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The purpose of this research is to characterize the wear resistance of wheel treads made of polymeric woven and non-woven fabrics. Experimental research is used to characterize two wear mechanisms: (1) external wear due to large sliding between the tread and rocks, and (2) external wear due to small sliding between the tread and abrasive sand. Experimental setups include an abrasion tester and a small-scale merry-go-round where the tread is attached to a deformable rolling wheel. The wear resistance is characterized using various measures including, quantitatively, by the number of cycles to failure, and qualitatively, by micro-visual inspection of the fibers’ surface. This paper describes the issues related to each experiment and discusses the results obtained with different polymeric materials, fabric densities and sizes. The predominant wear mechanism is identified and should then be used as one of the criteria for further design of the tread.

In the next 20 years fully autonomous vehicles are expected to be in the market. The advance on their development is creating paradigm shifts on different automotive related research areas. Vehicle interiors design and human vehicle interaction are evolving to enable interaction flexibility inside the cars. However, most of today’s vehicle manufacturers’ autonomous car concepts maintain the steering wheel as a control element. While this approach allows the driver to take over the vehicle route if needed, it causes a constraint in the previously mentioned interaction flexibility. Other approaches, such as the one proposed by Google, enable interaction flexibility by removing the steering wheel and accelerator and brake pedals. However, this prevents the users to take control over the vehicle route if needed, not allowing them to make on-route spontaneous decisions, such as stopping at a specific point of interest.

Automotive drive-by-wire systems have enabled greater mobility options for individuals with physical disabilities. To further expand the driving paradigm, a need exists to consider an alternative vehicle steering mechanism to meet specific needs and constraints. In this study, a cellphone steering controller was investigated using a fixed-base driving simulator. The cellphone incorporated the direction control of the vehicle through roll motion, as well as the brake and throttle functionality through pitch motion, a design that can assist disabled drivers by excluding extensive arm and leg movements. Human test subjects evaluated the cellphone with conventional vehicle control strategy through a series of roadway maneuvers. Specifically, two distinctive driving situations were studied: a) obstacle avoidance test, and b) city road traveling test. A conventional steering wheel with self-centering force feedback tuning was used for all the driving events for comparison.

Vehicle dynamics simulation is one of the newest and most valuable technologies being applied in the racing world today. Professional designers and race teams are investing heavily to test and improve the dynamics of their suspension systems through this new technology. This paper discusses the testing of one of Clemson University's most recent Formula SAE racecars on a seven-poster vehicle dynamics simulator; commonly known as a “shaker rig.” Testing of the current dampers using a shock dynamometer was conducted prior to testing and results are included for further support of conclusions. The body of the paper is a discussion of the setup and testing procedures involved with the dynamic simulator. The results obtained from the dynamic simulator tests are then analyzed in conjunction with the shock dynamometer results. Conclusions are formed from test results and methods for future improvements to be applied in Formula SAE racing are suggested.

Adiabatic heating during plastic straining can slow the diffusionless shear transformation of austenite to martensite in steels that exhibit transformation induced plasticity (TRIP). However, the extent to which the transformation is affected over a strain rate range of relevance to automotive stamping and vehicle impact events is unclear for most third-generation advanced high strength TRIP steels. In this study, an 1180MPa minimum tensile strength TRIP steel with carbide-free bainite is evaluated by measuring the variation of retained austenite volume fraction (RAVF) in fractured tensile specimens with position and strain. This requires a combination of servo-hydraulic load frame instrumented with high speed stereo digital image correlation for measurement of strains and ex-situ synchrotron x-ray diffraction for determination of RAVF in fractured tensile specimens.

This article presents a pointing gesture-based point of interest computation method via pointing rays’ intersections for situated awareness interactions in vehicles. The proposed approach is compared with two alternative methods: (a) a point of interest identification method based on the intersection of the pointing ray with the point cloud (PoC) resulting from the vehicle sensors, and (b) the traditional ray-casting approach, where the point of interest is computed based on the first intersection of the pointing rays with locations stored in a 2D annotated map. Simulation results show that the presented method outperforms by 36.25% the traditional ray casting one. However, as it was expected, the sensor-based computation method is more accurate. The validation of our approach was conducted by experiments performed in a test track facility.

