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The paper discusses the development of a model for the 2006 BMW 330i for the National Advanced Driving Simulator's (NADS) vehicle dynamics simulation, NADSdyna. The front and rear suspensions are independent strut and link type suspensions modeled using recursive rigid-body dynamics formulations. The suspension springs and shock absorbers are modeled as force elements. The paper includes parameters for front and rear semi-empirical tire models used with NADSdyna. Longitudinal and lateral tire force plots are also included. The NADSdyna model provides state-of-the-art high-fidelity handling dynamics for real-time hardware-in-the-loop simulation. The realism of a particular model depends heavily on how the parameters are obtained from the actual physical system. Complex models do not guarantee high fidelity if the parameters used were not properly measured. Methodologies for determining the parameters are detailed in this paper.

In crashes between heavy trucks and light vehicles, most of the fatalities are the occupants of the light vehicle. A reduction in heavy truck stopping distance should lead to a reduction in the number of crashes, the severity of crashes, and consequently the numbers of fatalities and injuries. This study made use of the National Advanced Driving Simulator (NADS). NADS is a full immersion driving simulator used to study driver behavior as well as driver-vehicle reactions and responses. The vehicle dynamics model of the existing heavy truck on NADS had been modified with the creation of two additional brake models. The first was a modified S-cam (larger drums and shoes) and the second was an air-actuated disc brake system. A sample of 108 CDL-licensed drivers was split evenly among the simulations using each of the three braking systems. The drivers were presented with four different emergency stopping situations.

This paper presents the details of the model for the physical steering system used on the National Advanced Driving Simulator. The system is basically a hardware-in-the-loop (steering feedback motor and controls) steering system coupled with the core vehicle dynamics of the simulator. The system's torque control uses cascaded position and velocity feedback and is controlled to provide steering feedback with variable stiffness and dynamic properties. The reference model, which calculates the desired value of the torque, is made of power steering torque, damping function torque, torque from tires, locking limit torque, and driver input torque. The model also provides a unique steering dead-band function that is important for on-center feel. A Simulink model of the hardware/software is presented and analysis of the simulator steering system is provided.

The paper discusses the development of a model for a 1998 Chevrolet Malibu for the National Advanced Driving Simulator’s (NADS) vehicle dynamics simulation, NADSdyna. The Malibu is the third vehicle modeled for the NADS, and this is the third paper dealing with model development. SAE Paper 970564 contains details of the model for the 1994 Ford Taurus and SAE Paper 1999–01-0121 contains details of the model for the 1997 Jeep Cherokee. The front and rear suspensions are independent strut and link type suspensions modeled using recursive rigid body dynamics formulations. The suspension springs and shock absorbers are modeled as elements in the rigid body formulation. To complement the vehicle dynamics for the NADS application, subsystem models that include tire forces, braking, powertrain, aerodynamics, and steering are added to the rigid body dynamics model. The models provide state-of-the-art high fidelity vehicle handling dynamics for real-time simulation.

The Isodamp damping material (also known as Navy Damp) used in the ribs of current crash test dummies provides human-like damping to the thorax under impact. However, the range of temperature over which it can be used is very small. A new rib design using laminates of steel, fiberglass, and commercially available viscoelastic material has been constructed. Load-deflection response and hysteresis of the laminated ribs were compared with corresponding conventional ribs fabricated from steel and Isodamp. Impact tests were conducted on laminated and conventional ribs at 18.5° C, 22.2° C and 26.6° C. Results indicate that the response of the laminated ribs is essentially the same as that of the ribs with Isodamp at 22.2° C, which is the operating temperature of the conventional ribs. The variation in the impact response of the newly developed laminated ribs in the temperature range of 18.5° C to 26.6° C was less than 10%.

This paper attempts to define and measure factors related to a vehicle's performance that are influential in the causation of rollover accidents. Data are presented which define the rollover involvement rates for many non-vehicular factors. A brief description of the vehicle metrics and the analysis procedures used in the rollover prevention rulemaking program are included along with a set of conclusions. The program evaluated many vehicle metrics related to vehicle rollover, analyzed accidents from 5 states, and compared the two data bases by testing “cause and effect” hypotheses by performing statistical regressions to determine levels of correlation. Location of the crash, urban vs. rural, was a strong predictor of the crash outcome - that is, rollover or non-rollover. Vehicle class and single vehicle accident rate were also statistically significant, as well as, whether or not the vehicle was equipped with anti-lock brakes. Several other driver demographics were significant.

When a heavy vehicle driver (or in fact a driver of any vehicle) makes a brake application that is too "hard" for conditions - especially when the vehicle is lightly loaded or empty and/or the road is wet or slippery - he is likely to lock some or all of his wheels. Under these conditions, the tractor can jackknife or the trailer can swing out of its lane (if it is a combination-unit vehicle) or the truck can spin out (if it is a single-unit vehicle). Incorporation of an antilock brake system addresses the wheel lock and resultant control loss.

