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With the inception of model-based design and automatic code generation, many organizations are developing controls and diagnostics algorithms in model-based development tools to meet customer and regulatory requirements. Advances in model-based design have made it easier to generate C code from models and help software engineers streamline their workflow. Typically, after the software has been developed, the models are handed over to a calibration team responsible for calibrating the features to meet specified customer and regulatory requirements. However, once the models are handed over to the calibration team, the calibration engineers are unaware of how to calibrate the features because documentation is not available. Typically, model documentation trails behind the software process because it is created manually, most of this time is spent on formatting. As a result, lack of model documentation or up-to date documentation causes a lot of pain for OEM’s and Tier 1 suppliers.

Global demand for alternative fuels to combat rising energy costs has sparked a renewed interest in catalysts that can effectively remediate NOx emissions resulting from combustion of a range of HC based fuels. Because many of these new engine technologies rely on lean operating environments to produce efficient power, the resulting emissions are also present in a lean atmosphere. While HCs are easily controlled in such environments, achieving high NOx conversion to N2 has continued to elude fully satisfactory solution. Until recently, most approaches have relied on catalysts with precious metals to either store NOx and subsequently release it as N2 under rich conditions, or use NH3 SCR catalysts with urea injection to reduce NOx under lean conditions. However, new improvements in Ag based technologies also look very promising for NOx reduction in lean environments.

Low-cost lean NOx aftertreatment is one of the main challenges facing high-efficiency gasoline and diesel engines operating with lean mixtures. While there are many candidate technologies, they all offer tradeoffs. We have investigated a multi-component Dual SCR aftertreatment system that is capable of obtaining NOx reduction efficiencies of greater than 90% under lean conditions, without the use of precious metals or urea injection into the exhaust. The Dual SCR approach here uses an Ag HC-SCR catalyst followed by an NH3-SCR catalyst. In bench reactor studies from 150 °C to 500 °C, we have found, for modest C/N ratios, that NOx reacts over the first catalyst to predominantly form nitrogen. In addition, it also forms ammonia in sufficient quantities to react on the second NH3-SCR catalyst to improve system performance. The operational window and the formation of NH3 are improved in the presence of small quantities of hydrogen (0.1–1.0%).

As diesel emission regulations continue to increase, the use of exhaust aftertreatment systems containing, for example the diesel oxidation catalyst (DOC) and diesel particulate filter (DPF) will become necessary in order to meet these stringent emission requirements. The addition of a DOC and DPF in conjunction with utilizing biodiesel fuels requires extensive research to study the implications that biodiesel blends have on emissions as well as to examine the effect on aftertreatment devices. The proceeding work discusses results from a 2006 VM Motori four-cylinder 2.8L direct injection diesel engine coupled with a diesel oxidation catalyst and catalyzed diesel particulate filter. Tests were done using ultra low sulfur diesel fuel blended with 20% choice white grease biodiesel fuel to evaluate the effects of biodiesel emission products on the performance and effectiveness of the aftertreatment devices and the effect of low temperature combustion modes.

This paper presents a hardware-in-the-loop (HIL) test bench for the validation of production transmission controls software, with a focus on a closed-loop vehicle drive-train model incorporating a detailed automatic transmission plant dynamics model developed for certain applications. Specifically, this paper presents the closed-loop integration of a 6-speed automatic transmission model developed for our HIL transmission controller and algorithm test bench (Opal-RT TestDrive based). The model validation, integration and its application in an HIL test environment are described in details.

In a CAS system, the distance and relative velocity between front and host vehicles are estimated to calculate time-to-collision (TTC). The distance estimates by different methods will certainly include noise which should be removed to ensure the accuracy of TTC calculations. Kalman filter is a good tool to filter such type of noise. Nevertheless, Kalman filter is a model based filter, which means a correct model is important to get the good filtering results. Usually, a vehicle is either moving with a constant velocity (CV) or constant acceleration (CA) maneuvers. This means the distance data between front and host vehicles can be described by either constant velocity or constant acceleration model. In this paper, first, CV and CA models are used to design two Kalman filters and an interacting multiple model (IMM) is used to dynamically combine the outputs from two filters.

This paper presents the development of a transmission closed loop pressure control system. The objective of this system is to improve transmission pressure control accuracy by employing closed-loop technology. The control system design includes both feed forward and feedback control. The feed forward control algorithm continuously learns solenoid P-I characteristics. The closed loop feedback control has a conventional PID control with multi-level gain selections for each control channel, as well as different operating points. To further improve the system performance, Robust Optimization is carried out to determine the optimal set of control parameters and controller hardware design factors. The optimized design is verified via an L18 experiment on spin dynamometer. The design is also tested on vehicle.

