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This research focused on developing a methodology for a vehicle dynamics model of a passenger vehicle outfitted with an aftermarket Automated Driving System software package using only literature and track based results. This package consisted of Autoware.AI (Autoware ®) operating on Robot Operating System 1 (ROS™) with C++ and Python ®. Initial focus was understanding the basics of ROS and how to implement test scenarios in Python to characterize the control systems and dynamics of the vehicle. As understanding of the system continued to develop, test scenarios were adapted to better fit system characterization goals with identification of system configuration limits. Trends from on-track testing were identified and paired with first-order linear systems to simulate physical vehicle responses to given command inputs. Sub-models were developed and simulated in MATLAB ® with command inputs from on-track testing.

A two-degree-of-freedom Roll Simulator has been developed to study the occupant kinematics of Recreational Off-Highway Vehicles (ROVs). To validate the roll simulator, test data was collected on a population of ROVs on the market today. J-turn maneuvers were performed to find the minimum energy limits required to tip up the vehicles. Two sets of tests were performed: for the first set, 10 vehicles were tested, where the motion was limited by safety outriggers to 10-15 degrees of roll; and for the second set, three of these vehicles were re-tested with outriggers removed and the vehicle motion allowed to reach 90 degrees of roll. These quarter-turn rollover tests were performed autonomously using an Automatic Steering Controller (ASC) and a Brake and Throttle Robot (BTR). Lateral and longitudinal accelerations as well as roll rate and roll angle were recorded for all tests.

Validation was performed on an existing heavy truck vehicle dynamics computer model with roll stability control (RSC). The first stage in this validation was to compare the response of the simulated tractor to that of the experimental tractor. By looking at the steady-state gains of the tractor, adjustments were made to the model to more closely match the experimental results. These adjustments included suspension and steering compliances, as well as auxiliary roll moment modifications. Once the validation of the truck tractor was completed for the current configuration, the existing 53-foot box trailer model was added to the vehicle model. The next stage in experimental validation for the current tractor-trailer model was to incorporate suspension compliances and modify the auxiliary roll stiffness to more closely model the experimental response of the vehicle. The final validation stage was to implement some minor modifications to the existing RSC model.

This paper presents an evaluation of a vehicle dynamics model intended to be used for the National Advanced Driving Simulator (NADS). Dynamic validation for high performance simulation is not merely a comparison between experimental and simulation plots. It involves strong insight of vehicle's subsystems mechanics, limitations of the mathematical formulations, and experimental predictions. Lateral, longitudinal, and ride dynamics are evaluated using field test data, and analytical diagnostics. The evaluation includes linear and non-linear range of vehicle dynamics response.

This paper documents the vehicle response of a tractor-semitrailer following a sudden air loss (Blowout) in a steer axle tire while traveling at highway speeds. The study seeks to compare full-scale test data to predicted response from detailed heavy truck computer vehicle dynamics simulation models. Full-scale testing of a tractor-semitrailer experiencing a sudden failure of a steer axle tire was conducted. Vehicle handling parameters were recorded by on-board computers leading up to and immediately following the sudden air loss. Inertial parameters (roll, yaw, pitch, and accelerations) were measured and recorded for the tractor and semitrailer, along with lateral and longitudinal speeds. Steering wheel angle was also recorded. These data are presented and also compared to the results of computer simulation models. The first simulation model, SImulation MOdel Non-linear (SIMON), is a vehicle dynamic simulation model within the Human Vehicle Environment (HVE) software environment.

The study reports on the results of frontal collisions with 16 cadavers and two Hybrid III dummies with impact velocities of 48 km/h to 55 km/h and a mean sled deceleration of 17 g; mounted to the sled was the front part of a passenger compartment. The cadavers were restrained in the driver position with either 3-point belts (6% and 16 % elongation) and/or air bag with knee bolster and one case was unrestrained. In most cases, both a 12-accelerometer thoracic array and 2 chest bands were employed. In some cases the acceleration at Th6 was measured. The cadavers were autopsied and the injury severity was rated according to the AIS 90. Maximum resultant Th1, Th6, and Th12 accelerations or sternum accelerations in x-direction ranged from 35g to 78g when using 3-point belts and produced injuries ranging from a few rib fractures to unstable chest wall (flail chest).

The Test Device for Human Occupant Restraint (THOR) is an advanced crash test dummy designed for frontal impact. Originally released in a 50th percentile male version (THOR-50M), a female 5th version (THOR-05F) was prototyped in 2017 (Wang et al., 2017) and compared with biofidelity sub-system tests (Wang et al., 2018). The same year, Trosseille et al. (2018) published response corridors using nine 5th percentile female Post Mortem Human Subjects (PMHS) tested in three sled configurations, including both submarining and non-submarining cases. The goal of this paper is to provide an initial evaluation of the THOR-05F biofidelity in a full-scale sled test, by comparing its response with the PMHS corridors published by Trosseille et al. (2018). Significant similarities between PMHS and THOR-05F were observed: as in Trosseille et al. (2018), the THOR-05F did not submarine in configuration 1, and submarined in configurations 2 and 3.

