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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.

A wheel able to measure the generalized forces at the hub of a race motorcycle has been developed and used. The wheel has a very limited mass. It is made from magnesium with a special structure to sense the forces and provide the required level of stiffness. The wheel has been tested both indoor for preliminary approval and on the track. The three forces and the three moments acting at the hub can be measured with a resolution of 1N and 0.3Nm respectively. A specifically programmed DSP (Digital Signal Processor) embedded in the sensor allows real-time acquisition and processing of the six signals of forces/torques components. The signals are sent via Bluetooth to an onboard receiver connected to the vehicle CAN (Controller Area Network) bus. Each signal is sampled at 200Hz. The wheel can be used to derive the actual tyre characteristics or to record the loads acting at the hub.

The paper deals with the design and manufacturing of a McPherson suspension arm made from short glass fiber reinforced polyamide (PA66). The design of the arm and the design of the molds have been made jointly. According to Industry 4.0 paradigms, a full digitalization of both the product and process has been performed. Since the mechanical behavior of the suspension arm strongly depends on constraints which are difficult to be modelled, a simpler structure with well-defined mechanical constraints has been developed. By means of such simple structure, the model for the behavior of the material has been validated. Since the suspension arm is a hybrid structure, the associated simple structure is hybrid as well, featuring a metal sheet with over-molded polymer. The issues referring to material flow, material to material contact, weld lines, fatigue strength, high and low temperature behavior, creep, dynamic strength have been investigated on the simple structure.

The influence of the inertia properties (mass, centre of gravity location, and inertia tensor) on the dynamic behaviour of the engine-gearbox system of a car is studied in this paper, devoting particular attention to drivability and comfort. The vibration amplitudes and the natural frequencies of the engine-gearbox system have been considered. Additionally, the loads transmitted to the car body have been taken into account. Both the experimental and the theoretical simulations confirmed that the engine-gearbox vibrations in the range 10 - 15 Hz are particularly sensitive to slight variation of the inertia properties. The effects on engine-gearbox vibrations due to half-axles, exhaust system, pipes and inner engine-gearbox fluids have been highlighted.

This paper presents a validation method for indoor testing of a passenger car suspension. A study was done to design a supporting modular structure with comparable inertances with respect to a vehicle's actual suspension and body connection points. For the indoor test, the rear axle is positioned on a rotating drum. The suspension system is excited as the wheel passes over cleats fixed on the drum and transient wheel motions are recorded. The indoor test rig outputs (i.e., wheel and chassis accelerations) were compared with experimental data measured on an actual vehicle running at different speeds on the same set of cleats along a flat road. The comparison results validate the indoor testing method. The forces and moments acting at each suspension and chassis connection point were measured with a set of patented six-axis load cells. The forces, moments, wheel and subframe accelerations were measured up to 120 Hz.

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.

Apollo is the name of a solar prototype vehicle of Politecnico di Milano (Technical University of Milan) that has been conceived and employed for the Shell Eco-marathon® Europe competition (SEM). The paper introduces the concept design, the detailed design, the construction, the indoor tests, the successful employment at SEM and the end-of-life of the prototype. Apollo is a three-wheeler with a single driving and steering wheel at the rear. A wing with solar cells provides part of the electric energy required for running. The conceptual design started from the accommodation of the driver inside the vehicle. A number of iterations focusing on CFD (computation fluid dynamics) and wind-tunnel tests allowed to refine the total drag to less than 2N at 35 km/h. The tyre characteristic was measured on a drum. The camber of front wheels was set to 4 deg which provided the least rolling resistance.

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.

The paper presents some new and unreferenced analytical formulae describing the dynamic behaviour of the suspension system of road or off-road vehicles. The quarter car model (2 degrees of freedom) is considered, the suspension can be either passive or active. Passive suspensions can be simplified as the spring-damper combination or the spring-damper combination with an additional in series spring (representing, e.g., the rubber bushing at the top of a McPherson strut or the rubber bushing at the end joints of the damper). The mathematical system is linear and the excitation is given by a random stationary and ergodic process. The standard deviations in analytical form are given referring to, respectively, the vehicle body acceleration, the relative displacement between sprung and unsprung mass, and the force at the ground. The so called invariant points of the frequency response functions are derived for both active and passive suspension.

The lightweight seat of a high performance car is designed taking into account a rear impact, i.e. the crash due to an impulse applied from the rear. The basic parameters of the seat structure are derived resorting to simulations of a crash with a test dummy positioned on the seat. The simulations provide the forces acting at the seat structure, in particular the forces applied at the joint between the seat cushion and the seat backrest are taken into account. Such a joint is simulated as a plastic hinge and dissipates some of the crash energy. The simulations are validated by means of indoor tests with satisfactory results. A tool has been developed for the preliminary design of lightweight seats for high performance cars.

