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This research was to model a 6×4 tractor-trailer rig using TruckSim and simulate severe braking maneuvers with hardware in the loop and software in the loop simulations. For the hardware in the loop simulation (HIL), the tractor model was integrated with a 4s4m anti-lock braking system (ABS) and straight line braking tests were conducted. In developing the model, over 100 vehicle parameters were acquired from a real production tractor and entered into TruckSim. For the HIL simulation, the hardware consisted of a 4s4m ABS braking system with six brake chambers, four modulators, a treadle and an electronic control unit (ECU). A dSPACE simulator was used as the “interface” between the TruckSim computer model and the hardware.

This study investigated the jackknife stability of Class VIII double tractor-trailer combination vehicles that had mixed braking configurations between the tractor and trailers and dolly (e.g. ECBS disc brakes on the tractor and pneumatic drum brakes on the trailers and dolly). Brake-in-turn maneuvers were performed with varying vehicle loads and surface conditions. Conditions with ABS ON for the entire vehicle (and select-high control algorithm on the trailers and dolly) found that instabilities (i.e. lane excursions and/or jackknifes) were exhibited under conditions when the surface friction coefficient was 0.3. It was demonstrated that these instabilities could be avoided while utilizing a select-low control algorithm on the trailers and dolly. Simulation results with the ABS OFF for the tractor showed that a tractor equipped with disc brakes had greater jackknife stability.

An existing tire model was investigated for additional normal load-dependent characteristics to improve the large truck simulations developed by the National Highway Traffic Safety Administration (NHTSA) for the National Advanced Driving Simulator (NADS). Of the existing tire model coefficients, plysteer, lateral friction decay, aligning torque stiffness and normalized longitudinal stiffness were investigated. The findings of the investigation led to improvements in the tire model. The improved model was then applied to TruckSim to compare with the TruckSim table lookup tire model and test data. Additionally, speed-dependent properties for the NADS tire model were investigated (using data from a light truck tire).

The widely used Extended Kalman Filter (EKF) is applied to a planar model of an articulated vehicle to predict jackknifing events. The states of hitch angle and hitch angle rate are estimated using a vehicle model and the available or “measured” states of lateral acceleration and yaw rate from the prime mover. Tuning, performance, and compromises for the EKF in this application are discussed. This application of the EKF is effective in predicting the onset of instability for an articulated vehicle under low-μ and low-load conditions. These conditions have been shown to be most likely to render heavy articulated vehicles vulnerable to jackknife instability. Options for model refinements are also presented.

Automating road vehicle control can increase the range and reliability of dynamic testing. Some tests, for instance, specify precise steering inputs which human test drivers are only able to approximate, adding uncertainty to the test results. An automated steering system has been developed which is capable of removing these limitations. This system enables any production car or light truck to follow a user-defined path, using global position feedback, or to perform specific steering sequences with excellent repeatability. The system adapts itself to a given vehicle s handling characteristics, and it can be installed and uninstalled quickly without damage or permanent modification to the vehicle.

Dynamic Brake Support (DBS) is a safety system that has been applied to various passenger cars and has been shown to be effective at assisting drivers in avoiding or mitigating rear-end collisions. The objective of a DBS system is to ensure that the brake system is applied quickly and at sufficient pressure when a driver responds to a collision imminent situation. DBS is capable of improving braking response due to a passenger car driver's tendency to utilize multi-stage braking. Interest is developing in using DBS on commercial vehicles. In order to evaluate the possible improvement in safety that could be realized through the use of DBS, driver braking behavior must first be analyzed to confirm that improvement is possible and necessary. To determine if this is the case, a study of the response of truck drivers' braking behavior in collision imminent situations is conducted. This paper presents the method of evaluation and results.

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.