The paper describes a new strategy for real-time sensor diagnostics that is based on the statistical correlation of various sensor signal pairs. During normal fault-free operation there is a certain correlation between the sensor signals which is lost in the event of a fault. The proposed algorithm quantifies the correlation between sensor signal pairs using real-time scalar metrics based on the Mahalanobis-distance concept. During normal operation all metrics follow a similar pattern, however in the event of a fault; metrics involving the faulty sensor would increase in proportion to the magnitude of the fault. Thus, by monitoring this pattern and using a suitable fault-signature table it is possible to isolate the faulty sensor in real-time. Preliminary simulation results suggest that the strategy can mitigate the false-alarms experienced by most model-based diagnostic algorithms due to an intrinsic ability to distinguish nonlinear vehicle behavior from actual sensor faults.

During the production controller and software development process, one critical step is the controller and software verification. There are various ways to perform this verification. One of the commonly used methods is to utilize an HIL (hardware-in-the-loop) test bench to emulate powertrain hardware for development and validation of powertrain controllers and software. A key piece of an HIL bench is the plant dynamics model used to emulate the external environment of a modern controller, such as engine (ECM), transmission (TCM) or powertrain controller (PCM), so that the algorithms and their software implementation can be exercised to confirm the desired results. This paper presents a 6-speed automatic transmission plant dynamics model development for hardware-in-the-loop (HIL) test bench for the validation of production transmission controls software. The modeling method, model validation, and application in an HIL test environment are described in details.

With the wider use of biofuels in the marketplace, a program was conducted to study the deposit forming tendencies and performance of E85 (85% denatured ethanol and 15% gasoline) in a modern Flexible Fuel Vehicle (FFV). The test vehicle for this program was a 2006 General Motors Chevrolet Impala FFV equipped with a 3.5 liter V-6 powertrain. A series of 5,000 mile Chassis Dynamometer (CD) Intake Valve Deposits (IVD) and performance tests were conducted while operating the FFV on conventional (E0) regular unleaded gasoline and E85 to determine the deposit forming tendencies of both fuels. E85 test fuels were found to generate significantly higher levels of IVD than would have been predicted from the base gasoline component alone. The effects on the weight and composition of IVD due to a corrosion inhibitor and sulfates that were indigenous to one of the ethanols were also studied.

A study was conducted to investigate the effects of commercial E-85 fuel properties on Port Fuel Injector (PFI) durability performance. E-85 corrosivity, not lubricity, was identified as the primary property affecting injector performance. Relatively high levels of water, chloride and organic acid contamination, detected in commercial E-85 fuels sampled in the U.S. in 2006, were the focus of the study. Analysis results and analytical techniques for determining contaminant levels in and corrosivity of commercial E-85 fuels are discussed. Studies were conducted with E-85 fuels formulated to represent worst-case field fuels. In addition to contamination with water, chloride and organic acids, fuels with various levels of a typical ethanol corrosion inhibitor were tested in the laboratory to measure the effects on E-85 corrosivity. The effects of these E-85 contaminants on injector durability performance were also evaluated.

Production software validation is critical during software development, allowing potential quality issues that could occur in the field to be minimized. By developing automated and repeatable software test methods, test cases can be created to validate targeted areas of the control software for confirmation of the expected results from software release to release. This is especially important when algorithm/software development timing is aggressive and the management of development activities in a global work environment requires high quality, and timely test results. This paper presents a hardware-in-the-loop (HIL) test bench for the validation of production transmission controls software. The powertrain model used within the HIL consists of an engine model and a detailed automatic transmission dynamics model. The model runs in an OPAL-RT TestDrive based HIL system.

This paper describes a new tool to capture cylinder pressure information, calculate combustion parameters, and implement control algorithms. There are numerous instrumentation and prototyping systems which can provide some or all of this capability. The Cylinder Pressure Development Controller (CPDC) is unique in that it uses advanced high volume automotive grade circuitry, packaging, and software methodologies. This approach provides insight regarding the implementation of cylinder pressure based controls in a production engine management system. A high performance data acquisition system is described along with a data reduction technique to minimize data processing requirements. The CPDC software architecture is discussed along with model-based algorithm development and autocoding. Finally, CPDC calculated combustion parameters are compared with those from a well established combustion analysis system and thermodynamic simulations.

