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Making manned and remotely-controlled wheeled and tracked vehicles easier to drive, especially off-road, is of great interest to the U.S. Army. If vehicles are easier to drive (especially closed hatch) or if they are driven autonomously, then drivers could perform additional tasks (e.g., operating weapons or communication systems), leading to reduced crew sizes. Further, poorly driven vehicles are more likely to get stuck, roll over, or encounter mines or improvised explosive devices, whereby the vehicle can no longer perform its mission and crew member safety is jeopardized. HMI technology and systems to support human drivers (e.g., autonomous driving systems, in-vehicle monitors or head-mounted displays, various control devices (including game controllers), navigation and route-planning systems) need to be evaluated, which traditionally occurs in mission-specific (and incomparable) evaluations.

As new technology is added to vehicles and traffic congestion increases, there is a concern that drivers will be overloaded. As a result, there has been considerable interest in measuring driver workload. This can be achieved using many methods, with subjective assessments such as the NASA Task Loading Index (TLX) being most popular. Unfortunately, the TLX is unanchored, so there is no way to compare TLX values between studies, thus limiting the value of those evaluations. In response, a method was created to anchor overall workload ratings. To develop this method, 24 subjects rated the workload of clips of forward scenes collected while driving on rural, urban, and limited-access roads in relation to 2 looped anchor clips. Those clips corresponded to Level of Service (LOS) A and E (light and heavy traffic) and were assigned values of 2 and 6 respectively.

Tanker trucks are commonly used for transporting liquid material including chemical and petroleum products. On the one hand, tanker trucks are susceptible to rollover accidents due to the high center of gravity when they are loaded and due to the liquid sloshing effects when the tank is partially filled. On the other hand, tanker truck rollover accidents are among the most dangerous vehicle crashes, frequently resulting in serious to fatal driver injuries and significant property damage, because the liquid cargo is often hazardous and flammable. Therefore, effective schemes for tanker truck rollover avoidance are highly desirable and can bring a considerable amount of societal benefit. Yet, the development of such schemes is challenging, as tanker trucks can operate in various environments and be affected by manufacturing variability, aging, degradation, etc. This paper considers the use of Learning Reference Governor (LRG) for tanker truck rollover avoidance.

The article solves the problem of reducing electric power losses of the traction induction machine rotor to prevent its overheating in nominal and high-load modes. Electric losses of the rotor power are optimized by the stabilization of the main magnetic flow of the electric machine at a nominal level with the amplitude-frequency control in a wide range of speeds and increased loads. The quasi-independent excitation of the induction machine allows us to increase the rigidity of mechanical characteristics, decrease the rotor slip at nominal loads and overloads and significantly decrease electrical losses in the rotor as compared to other control methods. The article considers the technology of converting the power of individual phases into a single energy flow using a three-phase electric machine equivalent circuit and obtaining an energy model in the form of equations of instantaneous active and reactive power balance.

In order to improve the steering stability of the dual-motor drive electric vehicle, Taking the yaw rate and the sideslip angle as the control variables, Using the improved two degree of freedom linear dynamic model and seven degree of freedom nonlinear vehicle dynamics model, The hierarchical structure is used to establish the dual-motor drive electric vehicle steering stability control strategy which consist of the upper direct yaw moment decision-making layer based on the sliding mode controller and the lower additional yaw moment distribution layer based on the optimization theory. The Matlab/Simulink-Carsim joint simulation platform was built. The control strategy proposed in this paper was simulated and verified under the snake test condition and double-line shift test condition.

Mercury is a high-fidelity, physics-based object-oriented software for conducting simulations of vehicle performance evaluations for requirements and engineering metrics. Integrating cutting-edge, massively parallel modeling techniques for soft, cohesive and dry granular soil that will integrate state-of-the-art soil simulation with high-fidelity multi-body dynamics and powertrain modeling to provide a comprehensive mobility simulator for ground vehicles. The Mercury implements the Chrono::Vehicle dynamics library for vehicle dynamics, which provides multi-body dynamic simulation of wheeled and tracked vehicles. The powertrain is modeled using the Powertrain Analysis Computational Environment (PACE), a behavior-based powertrain analysis based on the U.S. Department of Energy’s Autonomie software. Vehicle -terrain interaction (VTI) is simulated with the Ground Contact Element (GCE), which provides forces to the Chrono-vehicle solver.