This paper discusses the derivation and validation of planar models of articulated vehicles that were developed to analyze jackknife stability on low-μ surfaces. The equations of motion are rigorously derived using Lagrange's method, then linearized for use in state-space models. The models are verified using TruckSim™, a popular nonlinear solid body vehicle dynamics modeling package. The TruckSim™ models were previously verified using extensive on-vehicle experimental data [1, 2]. A three-axle articulated model is expanded to contain five axles to avoid lumping the parameters for the drive and semitrailer tandems. Compromises inherent in using the linearized models are discussed and evaluated. Finally, a nonlinear tire cornering force model is coupled with the 5-axle model, and its ability to simulate a jackknife event is demonstrated. The model is shown to be valid over a wide range of inputs, up to and including loss of control, on low-and-medium-μ surfaces.

The (Vehicle Inertia Parameter Evaluation Rig) VIPER II is a full vehicle mass and inertia parameter measurement machine. The VIPER II expands upon the capabilities of its predecessor and is capable of measuring vehicles with a mass of up to 45,360 kg (100,000 lb), an increase in capacity of 18,100 kg (40,000 lb). The VIPER II also exceeds its predecessor in both the length and width of vehicles it can measure. The VIPER II's maximum vehicle width is 381 cm (150 in) an increase of 76 cm (30 in) and maximum distance from the vehicle CG to the outer most axle is 648 cm (255 in) an additional 152 cm (60 in) The VIPER II is capable of performing measurements including vehicle CG height, pitch, roll, and yaw moments of inertia and the roll/yaw cross product of inertia. While being able to measure both heavier and larger vehicles, the VIPER II is designed to maintain a maximum error of 3% for all inertia measurements and 1% for CG height.

This paper describes the design and implementation of the SEA, Ltd. Brake and Throttle Robot (BTR). Presented are the criteria used in the initial design and the development and testing of the BTR, as well as some test results achieved with the device. The BTR is designed for use in automobiles and light trucks. It is based on a servomotor driven ballscrew, which in turn operates either the brake or accelerator. It is easily portable from one vehicle to another and compact enough to fit even smaller vehicles. The BTR is light enough so as to have minimal effect on the measurement of vehicle parameters. The BTR is designed for use as a stand-alone unit or as part of a larger control system such as the Automated Test Driver (ATD) yet allows for the use of a test driver for safety, as well as test selection, initiation, and monitoring. Installation in a vehicle will be described, as well as electronic components that support the BTR.

This paper describes the development and implementation of an accurate and repeatable path-following algorithm focused ultimately on vehicle testing. A compact, lightweight, and portable hardware package allows easy installation and negligible impact on the vehicle mass, even for the smallest automobile. Innovative features include the ability to generate a smooth, evenly-spaced path vector regardless the quality of the given path. The algorithm proposed in this work is suitable for testing in a controlled environment. The system was evaluated in simulation and performed well in road tests at low speeds.

The Buckeye Bullet set domestic as well as international speed records for electric vehicles in 2004. The next generation of land speed vehicle from Ohio State called the Buckeye Bullet 2 (henceforth the BB2) will again challenge and hopefully achieve several new speed records. The Buckeye Bullet suspension worked relatively well but was found to not be quite optimal for the vehicle. The purpose of the work outlined here was to develop a new front and rear suspension for the BB2 that would be an improvement over the suspension of the original Bullet. Previous to the start of this work part of the suspension had already been designed in the form of an upright/control arm setup. This paper works on taking the suspension to completion from this point of design. Work done includes developing the final design, determining suspension parameters, building an ADAMS model, and testing the ADAMS model.

Heavy trucks are involved in many accidents every year and Electronic Stability Control (ESC) is viewed as a means to help mitigate this problem. ESC systems are designed to reduce the incidence of single vehicle loss of control, which might lead to rollover or jackknife. As the working details and control strategies of commercially available ESC systems are proprietary, a generic model of an ESC system that mimics the basic logical functionality of commercial systems was developed. This paper deals with the study of the working of a commercial ESC system equipped on an actual tractor trailer vehicle. The particular ESC system found on the test vehicle contained both roll stability control (RSC) and yaw stability control (YSC) features. This work focused on the development of a reliable RSC software model, and the integration of it into a full vehicle simulation (TruckSim) of a heavy truck.

