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The paper presents a method for the indoor testing of road vehicle suspension systems. A suspension is positioned on a rotating drum which is located in the Laboratory for the Safety of Transport at Politecnico di Milano. Special six-axis load cells have been designed and used for measuring the forces/moments acting at each suspension-chassis joints. The forces/moments, wheel accelerations, displacements are measured up to 100 Hz. Two different types of test can be performed. The tire/wheel unbalance effect on the suspension system behavior (Vibration and Harshness, VH) has been analyzed by testing the suspension system from zero to the vehicle maximum speed on a flat surface and by monitoring the forces transmitted to the chassis. In the second kind of test, the suspension system has been excited as the wheel passes over different cleats fixed on the drum.

A comprehensive research is presented aiming at assessing the ride comfort of subjects seated into road or off-road vehicles. Although many papers and books have appeared in the literature, many issues on ride comfort are still to be understood, in particular, the paper investigates the mutual effects of the posture and the vibration caused mostly from road unevenness. The paper is divided into two parts. In the first part, a mathematical model of a seated subject is validated by means of actual measurements on human subjects riding on a car. Such measurements refer to the accelerations acting at the subject/seat interface (vertical acceleration at the seat cushion and horizontal acceleration at the seat back). A proper dummy is used to derive the seat stiffness and damping.

Typically, when one thinks of advanced driver assistance systems (ADAS), systems such as Forward Collision Warning (FCW) and Collision Imminent Braking (CIB) come to mind. In these systems driver assistance is provided based on knowledge about the subject vehicle and surrounding objects. A new class of these systems is being implemented. These systems not only use information on the surrounding objects but also use information on the driver's response to an event, to determine if intervention is necessary. As a result of this trend, an advanced level of understanding of driver braking behavior is necessary. This paper presents an alternate method of analyzing driver braking behavior. This method uses a frequency content based approach to study driver braking and allows for the extraction of significantly more data from driver profiles than traditionally would have been done.

The friction estimation at the tire-ground contact is crucial for the active safety of vehicles. Friction estimation is a key problem of vehicle dynamics and the ultimate solution is still unknown. However the proposed approach, based on a simple idea and on a simple hardware, provides an actual solution. The idea is to compare the tire characteristic at a given friction (nominal characteristic) with the actual characteristic that the tire has while running. The comparison among these two characteristics (the nominal one and the actual one) gives the desired friction coefficient. The friction coefficient is expressed in vector form and a number of running parameters are identified. The mentioned comparison is an efficient but complex algorithm based on a mathematical formulation of the tire characteristic. The actual tire characteristic is somehow measured in real time by a relatively simple smart wheel which is able to detect the three forces and the three moments acting at the hub.

With the current drive of automotive and technology companies towards producing vehicles with higher levels of autonomy, it is inevitable that there will be an increasing number of SAE level L4-L5 autonomous vehicles (AVs) on roadways in the near future. Microscopic traffic simulators that simulate realistic traffic flow are crucial in studying, understanding and evaluating the fuel usage and mobility effects of having a higher number of autonomous vehicles (AVs) in traffic under realistic mixed traffic conditions including both autonomous and non-autonomous vehicles. In this paper, L4-L5 AVs with varying penetration rates in total traffic flow were simulated using the microscopic traffic simulator Vissim on urban, mixed and freeway roadways. The roadways used in these simulations were replicas of real roadways in and around Columbus, Ohio, including an AV shuttle routes in operation.

Hydroplaning represents a threat for riding safety since a wedge of water generated at the tire-road interface can lift tires from the ground thus preventing the development of tangential contact forces. Under this condition directionality and stability of the vehicle can be seriously compromised. The paper aims at characterizing the tire lateral response while approaching the hydroplaning speed: several experimental tests were carried out on a special test track covered with a 8-mm high water layer using a vehicle equipped with a dynamometric hub on the front left wheel. A series of swept sine steer maneuvers were performed increasing the vehicle speed in order to reach a full hydroplaning condition. Variations of tire cornering stiffness and relaxation length were investigated while the vehicle approaches the hydroplaning speed. Experimental tests stated that a residual capability of generating lateral forces is still present also close to the full hydroplaning condition.