This paper proposes a method to make diagnostic/prognostic judgment about the health of a tire, in term of its wear, using existing on-board sensor signals. The approach focuses on using an estimate of the effective rolling radius (ERR) for individual tires as one of the main diagnostic/prognostic means and it determines if a tire has significant wear and how long it can be safely driven before tire rotation or tire replacement are required. The ERR is determined from the combination of wheel speed sensor (WSS), Global Positioning sensor (GPS), the other motion sensor signals, together with the radius kinematic model of a rolling tire. The ERR estimation fits the relevant signals to a linear model and utilizes the relationship revealed in the magic formula tire model. The ERR can then be related to multiple sources of uncertainties such as the tire inflation pressure, tire loading changes, and tire wear.

The efficiency of power transmission through a Van Doorne type Continuously Variable Transmission (CVT) can be improved by allowing a small amount of relative slip between the engine and driveline side pulleys. However, excessive slip must be avoided to prevent transmission wear and damage. To enable fuel economy improvements without compromising drivability, a CVT control system must ensure accurate tracking of the gear ratio set-point while satisfying pointwise-in-time constraints on the slip, enforcing limits on the pulley forces, and counteracting driveline side and engine side disturbances. In this paper, the CVT control problem is approached from the perspective of Model Predictive Control (MPC). To develop an MPC controller, a low order nonlinear model of the CVT is established. This model is linearized at a selected operating point, and the resulting linear model is extended with extra states to ensure zero steady-state error when tracking constant set-points.

Among all the vehicle rollover test procedures, the SAE J2114 dolly rollover test is the most widely used. However, it requires the test vehicle to be seated on a dolly with a 23° initial angle, which makes it difficult to test a vehicle over 5,000 kg without a dolly design change, and repeatability is often a concern. In the current study, we developed and implemented a new dynamic rollover test methodology that can be used for evaluating crashworthiness and occupant protection without requiring an initial vehicle angle. To do that, a custom cart was designed to carry the test vehicle laterally down a track. The cart incorporates two ramps under the testing vehicle’s trailing-side tires. In a test, the cart with the vehicle travels at the desired test speed and is stopped by a track-mounted curb.

In this paper, residual stress distributions in rectangular bars due to rolling or burnishing at very high rolling or burnishing loads are investigated by roll burnishing experiments and three-dimensional finite element analyses using ABAQUS. First, roll burnishing experiments on rectangular bars at two roller burnishing loads are presented. The results indicate the higher burnishing load induces lower residual stresses and the higher burnishing load does not improve fatigue lives. Next, in the corresponding finite element analyses, the roller is modeled as rigid and the roller rolls on the flat surface of the bar with a low coefficient of friction. The bar material is modeled as an elastic-plastic strain hardening material with a nonlinear kinematic hardening rule for loading and unloading.

To date, model validation metric is prominently designed for non-dynamic model responses. Though metrics for dynamic responses are also available, they are specifically designed for the vehicle impact application and uncertainties are not considered in the metric. This paper proposes the validation metric for general dynamic system responses under uncertainty. The metric makes use of the popular U-pooling approach and extends it for dynamic responses. Furthermore, shape deviation metric was proposed to be included in the validation metric with the capability of considering multiple dynamic test data. One vehicle impact model is presented to demonstrate the proposed validation metric.

Through inverse dynamics-based modeling and computer simulations for a 6×6 Unmanned Ground Vehicle (UGV) - a 6×6 truck - in stochastic terrain conditions, this paper analytically presents a coupled impact of different driveline system configurations and a suspension design on vehicle dynamics, including vehicle mobility, and energy efficiency. A new approach in this research work involves an estimation of each axle contribution to the level of potential mobility loss/increase and/or energy consumption increase/ reduction. As it is shown, the drive axles of the vehicle interfere with the vehicle's dynamics through the distribution of the wheels' normal reactions and wheel torques. The interference causes the independent system dynamics to become operationally coupled/fused and thus diminishes vehicle mobility and energy efficiency. The analysis is done by the use of new mobility indices and energy efficiency indices which are functionally coupled/fused.

Real-time driving simulations are an important tool for verifying vehicle and vehicle component designs with a driver in the loop. They not only provide a cost effective solution but also an ability to verify designs in a safe and controlled operating environment. A real-time driving experiment has been developed for Stryker to compare the ride and handling performance of a baseline passive suspension to that of a Magneto-Rheological (MR) semi-active damper suspension. The Tank Automotive Research Development and Engineering Center (TARDEC) has integrated this new suspension into a real time vehicle dynamics model of the Stryker using the MR suspension model developed by the Original Equipment Manufacturer (OEM). Using this real-time model and the TARDEC Ride Motion Simulator (RMS), TARDEC associates, along with associates from the Stryker Program Management office and the suspension OEM were able to drive and compare the passive and MR Stryker in a virtual environment.