There exists a fairly extensive set of tire force measurements performed on dry pavement. But in order to develop a low-coefficient of friction tire model, a set of tire force measurements made on wet pavement is required. Using formulations and parameters obtained on dry roads, and then reducing friction level to that of a wet road is not sufficient to model tire forces in a high fidelity simulation. This paper describes the process of more accurately modeling low coefficient tire forces on the National Advanced Driving Simulator (NADS). It is believed that the tire model improvements will be useful in many types of NADS simulations, including ESC and other advanced vehicle technology studies. In order to produce results that would come from a road surface that would be sufficiently slippery, a set of tires were shaved to 4/32 inches and sent to a tire-testing lab for measurement.

Computational simulations are conducted for several head impact scenarios using a three dimensional finite element model of the human brain in conjunction with accelerometer data taken from crash test data. Accelerometer data from a 3-2-2-2 nine accelerometer array, located in the test dummy headpart, is processed to extract both rotational and translational velocity components at the headpart center of gravity with respect to inertial coordinates. The resulting generalized six degree-of-freedom description of headpart kinematics includes effects of all head impacts with the interior structure, and is used to characterize the momentum field and inertial loads which would be experienced by soft brain tissue under impact conditions. These kinematic descriptions are then applied to a finite element model of the brain to replicate dynamic loading for actual crash test conditions, and responses pertinent to brain injury are analyzed.

This paper presents an overview of work performed by the National Highway Traffic Safety Administration's (NHTSA) Vehicle Research and Test Center (VRTC) to test, validate, and improve the planned National Advanced Driving Simulator's (NADS) vehicle dynamics simulation. This vehicle dynamics simulation, called NADSdyna, was developed by the University of Iowa's Center for Computer-Aided Design (CCAD) NADSdyna is based upon CCAD's general purpose, real-time, multi-body dynamics software, referred to as the Real-Time Recursive Dynamics (RTRD), supplemented by vehicle dynamics specific submodules VRTC has “beta tested” NADSdyna, making certain that the software both works as computer code and that it correctly models vehicle dynamics. This paper gives an overview of VRTC's beta test work with NADSdyna. The paper explains the methodology used by VRTC to validate NADSdyna.

An important new technique in safety engineering for complex systems is the fault tree analysis method. The results of a motor vehicle brake system safety analysis using the fault tree technique are described. The work is directed toward the identification and ranking of brake system failure modes which may be critical as accident causation factors. Safety criticality for each failure mode is defined as the product of probability of occurrence and severity of effect on vehicle control. Failure data for the brake system components are obtained from maintenance and repair records of a large automobile leasing fleet. An effect scale is developed using a method for pooling expert judgements to obtain the relative ranking of various brake faults as to accident causation potential. The fault tree structure is employed to combine probability and effect to obtain the safety criticality value of each fault.

The paper presents a comparison of kinematic responses between the MVMA-2D and the MAC-DAN pedestrian models and pedestrian cadaver kinematics observed in staged car/pedestrian impact tests. The paper also discusses the injuries experienced in the cadaver tests. Seven cadaver specimens in the standing posture were impacted at 25 mph by two different cars: one having a steel bumper and the other having a plastic bumper. The MVMA-2D and MAC-DAN mathematical pedestrian models were employed to simulate pedestrian impacts at 25 mph by a vehicle with a stylized geometry that is similar to the vehicles used in cadaver tests. Comparison of the simulations and the cadaver tests show that both models require further refinement to be able to more accurately simulate the kinematics of the lower legs during impacts with the vehicle bumper.

This paper discusses techniques for estimating steering feel performance measures for on-center and off-center driving. Weave tests at different speeds are used to get on-center performances for a 1994 Ford Taurus, a 1998 Chevrolet Malibu, and a 1997 Jeep Cherokee. New concepts analyzing weave tests are added, specifically, the difference of the upper and lower curves of the hysteresis and their relevance to driver load feel. For the 1997 Jeep Cherokee, additional tests were done to determine steering on-center transition properties, steering flick tests, and the transfer function of handwheel torque feel to handwheel steering input. This transfer function provides steering system stiffness in the frequency domain. The frequency domain analysis is found to be a unique approach for characterizing handwheel feel, in that it provides a steering feel up to maximum steering rate possible by the drivers.

This paper presents an overview of currently ongoing research by the National Highway Traffic Safety Administration (NHTSA) in the area of light vehicle (passenger cars and light trucks) Antilock Brake Systems (ABS). This paper serves as a lead-in to other papers that will be presented during this session. Several statistical crash data studies have found there to be little or no net safety benefit from the implementation of four-wheel ABS on passenger automobiles. Typically, these studies have found ABS to be associated with: 1. A statistically significant decrease in multi-vehicle crashes. 2. A statistically significant decrease in fatal pedestrian strikes. 3. A statistically significant increase in single-vehicle road departure crashes. The safety disbenefit due to the third finding approximately cancels the safety benefits from the first two findings.