In the last years engineers have to deal with multiple, often conflicting targets, where improvement of one quantity leads to deterioration of others, therefore it is impossible to obtain simultaneous structure enhancements without automatic optimizations tools. The so-called trade-offs have to be applied, providing less efficient modifications, nevertheless, for all of the design objectives. The Pareto front is a method that helps to determine a set of equipotential designs. In order to explore entire design space, response surface methodology supplemented by genetic algorithms is often used. In the work presented, the Gaussian Processes Methodology and an Adaptive Range Multi-Objective Genetic Algorithm - ARMOGA were implemented. Basing on the solutions obtained by the design of experiment, response surface methodology is used to predict the values of the measured outputs throughout the full range of interest.

The present paper investigates possible enhancement of ESP performance associated with the use of smart tires. In particular a novel control logic based on a direct feedback on the longitudinal forces developed by the four tires is considered. The control logic was developed using a simulation tool including a 14 dofs vehicle model and a smart tires emulator. Performance of the control strategy was evaluated in a series of handling maneuvers. The same maneuvers were performed on a HiL test bench interfacing the same vehicle model with a production ESP ECU. Results of the two logics were analyzed and compared.

In the last years automotive industry has shown a growing interest in exploring the field of vehicle dynamic control, improving handling performances and safety of the vehicle, and actuating devices able to optimize the driving torque distribution to the wheels. These techniques are defined as torque vectoring. The potentiality of these systems relies on the strong coupling between longitudinal and lateral vehicle dynamics established by tires and powertrain. Due to this fact the detailed (and correct) simulation of the dynamic behaviour of the driveline has a strong importance in the development of these control systems, which aim is to optimize the contact forces distribution. The aim of this work is to build an integrated vehicle and powertrain model in order to provide a proper instrument to be used in the development of such systems, able to reproduce the dynamic interaction between vehicle and driveline and its effects on the handling performances.

Future human exploration roadmaps involve the development of temporary or permanent outposts on Moon and Mars. The capability of providing astronauts with proper conditions for living and working in extraterrestrial environments is therefore a key issue for the sustainability of those roadmaps, and closed-loop Environment Control and Life Support Systems (ECLSSs) and bio-regenerative plants represent the necessary evolution of current technologies for complying with the challenging requirements imposed. This paper presents the architectural design of a terrestrial plant to be exploited to test and validate air and water management technologies for a biological life support system in a closed environment. The plant includes a crew area and a plant growth area. These two spaces can be considered as either a unique volume or two separated environments with reduced contact, e.g. for plant harvesting or other up-keeping activities.

Dynamic tests have been performed on carbon fiber racing seats following the FIA regulations. The tests have shown, in rear impact tests, a relatively strong rebound leading to large forward bending of neck, and, in side impact tests, very large lateral displacement of the head, the latter protruding dangerously towards hard portions of the car structure. Stiffening the seat back by steel struts results in reducing strongly both the motion and the acceleration of the head. Simulations of the dynamics of the tests have been done with multi-body models, including the Hybrid III dummy and seat deflection, by means of the program VEDYAC. It has been found that computer simulation can predict very accurately the result of a test, provided the numerical models have been carefully calibrated to match the dummy tolerance bands. Once they have been calibrated and validated with a number of tests, the computer models can be very useful to extend the test results to different test conditions.

Tire-road interaction is one of the main concerns in the design of control strategies for active/semi-active differentials oriented to improve handling performances of a vehicle. In particular, the knowledge of the friction coefficient at the tire-road interface is crucial for achieving the best performance in any working condition. State observers and estimators have been developed at the purpose, based on the measurements traditionally carried out on board vehicle (steer angle, lateral acceleration, yaw rate, wheels speed). However, until today, the problem of tire-road friction coefficient estimation (and especially of its maximum value) has not completely been solved. Thus, active control systems developed so far rely on a driver manual selection of the road adherence condition (anyway characterized by a rough and imprecise quality) or on a conservative tuning of the control logic in order to ensure vehicle safety among different tire-road friction coefficients.

The paper presents a new test rig (named RuotaVia) composed basically by a drum (2,6 m diameter), providing a running contact surface for vehicle wheels. A number of measurements on either full vehicles or vehicle sub-systems (single suspension system or single tyre) can be performed. Tire characteristics influencing rollover can be assessed. The steady-state maximum loads are as follows: Radial: 100kN, tangential: 100kN, lateral (axial with respect to the drum): 100kN. The superstructure carrying a measuring hub can excite the wheel under test up to 20 Hz in lateral and vertical directions. The steer angle range is ± 25 deg, the camber range is ± 80 deg. The minimum eigenfrequency of the drum is higher than 90 Hz and its maximum tangential speed is 440 km/h.

