle performance analysis. In this study, a new semi-empirical method is introduced to estimate the tire combined slip F&M characteristics based on flat belt testing machine measurement data. This model is intended to be used in the virtual tire design optimization process. Therefore, it should include high accuracy, ease of parameterization, and fast computational time. Regression is used to convert measured F&M into pure slip multi-dimensional interpolant functions modified by weighting functions. Accurate combined slip F&M predictions are created by modifying pure slip F&M with empirically determined shape functions. Transient effects are reproduced using standard relaxation length equations. The model calculates F&M at the center of the contact patch.

Previous studies and recent practical aerodynamic evaluations have shown that aerodynamic drag of passenger vehicles with “ground simulation” with moving ground and rotating wheels may increase in some cases and decrease in other cases relative to the fixed ground and stationary wheel conditions. Accordingly, the effects of the ground simulation on the aerodynamic drag should be deeply understood for further drag reduction. Although the previous studies demonstrated what is changed by the ground simulation, the reason for the change has not been fully understood. In this article, the effects of wheels and wheel houses attachment and those by the ground simulation with ground movement and wheel rotation on the aerodynamic drag were investigated by quantification of the underfloor flow that plays a crucially important role on the formation of vortical structure around vehicles.

This paper deals with friction under wet condition in the disk brake system of automobiles. In our previous study, the variation of friction coefficient μ was observed under wet condition. And it was experimentally found that μ becomes high when wear debris contains little moisture. Based on the result, in this paper, we propose a hypothesis that agglomerates composed of the wet wear debris induce the μ variation as the agglomerates are jammed in the gaps between the friction surfaces of a brake pad and a disk rotor. For supporting the hypothesis, firstly, we measure the friction property of the wet wear debris, and confirm that the capillary force under the pendular state is a factor contributing to the μ variation. After that, we simulate the wear debris behavior with or without the capillary force using the particle-based simulation. We prepare the simulation model for the friction surfaces which contribute to the friction force through the wear debris.

Models for off-road vehicles, such as farm equipment and military vehicles, require an off-road tire model in order to properly understand their dynamic behavior on off-road driving surfaces. Extensive literature can be found for on-road tire modeling, but not much can be found for off-road tire modeling. This paper presents an off-road tire model that was developed for use in vehicle handling studies. An on-road, dry asphalt tire model was first developed by performing rolling road force and moment testing. Off-road testing was then performed on dirt and gravel driving surfaces to develop scaling factors that explain how the lateral force behavior of the tire will scale from an on-road to an off-road situation. The tire models were used in vehicle simulation software to simulate vehicle behavior on various driving surfaces. The simulated vehicle response was compared to actual maximum speed before sliding vs. turning radius data for the studied vehicle to assess the tire model.

A graphical user interface (GUI) toolbox called Vehicle System Simulator (VSS) is developed in MATLAB to ease the use of this vehicle model and hopefully encourage its widespread application in the future. This toolbox uses the inherent MATLAB discrete-time solvers and is mainly based on Level-2 s-function design. This paper describes its built-in vehicle dynamics model based on multibody dynamics approach and nonlinear tire models, and traction/braking control systems including Cruise Control and Differential Braking systems. The built-in dynamics model is validated against CarSim 8 and the simulation results prove its accuracy. This paper illustrates the application of this new MATLAB toolbox called Vehicle System Simulator and discusses its development process, limitations, and future improvements.

Human expert drivers have the unique ability to combine correlated sensory inputs with repetitive learning to build complex perceptive models of the vehicle dynamics as well as certain key aspects of the tire-ground interface. This ability offers significant advantages for navigating a vehicle through the spatial and temporal uncertainties in a given environment. Conventional traction control algorithms utilize measurements of wheel slip to help insure that the wheels do not enter into an excessive slip condition such as burnout. This approach sacrifices peak performance to ensure that the slip limits are generic enough suck that burnout is avoided on a variety of surfaces: dry pavement, wet pavement, snow, gravel, etc. In this paper, a novel approach to traction control is developed using an anthropomimetic control synthesis strategy.

Vehicle stability is maintained by proper interactions between the driver and vehicle stability control system. While driver describes the desired target path by commanding steering angle and acceleration/deceleration rates, vehicle stability controller tends to stabilize higher dynamics of the vehicle by correcting longitudinal, lateral, and roll accelerations. In this paper, a finite-horizon optimal solution to vehicle stability control is introduced in the presence of driver's dynamical decision making structure. The proposed concept is inspired by Nash strategy for exactly known systems with more than two players, in which driver, commanding steering wheel angle, and vehicle stability controller, applying compensated yaw moment through differential braking strategy, are defined as the dynamic players of the 2-player differential linear quadratic game.

