1. Automotive Research in Vehicle Dynamics Laboratory
Introduction
Active Safety
Hybrid and Fuel Cell Vehicles
Conclusions
Huei Peng
Department of Mechanical Engineering
The University of Michigan

2. Vehicle Dynamics Laboratory
Professor Huei Peng
Currently 12 Ph.D. students, 1 M.S. student and 5 visiting scholars
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3. Major Issues of Ground Vehicles
Sustainability
Energy
Environment
Quality/Functionality
Safety
Workforce
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4. Outline Introduction Active Safety Hybrid and Fuel Cell Vehicles
Conclusions
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5. Active Safety Research
Chassis Control
ESC, road departure warning, CW/CA, Rollover prediction and prevention, Active Suspension, Integrated Chassis Control
Worst-case evaluation methodology
Driver model development through naturalistic driving database
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6. Active Safety Technologies
Rollover generation, prediction
and prevention
ACC effect on
Traffic flow
5.5 km, 2 lanes
Performance evaluation of VDC
Driver model development
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7. Worst-Case Evaluation Method
Human driver Model
Standard test matrix
Worst-case test matrix
DAS
design
Open-loop Simulations
Worst-case Simulations
HIL Simulations
Field tests
Design
Iteration
Doi, Nagiri and Amano, Toyota 1998
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8. Mathematical Formulation
Given a nonlinear vehicle dynamic model , where the disturbance input includes front wheel steering angle and brake pedal command The control input includes the ABS pressure command , CDC damping and VDC pressure command The control algorithms of the ABS and VDC modules are assumed to be known. Find, within saturation bound and , the signal which maximizes a cost function
. The matrix Q is selected such that the vehicle side slip or roll angle is maximized.
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9. Worst-case Library
A rollover-worst-case database was created. Many result in rollovers, the rest at least single wheel lift-off.
Useful for VDC evaluation and re-design.
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10. Vehicle or ESC Performance Evaluation
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11. Rollover Accident due to an Initial Sideswipe Collision
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12. Rollover Accident Simulation & Avoidance by PISC
Without Control
With PISC Control
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13. Rollover Accident at an Intersection
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14. Accident Reconstruction & Control Comparison
Red sedan: bullet vehicle
Blue sedan: target vehicle without post-impact control
Yellow sedan: target vehicle with post-impact control
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15. Comparison of Trajectories
* 1 sec after impact
 3 sec after impact
3 lane width
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16. Vehicle Motion Databases
SAVME
Urban street
Large human driver population but shorter horizon (<15 seconds)
ICC FOT
Highway + local roads (naturalistic use)
Relatively longer cases (<200 seconds)
ACAS
RDCW
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17. SAVME data collection & archiving
System for Assessment of the Vehicle Motion Environment
30,561 vehicles, Plymouth road, Ann Arbor, MI, USA
Digital video cameras
100ft
200 ft
600 ft
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18. ICC FOT database 108 drivers. Mostly highway In car instrumentations
Width 4.4m
Host Vehicle
Side beam (32m)
Main beam(133m)
108 drivers.
Mostly highway
In car instrumentations
114,000 total miles (68,000 miles manual)
Intelligent Cruise Control Field Operational Test
Observation of intelligent cruise control system operatability in naturalistic use
Equipped with infra-red laser sensors of up to 133m range
108 drivers participated for 2 ~ 5 weeks each
Data without cruise control/adaptive cruise control extracted and used
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19. ACAS FOT Database
Total traveled distance: 137,000 miles, 1,500 miles per driver.
Database: 164 GB in volume; contains approx. 400 engineering variables sampled at 10 Hz, as well as synchronized road forward-view video clips.
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20. Road Departure Crash Warning System Database
11 test vehicles
Nissan Altima 2003
78 FOT drivers
Evenly by gender
Three age groups
82,773 miles of driving
2,487 hours
Over 400 signals captured at 10 Hz or faster
204 GB numerical data
135 GB video data
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21. Outline Introduction Active Safety Hybrid and Fuel Cell Vehicles
Conclusions
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22. Hybrid Vehicles Studied
FCHV
DCX Natrium (2005)
HHV
Super-HMMWV (2006)
Super-HMMWV (2007)
FMTV (2002)
HEV
International Truck
(2001)
Eaton/Fed Ex
(2004)
Super-HMMWV (2006)
FTTS (2000)
Series
Parallel
Split
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23. Key Problems in Hybrid Vehicle Design
Configuration selection and model generation
Component sizing
Control
DP/SDP algorithms as the assessment tool/benchmark
SDP/other algorithms for implementation
Vehicle
Model
Fuel consumption, Distance
Input state
Output state
Power demand
Power error
Throttle
Gear shift
AFM Mode
Power Split
EVT
Vehicle
Engine
M/G2
M/G1
Battery
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24. Possible Design Process
Automatically-Generated Dynamic Models
Selection of the powertrain configuration
Selection of the mechanical parameters
Selection of the powertrain component sizes
Model Based DP Control
Theoretical best performance (non-causal)
iteration
Model Based SDP or ECMS Control
Implementable control strategies
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25. Summary
The main research objectives of the Vehicle Dynamics Laboratory at the Michigan Ann Arbor are to enhance the safety/energy/environment performance of ground vehicle—through working with and education top graduate students.
Environment
Education
Energy
Safety
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