The paper investigates the interaction between soil and tractor tires through a 2D numerical model. The tire is schematized as a rigid ring presenting a series of rigid tread bars on the external circumference. The outer profile of the tire is divided into a series of elements, each one able to exchange a normal and a tangential contact force with the ground. A 2D soil model was developed to compute the forces at the ground-tire interface: the normal force is determined on the basis of the compression of the soil generated by the sinking of the tire. The soil is modeled through a layer of springs characterized by two different stiffness for the loading (lower stiffness) and unloading (higher stiffness) condition. This scheme allows to introduce a memory effect on the soil which results stiffer and keeps a residual sinking after the passage of the tire. The normal contact force determines the maximum value of tangential force provided before the soil fails.

Active and semi-active suspension systems are widely diffused into the automotive industry. Most of the proposed devices try to achieve a better compromise between handling and comfort requirements by replacing traditional springs, shock absorbers and antiroll bars with active or semi-active actuators allowing to change suspension stiffness and damping according to a suitable control strategy. An alternative way for controlling passenger car suspensions is proposed in this paper. Traditional passive springs and dampers are maintained, while the geometry of the suspension and thus its kinematics is actively varied. By changing the suspension geometry, spring and damper rates are in fact varied, this modifying the vertical load on the tire and/or the vehicle height from the ground.

The paper is focused on both the subjective and the objective ride comfort evaluation of farm tractors. The experimental measurement of the relevant accelerations occurring at the tractor body, at the cabin and at the seat was performed on a number of different farm tractors. A subjective rating of the ride comfort level was performed by considering five different drivers. The comfort index was computed according with ISO 2631 and other standards. The acceleration of the seated subject was computed by means of a proper mechanical model of a farm tractor and derived at different positions on the subject body. It turned out that the acceleration of the lower torso was particularly relevant for establishing a matching between the subjective perception and the objective measurement and computation. A number of indices have been derived from the measured data which are able to correlate the subjective driver feeling with the measured accelerations.

The ride comfort of three Alfa Romeo cars, namely Giulietta (1955), Alfetta (1972) and 159 (2005) has been assessed both objectively and subjectively. The three cars belong to the same market segment. The aim is to let young engineers or graduate students understand how technology has evolved and eventually learn a lesson from the assessed trend. A number of cleats have been fixed at the ground and the three cars have traversed such uneven surface. The objective assessment of the ride comfort has been performed by means of accelerometers fixed at the seat rails, additionally a special dummy developed at Politecnico di Milano has been employed. The subjective assessment has been performed by a panel of passengers. The match between objective and subjective ratings is very good. Simple mathematical models have been employed to establish a (successful) comparison between experimental and computational results. The ride comfort differs substantially among the cars.

As part of active safety systems for reducing bicyclist fatalities and injuries, Bicyclist Pre-Collision System (BPCS), also known as Bicyclist Autonomous Emergency Braking System, is being studied currently by several vehicles manufactures. This paper describes the development of a surrogate bicyclist which includes a surrogate bicycle and a surrogate bicycle rider to support the development and evaluation of BPCS. The surrogate bicycle is designed to represent the visual and radar characteristics of real bicyclists in the United States. The size of bicycle surrogate mimics the 26 inch adult bicycle, which is the most popular adult bicycle sold in the US. The radar cross section (RCS) of the surrogate bicycle is designed based on RCS measurement of the real adult sized bicycles.

Mass minimization is a key objective for the design of racing motorcycle wheels. The structural optimization of a front motorcycle wheel is presented in the paper. Topology Optimization has been employed for deriving optimized structural layouts. The minimum compliance problem has been solved, symmetry and periodicity constraints have been introduced. The wheel has been optimized by considering several loading conditions. Actual loads have been measured during track tests by means of a special measuring wheel. The forces applied by the tire to the rim have been introduced in an original way. Different solutions characterized by different numbers of spokes have been analyzed and compared. The actual racing wheel has been further optimized accounting for technological constraints and the mass has been reduced down to 2.9 kilograms.

Active controls for braking dynamics are widely investigated in literature [1]-[8] as one of the way to improve vehicle safety and avoid collisions. Active systems commonly mounted on passenger cars like ABS/EBD, have achieved a high level of robustness towards possible changes in the tires' characteristics due to multiple causes such as: under-inflation, wear and also replacement of tires with new ones different from the first equipment series. Although these electronic control systems have been designed to be robust and no case-sensitive to such variations in tire conditions, a further improvement of their performance could be achieved by means of a continuous adaptive control.