This paper presents an approach for performing software in the loop testing of autonomous vehicle software developed in the Autoware framework. Autoware is an open source software for autonomous driving that includes modules such as localization, detection, prediction, planning and control [8]. Multitudes of autonomous driving frameworks exist today, each having its own pros and cons. Often, MATLAB-Simulink is used for rapid prototyping, system modeling and testing, specifically for the lower-level vehicle dynamics and powertrain control features. For the autonomous software, the Robotic Operating System (ROS) is more commonly used for integrating distributed software components so that they can easily share information through a publish and subscribe paradigm. Thorough testing and evaluation of such complex, distributed software, implemented on a physical vehicle poses significant challenges in terms of safety, time, and cost, especially when considering rare edge cases.

This paper presents development of a multi-scale material model for a 980 MPa grade transformation induced plasticity (TRIP) steel, subject to a two-step quenching and partitioning heat treatment (QP980), based on integrated computational materials engineering principles (ICME Model). The model combines micro-scale material properties defined by the crystal plasticity theory with the macro-scale mechanical properties, such as flow curves under different loading paths. For an initial microstructure the flow curves of each of the constituent phases (ferrite, austenite, martensite) are computed based on the crystal plasticity theory and the crystal orientation distribution function. Phase properties are then used as an input to a state variable model that computes macro-scale flow curves while accounting for hardening caused by austenite transformation into martensite under different straining paths.

This paper proposes and compares torque distribution management strategies for vehicle stability control (VSC) of vehicles with independently driven wheels. For each strategy, the following feedback control variables are considered turn by turn: 1) yaw rate 2) lateral acceleration 3) both yaw rate and lateral acceleration. Computer simulation studies are conducted on the effects of road friction conditions, feedback controller gains, and a driver emulating speed controller. The simulation results indicated that all VSC torque management strategies are generally very effective in tracking the reference yaw rate and lateral acceleration of the vehicle on both dry and slippery surface conditions. Under the VSC strategies employed and the test conditions considered, the sideslip angle of the vehicle remained very small and always below the desired or target values.

Traditional Electronic Stability Control (ESC) for automobiles is usually accomplished through the use of estimated vehicle dynamics from simplified models that rely on parameters such as cornering stiffness that can change with the vehicle state and time. This paper proposes a different method for electronic stability control of oversteer by predicting the degree of instability in a vehicle. The algorithm is solely based on measurable response characteristics including lateral acceleration, yaw rate, speed, and driver steering input. These signals are appropriately conditioned and evaluated with fuzzy logic to determine the degree of instability present. When the “degree of instability” passes a certain threshold, the appropriate control action is applied to the vehicle in the form of differential yaw braking. Using only the measured response of the vehicle alleviates the problem of degraded performance when vehicle parameters change.

The ‘roll center’ concept has existed in vehicle dynamics for decades. However, its application is not commonly well understood. This paper considers roll center concepts in the modeling of a planar (front view) twin-beam suspension. Two roll center models are developed and compared to a third model, developed from the Lagrangian method without reference to a roll center. In addition to discussion of the equations of motion, analysis includes simulation of a ‘cornering’ maneuver. The effects of tire vertical stiffness, jacking forces, and nonlinear kinematics are investigated. Conclusions are drawn regarding the usefulness and accuracy of the roll center modeling.

Despite the growing acceptance of driver education programs, there remains a class of unpredictable and dangerous vehicle situations for which very little training or education is offered. Included in this list is a condition called run-off-the-road (ROR) which occurs when the wheels of the vehicle leave the paved surface of the road and begin to travel on the lower friction surfaces of the shoulder or side of the road. Unsuccessful recovery from ROR contributes to an overwhelming percentage of motorized vehicle crash fatalities and injuries. Most present solutions involve roadway infrastructure management and driver assistance systems. While these solutions have contributed varying amounts of success to the ROR problem, they remain limited as they do not directly address the critical cause of ROR crashes which is driver performance errors.

Since 1989, ISO has published procedures for developing and testing public information symbols (ISO 9186), while the SAE standard for in-vehicle icon comprehension testing (SAE J2830) was first published in 2008. Neither testing method was designed to evaluate the comprehension of symbols in modern vehicles that offer digital instrument cluster interfaces that afford new levels of flexibility to further improve drivers’ understanding of symbols. Using a driving simulator equipped with an eye tracker, this study investigated drivers’ understanding of six automotive symbols presented on in-vehicle displays. Participants included 24 teens, 24 adults, and 24 senior drivers. Symbols were presented in a symbol-only, symbol + short text descriptions, and symbol + long text description conditions. Participants’ symbol comprehension, driving performance, reaction times, and eye glance times were measured.