The National Highway Traffic Safety Administration (NHTSA) has developed its Light Vehicle Antilock Brake Systems (ABS) Research Program in an effort to determine the cause (s) of the apparent increase in fatal single-vehicle run-off-road crashes as vehicles undergo a transition from conventional brakes to ABS. As part of this program, NHTSA conducted research examining driver crash avoidance behavior and the effects of ABS on drivers' ability to avoid a collision in a crash-imminent situation. The study described here was conducted on a test track under dry and wet pavement conditions to examine the effects of ABS versus conventional brakes, ABS brake pedal feedback level, and ABS instruction on driver behavior and crash avoidance performance. This study found that drivers do tend to brake and steer in realistic crash avoidance situations and that excessive steering can occur.

The National Highway Traffic Safety Administration (NHTSA) has developed its Light Vehicle Antilock Brake Systems (ABS) Research Program in an effort to determine the cause (s) of the apparent increase in fatal single-vehicle run-off-road crashes as vehicles undergo a transition from conventional brakes to ABS. As part of this program, NHTSA conducted research examining driver crash avoidance behavior and the effects of ABS on drivers’ ability to avoid a collision in a crash-imminent situation. The study described here was conducted on the Iowa Driving Simulator and examined the effects of ABS versus conventional brakes, speed limit, ABS instruction, and time-to-intersection (TTI) on driver behavior and crash avoidance performance. This study found that average, alert drivers do tend to brake and steer in realistic crash avoidance situations and that excessive steering can occur. However, this behavior did not result in a significant number of road departures.

This study evaluated the response of restrained post-mortem human subjects (PMHS) in 40 km/h frontal sled tests. Eight male PMHS were restrained on a rigid planar seat by a custom 3-point shoulder and lap belt. A video motion tracking system measured three-dimensional trajectories of multiple skeletal sites on the torso allowing quantification of ribcage deformation. Anterior and superior displacement of the lower ribcage may have contributed to sternal fractures occurring early in the event, at displacement levels below those typically considered injurious, suggesting that fracture risk is not fully described by traditional definitions of chest deformation. The methodology presented here produced novel kinematic data that will be useful in developing biofidelic human models.

A new lower extremity has been developed to be used with Thor, the NHTSA Advanced Frontal Dummy. The new lower extremity, known as Thor-Lx, consists of the femur, tibia, ankle joints, foot, a representation of the Achilles' tendon and the associated flash/skins, it has been designed to improve biomechanical response under axial loading of the femur during knee impacts, axial loading of the tibia, static and dynamic dorsiflexion, static plantarflexion and inversion/aversion. Instrumentation includes a standard Hybrid ill femur load cell, accelerometers, load cells, and rotary potentiometers to capture relevant kinematic and dynamic information from the foot and tibia. The design also allows the Tnor-Lx to be attached to the Hybrid III, either at the hip, or at the knee.

Anthropomorphic test devices (ATDs) should accurately depict head kinematics in crash tests, and thoracic spine properties have been demonstrated to affect those kinematics. To investigate the relationships between thoracic spine system dynamics and upper thoracic kinematics in crash-level scenarios, three adult post-mortem human subjects (PMHS) were tested in both Isolated Segment Manipulation (ISM) and sled configurations. In frontal sled tests, the T6-T8 vertebrae of the PMHS were coupled through a novel fixation technique to a rigid seat to directly measure thoracic spine loading. Mid-thoracic spine and belt loads along with head, spine, and pectoral girdle (PG) displacements were measured in 12 sled tests conducted with the three PMHS (3-pt lap-shoulder belted/unbelted at velocities from 3.8 - 7.0 m/s applied directly through T6-T8).

When the Hybrid III 10-year old (HIII-10C) anthropomorphic test device (ATD) was adopted into Code of Federal Regulations (CFR) 49 Part 572 as the best available tool for evaluating large belt-positioning booster seats in Federal Motor Vehicle Safety Standard (FMVSS) No. 213, NHTSA stated that research activities would continue to improve the performance of the HIII-10C to address biofidelity concerns. A significant part of this effort has been NHTSA’s in-house development of the Large Omnidirectional Child (LODC) ATD. This prototype ATD is comprised of (1) a head with pediatric mass properties, (2) a neck that produces head lag with Z-axis rotation at the atlanto-occipital joint, (3) a flexible thoracic spine, (4) multi-point thoracic deflection measurement capability, (5) skeletal anthropometry representative of a seated child, and (6) an abdomen that can directly measure belt loading.