In the case of modern day vehicle control systems employing a feedback control structure, a real-time estimate of the tire-road contact parameters is invaluable for enhancing the performance of the chassis control systems such as anti-lock braking systems (ABS) and electronic stability control (ESC) systems. However, at present, the commercially available tire monitoring systems are not equipped to sense and transmit high speed dynamic variables used for real-time active safety control systems. Consequently, under the circumstances of sudden changes to the road conditions, the driver's ability to maintain control of the vehicle maybe at risk. In many cases, this requires intervention from the chassis control systems onboard the vehicle. Although these systems perform well in a variety of situations, their performance can be improved if a real-time estimate of the tire-road friction coefficient is available.

Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement.

This paper outlines the development of a simulation-based process for assessing the handling performance of a given set of tires on a specific vehicle. Based on force and moment data, a Pacejka tire model was developed for each of the five sets of tires used in this study. To begin with, simple handling metrics including under-steer gradient were calculated using cornering stiffness derived from the Pacejka model. This Pacejka tire model was subsequently combined with a 3DOF non-linear vehicle model to create a simulation model in MATLAB/Simulink®. Other handling metrics were calculated based on simulation results to step and sinusoidal (General Motors Company) steering inputs. Calculated performance metrics include yaw velocity overshoot, yaw velocity response time, lateral acceleration response time and steering sensitivity. In addition to this, the phase lag in lateral acceleration and yaw rate of the vehicle to a sinusoidal steering input were also calculated.

A new type of torque transmit coupling has recently been developed for 4WD cars, that provides a better match to ABS, is of lighter weight, and uses a simpler operating mechanism. This coupling transmits torque with a multi-disc clutch that is engaged by the pressure of high viscosity silicone oil. The rotary blade generates variably the silicone oil pressure, according to both differential speed and direction of rotation between the front and rear wheels. This coupling provides a good match between 4WD performance and four wheel Anti-lock Braking System (ABS) by a modification of the rotary blade shape. No additional devices are needed. This paper describes the characteristics of this coupling and the in-vehicle performance.

Toyota has succeeded in developing for mass production the active four-wheel steering(4WS) system using yaw rate feedback and steering angle feedforward control. The active 4WS system consists of a group of various sensors, including the newly developed yaw rate sensor, ECU, a rear wheel steering actuator that employs a stepping motor and hydraulic valve, and other hydraulic elements, which actively control the steering angle of the rear wheels. The new system ensures a good response and a high level of stabililty for quick steering wen during a high-speed drive. When the vehicle deflects due to a sudden side wind, road surface disturbance, or abrupt braking, steering is automatically corrected through the rear wheels to significantly improve forward stability. In addition, the! system prwides improved performance in making small radius turns because the rear wheels are steering up to five degrees when the front wheels are turned to a large angle.

This paper presents a technique to predict the suspension load in early design stage when a passenger car with low profile tires goes over a bump. The suspension load is simulated by using ADAHS (Automatic Dynamic Analysis of Mechanical Systems). The tire was modeled as a radial spring with non-linearity decided by test data. The simulated results of suspension load agreed with the test data. The effect of shock absorber characteristics and spring bumper stiffness on the suspension load was studied by using this simulation model. As a result, the optimum specification for suspension load reduction was taken.

The shock absorber of suspension has two important basic functions. One is to control vehicle attitude changes when steering and when accelerating and decelerating, and the other is to dampen forces transmitted from the road by its damping effect, thus softening shocks. The characteristics of these two demands in performance, driving stability and riding comfort, conflict with each other but are selected from the concept of a car and from coaching by users. Namely, someone puts stress on driving stability and the other puts stress on riding comfort. Electronics have advanced in recent years and the use of electronic absorber control systems in order to achieve both driving stability and riding comfort has become widespread first of all in Japanese vehicles and also in European and American vehicles. Toyota first developed its TEMS (TOYOTA ELECTRONIC MODULATED SUSPENSION) in 1983 (1) and since then many improvements have been added.

Tire treadwear is a very complicated phenomenon that is influenced by various factors. Any quantitative treadwear estimating method applicable to tires on a vehicle has not yet been established. In this study the effects of acting force to the tire and tire attitude (dynamic wheel alignment) upon treadwear were made clear experimentally by taking notice of the fact that they are only the factors directly influencing tire treadwear provided that a tire and a road surface are determined. Furthermore, on the assumption that treadwear will increase linearly, an examination was made to find a method of estimating treadwear of tires on any vehicle in any running condition by using above-mentioned effects for the values of tire-acting force and dynamic wheel alignment calculated from the vehicle particular and running condition.