Passenger comfort is a critical factor in user acceptance of autonomous vehicles (AVs). Despite existing methods for passenger comfort assessment, new approaches to assessing passenger comfort in AVs may be valuable to the automotive industry. In this paper, continuous pressing-based and discrete smartphone-based approaches for comfort assessment were designed and implemented in a user study. Participants used the two approaches to evaluate their comfort levels in an experimental study based on a high-fidelity autonomous driving simulator. Performances of the two approaches in assessing comfort levels were analyzed and compared. In general, the discrete approach showed better measurement repeatability and lower measurement bias than the continuous approach. The performance gap of the continuous approach could be reduced with proper post-processing measures. Discussions on the potential uses of the approaches were also raised.

This paper presents a methodology for designing a simple open-loop steering robot profile to simulate a double lane change maneuver for track testing of a heavy tractor/trailer combination vehicle. For track testing of vehicles in a lane change type of maneuver, a human driver is typically used with a desired path defined with visual cues such as traffic cones. Such tests have been shown to result in poor test repeatability due to natural variation in driver steering behavior. While a steering robot may be used to overcome this repeatability issue, such a robot typically implements open-loop maneuvers and cannot be guaranteed to cause the vehicle to accurately follow a pre-determined trajectory. This paper presents a method using offline simulation to design an open-loop steering maneuver resulting in a realistic approximation of a double lane change maneuver.

Tradespace analysis is used to define the characteristics of the solution space for a vehicle design problem enabling decision-makers (DMs) to evaluate the risk-benefit posture of a vehicle design program. The tradespace itself is defined by a set of functional objectives defined by vehicle simulations and evaluating the performance of individual design solutions that are modeled by a set of input variables. Of special interest are efficient design solutions because their perfomance is Pareto meaning that none of their functional objective values can be improved without decaying the value of another objective. The functional objectives are derived from a combination of simulations to determine vehicle performance metrics and direct calculations using vehicle characteristics. The vehicle characteristics represent vendor specifications of vehicle subsystems representing various technologies.

Modeling uncertainties pose a significant challenge in the development and deployment of model-based vehicle control systems. Most model- based automotive control systems require the use of a well estimated vehicle dynamics prediction model. The ability of first principles-based models to represent vehicle behavior becomes limited under complex scenarios due to underlying rigid physical assumptions. Additionally, the increasing complexity of these models to meet ever-increasing fidelity requirements presents challenges for obtaining analytical solutions as well as control design. Alternatively, deterministic data driven techniques including but not limited to deep neural networks, polynomial regression, Sparse Identification of Nonlinear Dynamics (SINDy) have been deployed for vehicle dynamics system identification and prediction.

Integrated modeling of vehicle, tire and terrain is a fundamental challenge to be addressed for off-road autonomous navigation. The complexities arise due to lack of tools and techniques to predict the continuously varying terrain and environmental conditions and the resultant non-linearities. The solution to this challenge can now be found in the plethora of data driven modeling and control techniques that have gained traction in the last decade. Data driven modeling and control techniques rely on the system’s repeated interaction with the environment to generate a lot of data and then use a function approximator to fit a model for the physical system with the data. Getting good quality and quantity of data may involve extensive experimentation with the physical system impacting developer’s resource. The process is computationally expensive, and the overhead time required is high.

This paper describes a computational approach to investigating spoke vibrations in cast polyurethane spoked wheels during high-speed rolling. It focuses on four aspects: 1) Creating a two-dimensional finite element model of a cast polyurethane rolling wheel which is in contact with a rigid plane to observe the spoke vibrations. 2) Investigating the effect of rolling speed on the observed spoke vibrations. 3) Investigating the effect of spoke thickness on spoke vibration frequencies. 4) Creating a three-dimensional spoke model to investigate spoke vibrations which exhibit both symmetric and anti-symmetric out-of-plane modes.

The strain-induced diffusionless shear transformation of retained austenite to martensite during straining of transformation induced plasticity (TRIP) assisted steels increases strain hardening and delays necking and fracture leading to exceptional ductility and strength, which are attractive for automotive applications. A novel technique that provides the retained austenite volume fraction variation with strain with improved precision is presented. Digital images of the gauge section of tensile specimens were first recorded up to selected plastic strains with a stereo digital image correlation (DIC) system. The austenite volume fraction was measured by synchrotron X-ray diffraction from small squares cut from the gage section. Strain fields in the squares were then computed by localizing the strain measurement to the corresponding region of a given square during DIC post-processing of the images recorded during tensile testing.