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Rollover has for long been a major safety concern for trucks, and will be even more so as automated driving is envisaged to becoming a key element of future mobility. A natural way to address rollover is to extend the capabilities of current active-safety systems with a system that intervenes by steering or braking actuation when there is a risk of rollover. Assessing and predicting the rollover is usually performed using rollover indices calculated either from lateral acceleration or lateral load transfer. Since these indices are evaluated based on different physical observations it is not obvious how they can be compared or how well they reflect rollover events in different situations. In this paper we investigate the implication of the above mentioned rollover indices in different critical maneuvers for a heavy 8×4 twin-steer truck.

The influence of jet-flow and jet-jet interactions on the lift-off length of diesel jets are investigated in an optically accessible heavy-duty diesel engine. High-speed OH chemiluminescence imaging technique is employed to capture the transient evolution of the lift-off length up to its stabilization. The engine is operated at 1200 rpm and at a constant load of 5 bar IMEP. Decreasing the inter-jet spacing shortens the liftoff length of the jet. A strong interaction is also observed between the bulk in-cylinder gas temperature and the inter-jet spacing. The in-cylinder swirl level only has a limited influence on the final lift-off length position. Increasing the inter-jet spacing is found to reduce the magnitude of the cycle-to-cycle variations of the lift-off length.

The impact of Reynolds number on the aerodynamics and operational performance of commercial vehicles is discussed. All supporting data has been obtained from published experimental and computational studies for complete vehicles and vehicle components. A review of Reynolds number effects on boundary layer state, unsteady and steady flow, time dependent wake structure, interacting shear layer and separated flows is presented. Reynolds number modeling and simulation criteria that impact aerodynamic characteristics and performance of a commercial vehicle are shown. The concepts of dimensional analysis and flow similarity are employed to show that aerodynamics of commercial ground vehicles is only dependent on Reynolds number. The terminology of Roshko is adopted for discussing the variation in drag with Reynolds number in which the subcritical, transitional and transcritical flow regimes are defined for commercial vehicles.

We have recently obtained experimental data and used them to develop computational models to quantify occupant impact responses and injury risks for military vehicles during frontal crashes. The number of experimental tests and model runs are however, relatively small due to their high cost. While this is true across the auto industry, it is particularly critical for the Army and other government agencies operating under tight budget constraints. In this study we investigate through statistical simulations how the injury risk varies if a large number of experimental tests were conducted. We show that the injury risk distribution is skewed to the right implying that, although most physical tests result in a small injury risk, there are occasional physical tests for which the injury risk is extremely large. We compute the probabilities of such events and use them to identify optimum design conditions to minimize such probabilities.

In this paper, a gain-scheduling optimal control approach is proposed to enhance yaw stability of articulated commercial vehicles through active braking of the proper wheel(s). For this purpose, an optimal feedback control is used to design a family of yaw moment controllers considering a broad range of vehicle velocities. The yaw moment controller is designed such that the instantaneous tractor yaw rate and articulation angle responses are forced to track the target values at each specific vehicle velocity. A gain scheduling mechanism is subsequently constructed via interpolations among the controllers. Furthermore, yaw moments derived from the proposed controller are realized by braking torque distribution among the appropriate wheels. The effectiveness of the proposed yaw stability control scheme is evaluated through software-in-the-loop (SIL) co-simulations involving Matlab/Simulink and TruckSim under lane change maneuvers.

Computational finite element (FE) modeling of real world motor vehicle crashes (MVCs) is valuable for analyzing crash-induced injury patterns and mechanisms. Due to unavailability of detailed modern FE vehicle models, a simplified vehicle model (SVM) based on laser scans of fourteen modern vehicle interiors was used. A crash reconstruction algorithm was developed to semi-automatically tune the properties of the SVM to a particular vehicle make and model, and subsequently reconstruct a real world MVC using the tuned SVM. The required algorithm inputs are anthropomorphic test device position data, deceleration crash pulses from a specific New Car Assessment Program (NCAP) crash test, and vehicle interior property ranges. A series of automated geometric transformations and five LSDyna positioning simulations were performed to match the FE Hybrid III’s (HIII) position within the SVM to reported data. Once positioned, a baseline simulation using the crash test pulse was created.