The main objective of this paper is to simulate the springback using combined kinematic/isotropic hardening model. Material parameters in the hardening model are identified by an inverse method. Three-point bending test is conducted on 6022-T4 aluminum sheet. Punch stroke, punch load, bending strain and bending angle are measured directly during the tests. Bending moments are then computed from these measured data. Bending moments are also calculated based on a constitutive model. Material parameters are identified by minimizing the normalized error between two bending moments. Micro genetic algorithm is used in the optimization procedure. Stress-strain curves is generated with the material parameters found in this way, which can be used with other plastic models. ABAQUS/Standard 5.8, which has the combined isotropic/kinematic hardening model, is used to simulate draw-bend of 6022-T4 series aluminum sheet. Absolute springback angles are predicted very accurately.

In the last twelve years, the overwhelming effectiveness of restraining children in the United States, Canada and Europe has been proven in reducing death and injury in automobile accidents. Despite the proven benefits of restraining children, one type of injury has not been prevented. This paper is an analysis of stretch injuries to the spinal cord in the upper thoracic or cervical spine. This paper discusses, in general, spinal cord injuries from a biomechanical point of view. The relationship between various loading conditions and the resulting types of spinal cord injuries is discussed. This paper also examines seven real world automobile accidents. Information for each case includes: vehicles involved, type of roadway, crash Delta-V, occupant direction of motion, restraint type, injuries to occupants, and anthropometry of child with spinal cord injury. A description and location of each spinal cord injury that occurred at the time of the accident is discussed.

The soil response to traffic loads as affected by tire inflation pressure, track width and drawbar pull was measured. The change in soil physical properties caused by a John Deere 8870 tractor at two tire pressure settings and CATERPILLAR Challenger 65 and 75 tractors with 64 and 89 cm wide belt tracks, were measured at two load levels; no draft (tractor only) and tractor pulling a 12.5 m field cultivator. The Ohio State University Soil Physical Properties Measurement System was used to measure cone penetration resistance, air permeability, air-filled porosity, and bulk density. The results show the dual overinflated tires caused the greatest change, followed by the CATERPILLAR Challenger 65 track, then the CATERPILLAR Challenger 75 track, and finally dual correctly inflated tires caused the least effect on soil physical properties. These results were consistent at each depth. The effects of the two draft levels give the same ranking of the tractive units.

This paper summarizes the rationale used to specify the geometric, inertial and impact response requirements for a small adult female dummy and a large adult male dummy with impact biofidelity and measurement capacity comparable to the Hybrid III dummy, the most advanced midsize adult male dummy. Body segment lengths and weights for these two dummies were based on the latest anthropometry studies for the extremes of the U.S.A. adult population. Other characteristic body segment dimensions were calculated from geometric and mass scaling relationships that assured that each body segment had the same mass density as the corresponding body segment of the Hybrid III dummy. The biomechanical impact response requirements for the head, neck, chest and knee of the Hybrid III dummy were scaled to give corresponding biomechanical impact response requirements for each dummy.

In 2007, a software model of a Roll Stability Control (RSC) system was developed based on test data for a Volvo tractor at NHTSA's Vehicle Research and Test Center (VRTC). This model was designed to simulate the RSC performance of a commercially available Electronic Stability Control (ESC) system. The RSC model was developed in Simulink and integrated with the available braking model (TruckSim) for the truck. The Simulink models were run in parallel with the vehicle dynamics model of a truck in TruckSim. The complete vehicle model including the RSC system model is used to simulate the behavior of the actual truck and determine the capability of the RSC system in preventing rollovers under different conditions. Several simulations were performed to study the behavior of the model developed and to compare its performance with that of an actual test vehicle equipped with RSC.

The objective of this paper is to develop a self-tuning optimal control of an active suspension. An active suspension composed of an identifier and a controller is proposed in this paper. Although control strategies on active (or semi-active) suspensions have been investigated during the past few decades, some problems are not well understood yet. One of them arising from the ride control of an active suspension is that when the weight and the moments of inertia of the sprung mass are varied, the feedback gains of the controller should vary with the variation of parameters accordingly. Therefore, the identifier is proposed before the controller is designed. In the real situations, the parameter variation may occur when loadings on vehicles vary - either from passengers or payloads, especially, in the case of loading on a truck. An identification structure using parallel model reference adaptive system (MRAS) is proposed to identify the true parameters.