A new electric powertrain and axle for light/medium trucks is presented. The indoor testing and the simulation of the dynamic behavior are performed. The powertrain and axle has been produced by Streparava and tested at the Laboratory for the Safety of Transport of the Politecnico di Milano. The tests were aimed at defining the multi-physics perfomance of the powertrain and axle (efficiency, acceleration and braking, temperature and NVH). The whole system for indoor tests was composed by the powertrain and axle (electric motor, driveline, suspensions, wheels) and by the test rig (drums, driveline and electric motor). The (driving) axle was positioned on a couple of drums, and the drums provided the proper torques to the wheels to reproduce acceleration and braking. Additionally a cleat fixed on one drum excited the vibration of the suspensions and allowed assessing NVH performance. The simulations were based on a special co-simulation between 1D-AMESIM and VIRTUAL.LAB.

The durability performance of brake hoses is a crucial issue for such components. Accelerated fatigue testing of brake hoses is necessary for understanding achievable lifetime, actually computation of durability is quite cumbersome due to the many different materials the hoses are made from. Despite SAE standards are available, accelerated testing of brake hoses subject to actual torsional and bending stresses seem important to provide relevant feedback to designers. In this paper, an innovative methodology for assessing the fatigue behavior of brake hoses of road vehicles is proposed. A dynamic testbed is specifically designed and realized, able to reproduce the actual assembly conditions of the hoses fitted into a vehicle suspension. The designed testbed allows to replicate actual loading conditions on the brake hoses by simulating the vertical dynamics and steering of the suspension system together with brake pressure.

A multi-objective optimal design of a brushless DC electric motor for a brake system application is presented. Fifteen design variables are considered for the definition of the stator and rotor geometry, pole pieces and permanent magnets included. Target performance indices (peak torque, efficiency, rotor mass and inertia) are defined together with design constraints that refer to components stress levels and temperature thresholds, not to be surpassed after heavy duty cycles. The mathematical models used for optimization refer to electromagnetic field and related currents computation, to thermo-fluid dynamic simulation, to local stress and vibration assessment. An Artificial Neural Network model, trained with an iterative procedure, is employed for global approximation purposes. This allows to reduce the number of simulation runs needed to find the optimal configurations. Some of the Pareto-optimal solutions resulting from the optimal design process are analysed.

The paper investigates the dynamics of the tire and brake during hard braking or wheel locking, from the view point of a brake manufacturer. A new test rig, named BRAD (BRembo Automotive Dynamometer) is presented which measures the forces acting both at the brake and at the tire-ground interface. Lateral forces are not measured. In the test rig, the ground is represented by a drum. The features of the test rig are presented. The measurement accuracy is declared. The first result is that, near wheel locking, a substantial part of the braking power is generated by the tire and not by the brake. The test rig quantifies such a partitioning of brake power, which is important for current and future electric motorsport activities. Some 30% of the braking power is due to tire during hard braking. The second result is that, due to such important braking power at the tire, the tire is heated up, which increases considerably the maximum friction.

In this paper, an improved analytical model accounting for thermal effects in the electromagnetic field solution as well as efficiency map calculation of an outer rotor surface permanent magnet (SPM) machine is described. The study refers in particular to an in-wheel motor designed for automotive electric powertrain. This high torque and low speed application pushes the electric machine close to its thermal boundary, which necessitates estimates of winding and magnet temperatures to update the winding resistance and magnet remanence in the efficiency calculation. An electromagnetic model based on conformal mapping is used to compute the field solution in the air gap. The slotted air-gap geometry is mapped to a simpler slotless shape, where the field solution can be obtained by solving Laplace's equation for scalar potential. The canonical slottless domain solution is mapped back to the original domain and verified with finite element model (FEM) results.

The paper deals with the bifurcation analysis of a simple mathematical model describing an automobile running on an even surface. Bifurcation analysis is adopted as the proper procedure for an in-depth understanding of the stability of steady-state motion of cars (either cornering or running straight ahead). The aim of the paper is providing the fundamental information for inspiring further studies on vehicle dynamics with or without a human driver. The considered mechanical model of the car has two degrees of freedom, nonlinear tire characteristics are included. A simple driver model is introduced. Experimental validations of the model are produced. As a first step, bifurcation analysis is performed without driver (fixed control). Ten different combinations of front and rear tire characteristics (featuring understeer or oversteer automobiles) are considered. Steering angle and speed are varied. Many different dynamical behaviors of the model are found.