This paper covers research conducted at the National Highway Traffic Safety Administration's Vehicle Research and Test Center (VRTC) examining the performance of semitrailer anti-lock braking systems (ABS). For this study, a vehicle dynamics model was constructed for the combination of a 4×2 tractor and a 48-foot trailer, using TruckSim. ABS models for the tractor and trailer, as well as brake dynamics and surface friction models, were created in Simulink so that the effect of varying ABS controller parameters and configurations on semitrailer braking performance could be studied under extreme braking maneuvers. The longitudinal and lateral performances of this tractor-trailer model were examined for a variety of different trailer ABS controller models, including the 2s1m, 4s2m, and 4s4m configurations. Also, alternative controllers of the same configuration were studied by varying the parameters of the 2s1m controller.

This paper explores the effects of changes in vehicle loading on vehicle inertial properties (center-of-gravity location and moments of inertia values) and handling responses. The motivation for the work is to gain better understanding of the importance vehicle loading has in regard to vehicle safety. A computer simulation is used to predict the understeer changes for three different vehicles under three loading conditions. An extension of this loading study includes the effects of moving occupants, which are modeled for inclusion in the simulation. A two-mass model for occupants/cargo, with lateral translational and rotational degrees of freedom, has been developed and is included in the full vehicle model. Using the simulation, the effects that moving occupants have on vehicle dynamics are studied.

This paper introduces a new series of empirical mathematical models developed to characterize brake torque generation of pneumatically actuated Class-8 vehicle brakes. The brake torque models, presented as functions of brake chamber pressure and application speed, accurately simulate steer axle, drive axle, and trailer tandem brakes, as well as air disc brakes (ADB). The contemporary data that support this research were collected using an industry standard inertia-type brake dynamometer, routinely used for verification of FMVSS 121 commercial vehicle brake standards.

A determination of the vehicle states and tire forces is critical to the stability of vehicle dynamic behavior and to designing automotive control systems. Researchers have studied estimation methods for the vehicle state vectors and tire forces. However, the accuracy of the estimation methods is closely related to the employed model. In this paper, tire lag dynamics is introduced in the model. Also application of estimation methods in order to improve the model accuracy is presented. The model is developed by using the global searching algorithm, a Genetic Algorithm, so that the model can be used in the nonlinear range. The extended Kalman filter and sliding mode observer theory are applied to estimate the vehicle state vectors and tire forces. The obtained results are compared with measurements and the outputs from the ADAMS full vehicle model. [15]

This paper describes the development of a more accurate shock absorber model in order to obtain better vehicle simulation results. Previous shock models used a single spline to represent shock force versus shock velocity curves. These models produced errors in vehicle simulations because the damper characteristics are better represented by the application of a hysteresis loop in the model. Thus, a new damper model that includes a hysteresis loop is developed using Matlab Simulink. The damper characteristics for the new model were extracted from measurements made on a shock dynamometer. The new model better represents experimental shock data. The new shock model is incorporated into two different lumped-parameter vehicle models: one is a three degree-of-freedom vehicle handling model and the other is a seven degree-of-freedom vehicle ride model. The new damper model is compared with the previous model for different shock mileages (different degrees of wear).

Kinetic Pty Ltd and Tenneco Automotive have developed a passive suspension system called a Kinetic system. The motivation for the design of the system is discussed, and the function of the system is explained. The system improves handling, stability, and ride by passively decoupling roll stiffness from articulation stiffness and roll damping from bounce damping. Improved stability is evaluated by conducting NHTSA's Roll Rate Feedback Fishhook tests on a small SUV equipped with the Kinetic system. Results of the testing are presented, and benefits to rollover are discussed.

This paper presents the implementation and performance of an electric all-wheel drive system on a series-parallel, through-the-road hybrid electric vehicle. Conventional methods of all-wheel drive do not provide a suitable solution for this type of vehicle as the powertrain lacks a mechanical link between the front and rear axles. Moreover, this unique architecture allows the vehicle to be propelled solely by the front, or the rear, wheels during typical operation. Thus, the algorithm presented here manages wheel slip by either the front, or rear wheels when engaging to provide all-wheel drive capability. necessary testing validates the robustness of this Extensive system.