NHTSA has developed two different moving deformable barrier-to-vehicle test procedures to assess the vehicle and occupant response in narrow overlap motor vehicle crashes. An assessment of test repeatability is one of the requirements necessary to accept the test procedure as viable. Previous methodologies, coefficient of variation (CV) and similarity analysis were developed to assess the repeatability of vehicle and occupant response in motor vehicle crash tests for full frontal and 40% overlap tests procedures. These will be used for this assessment. Three repeat tests were performed in each test procedure, with all other factors held constant: vehicles of the same make, model, and model year; moving deformable barriers of the same mass, velocity, and barrier face properties; and the same occupant - a THOR 50th percentile adult male in the driver's seat.

National Highway Traffic Safety Administration (NHTSA) has developed an Oblique Offset Moving Deformable Barrier test procedure. For this test procedure to be viable, it must be repeatable within each test facility and it must be reproducible between test facilities. Three tests of a single vehicle model were conducted at three different test facilities, a total of nine tests, to evaluate repeatability and reproducibility. The responses of the vehicle and its occupants were evaluated using three different methodologies to quantify the repeatability within a single test facility and reproducibility among the three test facilities. The first two methods evaluated the time-history of the measured data and the third method only used the peak values. Overall, this test series demonstrated repeatable and reproducible results for the OMDB, vehicle, and driver occupant in the oblique offset test procedure. The method using only the peak values indicates more variability.

Very little experimental research has focused on the kinematics, dynamics, and injuries of rear-seated occupants. This study seeks to develop a baseline response for rear-seated post mortem human surrogates (PMHS) in frontal crashes. Three PMHS sled tests were performed in a sled buck designed to represent the interior rear-seat compartment of a contemporary midsized sedan. All occupants were positioned in the right-rear passenger seat and subjected to simulated frontal crashes with an impact speed of 48 km/h. The subjects were restrained by a standard, rear seat, 3-point seat belt. The response of each subject was evaluated in terms of whole-body kinematics, dynamics, and injury. All the PMHS experienced excessive forward translation of the pelvis resulting in a backward rotation of the torso at the time of maximum forward excursion.

This paper presents National Highway Traffic Safety Administration’s 2017 and 2018 test track research results with heavy vehicles equipped with forward collision warning and automatic emergency braking systems. Newly developed objective test procedures were used to perform and collect performance data with three single-unit trucks equipped with the crash avoidance systems. The results of this research show that the test procedures are applicable to many heavy vehicles and indicate that performance improvements in heavy vehicles equipped with these safety systems can be objectively measured.

In September 2009 the National Highway Traffic Safety Administration (NHTSA) published a report that investigated the incidence of fatalities to belted non-ejected occupants in frontal crashes involving late-model vehicles. The report concluded that after exceedingly severe crashes, the largest number of fatalities occurred in crashes involving poor structural engagement between the vehicle and its collision partner, present in crashes characterized as corner impacts, oblique crashes, impacts with narrow objects, and heavy vehicle underrides. By contrast, few if any of these 122 fatal crashes were full-frontal or offset-frontal impacts with good structural engagement, excepting crashes that were of extreme severity or the occupants that were exceptionally vulnerable. The intent of this research program is to develop a test protocol that replicates real-world injury potential in small overlap impacts (SOI) and oblique offset impacts (Oblique) in motor vehicle crashes.

When developing a new engine control strategy, some of the important issues are cost, resource minimization, and quality improvement. This paper outlines how a model based approach was used to develop an engine control strategy for an Extended Range Electric Vehicle (EREV). The outlined approach allowed the development team to minimize the required number of experiments and to complete much of the control development and calibration before implementing the control strategy in the vehicle. It will be shown how models of different fidelity, from map-based models, to mean value models, to 1-D gas dynamics models were generated and used to develop the engine control system. The application of real time capable models for Hardware-in-the-Loop testing will also be shown.

This paper is a printed listing of public domain vehicle center-of-gravity (CG) location measurements conducted on behalf of the National Highway Traffic Safety Administration (NHTSA). This paper is an extension of the 1999 SAE paper titled “Measured Vehicle Inertia Parameters - NHTSA's Data Through November 1998” ( 1 ). The previous paper contained data for 496 vehicles. This paper includes data for 528 additional vehicles tested as part of NHTSA's New Car Assessment Program (NCAP) for year 2001 through year 2008 ( 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 ). The previous data included center-of-gravity location and mass moments-of-inertia for nearly all of the entries. The NCAP involves only the CG location measurements; so the vehicles listed in this paper do not have inertia data. This paper provides a brief discussion of the entries provided in the tabular listings as well as the accuracy of CG height measurements.