This paper presents an analysis of coupled longitudinal and lateral dynamics of a 4×4 hybrid-electric off-road vehicle (HEV) with two passive driveline systems, including drivelines with (i) an interaxle open symmetrical differential in the transfer case and (ii) a locked transfer case, i.e., positive engagement of two axles. The axle differentials are open. As the study proved, lateral dynamics of the 4×4 HEV, characterized by the tire side forces, vehicle lateral acceleration, yaw rate and tire gripping factors can be impacted by the tire longitudinal forces, whose magnitudes and directions (positive-negative) strongly depend on the driveline characteristics. At the same time, the tire side forces impact the relation between the longitudinal forces and tire slippages.

The main intent of this study is to provide a simulation analysis of rollover dynamics of multi-trailer commercial vehicles in roundabouts. The results are compared with conventional tractor-semitrailer with a single 53-ft trailer for roundabouts that are of typical configuration to those in the U.S. cities. The multi-trailer commercial vehicles that are considered in this study are the A-double trucks commonly operated in the U.S. roads with the trailer length of 28 ft, 33 ft, and 40 ft. The multi-body dynamic models for analyzing the rollover characteristics of the trucks in roundabouts are established in TruckSim®. The models are intended to be used to assess the maximum rollover indexes of each trailer combination subjected to various circulating speeds for two types of roundabouts, 140-ft single-lane and 180-ft double-lane.

Autonomous vehicle operation is dependent upon accurate position estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer. The IMU provides vehicle orientation in 3D space in terms of yaw, roll and pitch. Out of which, yaw is a major parameter to control the ground vehicle’s lateral position during navigation. The accelerometer is responsible for attitude (roll-pitch) estimates and magnetometer is responsible for yaw estimates. However, the magnetometer is prone to environmental magnetic disturbances which induce errors in the measurement.

The base design of commercial vehicle wheel end systems has changed very little over the past 50 years. Current bearings for R-drive and trailer wheel end systems were designed between the 1920's and the 1960's and designs have essentially remained the same. Over the same period of time, considerable gains have been made in bearing design, manufacturing capabilities and materials science. These gains allow for the opportunity to significantly increase bearing load capacity and improve efficiency. Government emissions regulations and the need for fuel efficiency improvements in truck fleets are driving the opportunity for redesigned wheel end systems. The EPA and NHTSA standard requires up to 23% reduction in emissions and fuel consumption by 2017 relative to the 2010 baseline for heavy-duty tractor combinations.

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.

We studied the effect of steering dynamics on lateral dynamics for a 1.6 ton 4x4 sport utility vehicle (SUV) on deformable surfaces. The vehicle used for the outdoor tests was equipped with (1) a steering robot to apply repeatable steering wheel excitations and (2) a high-precision differential GPS (DGPS) system to gather physical measures that describe lateral dynamics: lateral acceleration, yaw rate, and vehicle sideslip angle. The vehicle was driven over three different deformable surfaces~a loess and a sandy soil and wet snow~with a constant speed of 10 km/h. The steering robot applied inputs of (1) sine wave excitation at 0.5, 1.0, and 2.5 Hz, and (2) ramp change (or trapezoidal) excitation with steering wheel rate at 100, 500, and 1500 deg/s. Results are presented as frequency paths and time courses to analyze effects of surface and steering dynamics.

The conventional rear tandem axle of a three-axle vehicle produces a yaw resisting moment that adversely impacts vehicle performance. This work examines the effect of steering the rear axle on tire wear. Using actual vehicle test data, a tire wear model is developed. This tire wear model is then used to predict tire wear savings over an actual commercial vehicle duty cycle when the rear axle is steered. The result of this projection is shown to be consistent with reported third party field experience.

Dynamic game theory brings together different features that are keys to many situations in control design: optimization behavior, the presence of multiple agents/players, enduring consequences of decisions and robustness with respect to variability in the environment, etc. In the presented methodology, vehicle stability is represented by a cooperative dynamic/difference game such that its two agents (players), namely, the driver and the direct yaw controller (DYC), are working together to provide more stability to the vehicle system. While the driver provides the steering wheel control, the DYC control algorithm is obtained by the Nash game theory to ensure optimal performance as well as robustness to disturbances. The common two-degree of freedom (DOF) vehicle handling performance model is put into discrete form to develop the game equations of motion.