Advanced chassis control systems enable a vehicle to achieve new levels of performance in handling stability and responsiveness. In recent work by NHTSA and others, the performance of Electronic Stability Control (ESC) systems has been studied with focus on yaw stability and roll stability of vehicles on high friction surfaces. However, it is recognized that vehicle handling responsiveness is also an important aspect that should be maintained. This paper explores the trade-offs between yaw rate, side slip, and roll motions of a vehicle, and their relationships to handling stability and handling responsiveness. This paper further describes how various control systems are able to manage these motions. The paper also discusses methods to assess vehicle stability and responsiveness using specific maneuvers and measurements, and it includes data from vehicle tests on a slippery surface.

The paper describes the development of a vehicle stability indicator based on the correlation between various current vehicle chassis sensors such as hand wheel angle, yaw rate and lateral acceleration. In general, there is a correlation between various pairs of sensor signals when the vehicle operation is linear and stable and a lack of correlation when the vehicle is becoming unstable or operating in a nonlinear region. The paper outlines one potential embodiment of the technology that makes use of the Mahalanobis distance metric to assess the degree of correlation among the sensor signals. With this approach a single scalar metric provides an accurate indication of vehicle stability.

Robust Engineering techniques developed by Taguchi have traditionally applied to the optimization of engineering designs. Robust Engineering methods also may be applied to software testing of ECU algorithms. The net result is an approach capable of improving the software algorithm in one of two ways. First the approach can identify the range of areas which prove problematic to the software such that a robust solution may be developed. Conversely, the approach can be used as a general strategy to verify that the software is robust over the range of inputs tested. The robust engineering methods applied to software testing utilize orthogonal array experiments to test software over a range of inputs. The actual software trials are best performed in the simulation environment and also via automated test hardware in the loop configurations in realtime. This paper outlines a process for applying Robust Engineering methods to software testing.

A new optimal control strategy for dealing with braking actuator failures in a vehicle equipped with a brake-by-wire and steer-by- wire system is described. The main objective of the control algorithm during the failure mode is to redistribute the control tasks to the functioning actuators, so that the vehicle performance remains as close as possible to the desired performance in spite of a failure. The desired motion of the vehicle in the yaw plane is determined using driver steering and braking inputs along with vehicle speed. For the purpose of synthesizing the control algorithm, a non-linear vehicle model is developed, which describes the vehicle dynamics in the yaw plane in both linear and non-linear ranges of handling. A control allocation algorithm determines the control inputs that minimize the difference between the desired and actual vehicle motions, while satisfying all actuator constraints.

In this paper a method of mitigating the consequences of potential brake actuator failure in vehicles with brake-by-wire (BBW) and possibly with steer-by-wire (SBW) systems is described. The proposed control algorithm is based on rules derived from general principles of vehicle dynamics. When a failure of one actuator is detected, the algorithm redistributes the braking forces among the remaining actuators in such a way that the desired deceleration of vehicle is followed as closely as possible, while the magnitude and the rate of change of the yaw moment caused by asymmetric braking are properly managed. When vehicle is equipped with BBW system only, or when the desired deceleration can be obtained by redistributing of braking forces, without generating an undesired yaw moment, no steering correction is used. Otherwise, a combination of brake force redistribution and steering correction (to counter the yaw moment generated by non-symmetric braking) is applied.

Electro-mechanical brakes (EMBs) are emerging as a new approach to enhance brake system features as well as braking performance. This paper takes a fresh look at the switched reluctance (SR) drive as a possible prime mover technology for EMB applications. The switched reluctance motor has attractive potential, in view of its robustness, dynamic bandwidth and fault tolerance. An overall assessment of the approach is made based on bench performance of a prototype EMB caliper with an SR drive executing typical braking patterns. It is shown that the SR motor can provide the required overall brake actuator performance. Various implementation options are examined to lower cost, with particular focus on electronic design, control algorithms and motor position sensing.

This study examines the effectiveness of gaseous oxygen at preventing embrittlement in steel associated with exposure to gaseous hydrogen under static loading conditions. Notched C-ring samples machined from 4340 steel and heat treated to HRC 51-53 were used to test the neutrality of an oxygen-hydrogen gas mixture similar to that which may be used as a generant in an air bag inflator. The 29 percent oxygen to hydrogen gas ratio of the gas mixture was found to be sufficient to protect the steel from hydrogen embrittlement under static loading conditions. This would indicate that any steel with a hardness of HRC 51 or lower would be safe to use in gas-based air bag inflators containing a oxygen to hydrogen gas ratio of 29 percent or higher.