Automated clutches for vehicle startup is being increasingly deployed in commercial trucks for benefits, which include driver comfort, gradient performance, improved clutch life, emissions and driveline vibration reduction potential. The process of designing the controller is divided into 2 parts. Firstly, the parameter estimation of previously developed driveline models is carried out. The procedure involves an off-line minimization technique based on measured and estimated speeds. Secondly, the nominal plant model is used to develop LQR based optimal control strategy, which takes into account the slip time, dissipated power and slip acceleration. Mathematical expression of the performance index is clearly developed. A variety of clutch lock up profiles can be incorporated by changing a single tuning parameter, thus providing the driver the ability to select a launch profile based on specific driving objectives.

Lead is well recognized as having environmental and health risks. The elimination of lead from automotive components has been accelerated by the European End of Life Directive as well as litigation concerns in the U.S. In response to these circumstances, two new lead-free bronze materials have been developed as replacements for SAE 792 (CuSn10Pb10). The two lead free materials are sintered bronzes with nominal compositions CuSn10Bi3 and CuSn8Ni. The characteristics and performance of these materials are compared and contrasted to sintered and cast SAE 792. Fatigue strength, mechanical properties, corrosion resistance, and wear resistance are described and related to the microstructural and application conditions. The CuSn10Bi3 material is preferred for SAE 792 applications having poor lubrication or high-speed conditions, typically in spark ignition connecting rod bushings or highly loaded transmission bushings.

The Milliken Moment Method (MMM) can be used to quantify the constraints imposed on vehicle stability and controllability by front and rear tire traction limitations. The main aspect of the Milliken Moment Method is the plot of vehicle's yaw moment versus lateral acceleration for given vehicle sideslip and steering angle ranges. This plot is typically called the Milliken Moment Diagram (MMD). This paper proposes a dynamic simulation approach to implementing the MMM that emulates the traditional experimental one. The approach embeds a vehicle dynamics model in a control loop that maintains a constant desired sideslip angle, and integrates the resulting controlled vehicle system model in time to generate the MMD.

Improving the performance characteristics of a typical disc brake encompasses a number of design strategies as well as limitations imposed by cost objectives. Utilizing pad loading uniformity in a design is one strategy that offers an improvement in desired performance characteristics, including a reduction in tapered lining wear as well as a possible reduced propensity for noise generation. To approach this design strategy, a procedure has been developed to tailor the brake pad lining profile to maximize pad loading uniformity in a multibody dynamics model of a typical disc brake. In determining an optimal lining configuration, a suitable compromise for gaining beneficial performance improvements in a cost effective manner is reached. The implementation of this design strategy involves the parametric definition of the lining profile by introducing a series of variables that are linked to the profile markers.

This paper presents an overview of techniques for measuring friction using bench tests and fired engines. The test methods discussed have been developed to provide efficient, yet realistic, assessments of new component designs, materials, and lubricants for in-cylinder and overall engine applications. A Cameron-Plint Friction and Wear Tester was modified to permit ring-in-piston-groove movement by the test specimen, and used to evaluate a number of cylinder bore coatings for friction and wear performance. In a second study, it was used to evaluate the energy conserving characteristics of several engine lubricant formulations. Results were consistent with engine and vehicle testing, and were correlated with measured fuel economy performance. The Instantaneous IMEP Method for measuring in-cylinder frictional forces was extended to higher engine speeds and to modern, low-friction engine designs.

The addition of synthetic traffic to a driving simulation greatly enhances the realism of the virtual world. Giving this traffic human-like behavior is likewise desirable, and has been the focus of some research over the past few years. This paper presents a modular architecture for including autonomous traffic in a driving simulation, and describes the first steps taken toward the application of this architecture to the DaimlerChrysler Auburn Hills Simulator. By separating the planning part of the agent from the low-level control and vehicle dynamics systems, the described architecture permits the inclusion of powerful, previously developed components in a straightforward way; in the present application, agents use Soar to reason about their actions. This paper gives an overview of the structures of the agents, and of the entire system, describes the components and their implementations, and discusses the current state of the project and plans for the future.

Belt drives have long been utilized in engine applications to power accessories such as alternators, pumps, compressors and fans. The first belt drives consisted of one or more V-belts powering fixed-centered pulleys and were pre-tensioned by statically adjusting the pulley center separation distances. In recent years, such drives have been replaced by a single, flat, ‘serpentine belt’ tensioned by an ‘automatic tensioner.’ The automatic tensioner consists of a spring-loaded, dry friction damped, tensioner arm that contacts the belt through an idler pulley. The tensioner's major function is to maintain constant belt tension in the presence of changing engine speeds and accessory loads. The engine crankshaft supplies both the requisite power to drive the accessories as well as the (unwanted) dynamic excitation that can adversely affect the accessories and the noise and vibration performance of the belt.