In this study, a three-axle vehicle model established with ADAMS/Car is first correlated with field test data from quasi-static tilt table and highly dynamic NATO double lane change maneuver tests, respectively. It is then applied to predict the vehicle static rollover threshold (SRT) and dynamic rollover threshold (DRT). With the optimization approach proposed in this study it is possible to efficiently tune the anti-roll bar stiffness at each axle, to either maximize SRT or DRT, or balance both. The sensitivity results derived from the optimization iteration process can be applied to effectively size the three anti-roll bars that balance the static and dynamic roll stability performances. The proposed method can be potentially applied to include other parameters to address the roll stability issues and beyond.

This paper presents a preliminary evaluation of the results from using second order sliding mode observer schemes applied to an aircraft fault detection benchmark problem for a class of sensor faults. The scheme has been evaluated on the ADDSAFE Functional Engineering Simulator (FES). This is part of ongoing work on a European FP7 funded project entitled Advanced Fault Diagnosis for Sustainable Flight Guidance and Control (ADDSAFE) which aims to study advanced fault detection and isolation (FDI) methods for aircraft. The simulation and verification FES used in this evaluation incorporates a high fidelity nonlinear aircraft model from AIRBUS (which includes sensor and process noise).

The purpose of this study was to determine if quasi-static (QS) bumper force-deformation (F-D) data could be used in a low-speed bumper-to-bumper simulation model (1) in order to reconstruct low-speed crashes. In the simulation model, the bumpers that make contact in a crash are treated as a system. A bumper system is defined as the two bumpers that interact in a crash positioned in their orientation at the time of the crash. A device was built that quasi-statically crushes the bumpers of a bumper system into each other and measures the compression force and the deformation of the bumper system. Three bumper systems were evaluated. Two QS F-D measurements were performed for each bumper system in order to demonstrate the repeatability of the QS F-D measurement. These measurements had a compression phase and a rebound phase. A series of crash tests were performed using each bumper system.

Initially used in motor vehicles to convey a specific volume of fuel from a tank to the burner of an engine-independent heater, the range of applications for electro-magnetically driven dosing pumps has been widely expanded over the past few years, e.g. dosing pumps are part of the emission control system or used to convey a specific volume of fuel from a tank to the burner of an engine-independent heater. Whereas originally only conventional fuel was delivered, nowadays the dosing pumps have to be suitable for any kind of liquid media. As a result of the extensive fields of application, verification and improvement of the design for optimal usage and low energy consumption are needed. The paper presents experimental investigation and computer simulation of the dosing pump in order to examine its metering behavior and the energy consumption.

A long standing problem with heavy vehicle stability has been rollover. With the higher center of gravity, heavier loads, and narrower tracks (as compared to passenger vehicles), they have a lower rollover stability threshold. In this paper, a rollover stability control algorithm based on a two-degrees-of-freedom (DOF) and a three-DOF vehicle model for a two-axle truck was developed. First, the 3DOF model was used to predict the future Lateral load Transfer Rate (LTR). Using this LTR value, the dynamic rollover propensity was estimated. Then, a robust output feedback gain control rollover stability control algorithm based on the combination of active yaw control and active front steering control was developed. A H₂/H∞/poles placement multi-objective control strategy was developed based on the 2DOF reference model.

This paper contains an analysis of the potential safety benefits of electronic stability control (ESC) for single unit trucks and tractor semitrailers within the U.S. operating environment. It is based on research projects [1,2] which combined hardware-in-the-loop simulation and vehicle testing with the analysis of independent crash datasets using engineering and statistical techniques to estimate the probable safety benefits of stability control technologies for 5-axle tractor-semitrailer vehicles and single unit trucks. The characteristics of ESC-relevant crashes involving these two vehicle classes were found to be very different as were the control strategies needed for crash avoidance. Rollover was the dominant ESC relevant crash type for tractor semitrailers while loss of control was the dominant ESC relevant crash for straight trucks.