Veröffentlichungen des Fachgebiet Fahrzeugtechnik

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Beliautsou, Viktar; Beliautsou, Aleksandra
Development of torque vectoring controller tuned with neural networks. - In: Advances in dynamics of vehicles on roads and tracks II, (2022), S. 1175-1182

The paper introduces an adaptive Torque Vectoring (TV) controller for all-wheel-drive electric vehicles. The main focus of this study lies in tuning procedures of controller gains in accordance with the manoeuvre conditions. For this purpose, a pre-trained neural network predicts the vehicle behaviour and adjusts the PID gains of the TV controller. The proposed method extends the applicability of the TV system and increases its efficiency as compared to the non-adaptive baseline control methods.



Beliautsou, Viktar; Alfonso, Jesus; Giltay, Joris; Büchner, Florian; Shyrokau, Barys; Castellanos, José A.; Ivanov, Valentin
Validation of integrated EV chassis controller using a geographically fistributed X-in-the-loop network. - In: IEEE Xplore digital library, ISSN 2473-2001, (2022), insges. 7 S.

This paper presents the validation of an integrated chassis controller that unites three groups of actuators for the electric vehicle (EV) with independent in-wheel electric motors (IWMs) for each wheel. Controlled actuators are the IWMs, the active suspension, and the braking system. The models of test benches and the designed architecture of the X-in-the-loop network are presented. The proposed design approach allows testing the developed controller on a vehicle model in real-time and on hardware components.



https://doi.org/10.1109/VPPC55846.2022.10003267
Ivanov, Valentin; Beliautsou, Viktar; Schreiber, Viktor; Heydrich, Marius; Gramstat, Elizaveta; Gramstat, Sebastian
Brake blending design using distributed and shared X-in-the-loop test environment. - In: IEEE Xplore digital library, ISSN 2473-2001, (2022), insges. 6 S.

Brake blending design is a complex task in the development of electric vehicles (EV) and requires coordinated control on electric powertrain and friction brake system. The presented study discusses the architecture, control strategy, and functional validation of the brake blending as applied to an all-wheel drive EV equipped with four in-wheel motors (IWMs) and the decoupled electro-hydraulic brake system. The main focus is on the use of distributed and shared X-in-the-loop (XIL) test environment as a relevant development methodology enabling a wide spectrum of validation procedures. The paper introduces XIL-based experiments, where the brake blending operation has been evaluated for several test scenarios as the service braking and the Worldwide harmonized Light Duty Test Cycle (WLTC).



https://doi.org/10.1109/VPPC55846.2022.10003445
Armengaud, Eric; Brandstätter, Bernhard; Biček, Matej; Buh, Joze; Sorniotti, Aldo; Hartavi, Ahu Ece; Schernus, Christof; Geury, Thomas; Arapoglou, Stella; Heydrich, Marius; Ivanov, Valentin
Towards brand-independent architectures, components and systems for next generation electrified vehicles optimised for the infrastructure. - In: SAE international journal of advances and current practices in mobility, ISSN 2641-9645, Bd. 4 (2022), 5, S. 1906-1922

E-mobility is a game changer for the automotive domain. It promises significant reduction in terms of complexity and in terms of local emissions. With falling prices and recent technological advances, the second generation of electric vehicles (EVs) that is now in production makes electromobility an affordable and viable option for more and more transport mission (people, freight). Still, major challenges for large scale deployment remain. They include higher maturity with respect to performance (e.g., range, interaction with the grid), development efficiency (e.g., time-to-market), or production costs. Additionally, an important market transformation currently occurs with the co-development of automated driving functions, connectivity, mobility-as-a-service. New opportunities arise to customize road transportation systems toward application-driven, user-centric smart mobility solutions. The target of this paper is to provide a consolidated view of several related European research programs having the common goal to develop innovative, brand-independent architectures, components and systems for next generation electrified vehicles optimised for the infrastructure under the umbrella of the E-VOLVE cluster. This regroups the projects ACHILES, SYS2WHEEL, EVC1000 introducing innovative in-wheel motors for different vehicle segments, CEVOLVER introducing optimized concepts for energy and thermal management, and Multi-Moby focusing on the development of safe, efficient and affordable urban electric vehicles.



https://doi.org/10.4271/2022-01-0918
Žuraulis, Vidas; Kojis, Paulius; Marotta, Raffaele; Šukevičius, Šarōunas; Šabanovič, Eldar; Ivanov, Valentin; Skrickij, Viktor
Electric vehicle corner architecture: driving comfort evaluation using objective metrics. - In: SAE technical papers, ISSN 2688-3627, (2022), 2022-01-0921, S. 1-7

The presented paper is dedicated to the driving comfort evaluation in the case of the electric vehicle architecture with four independent wheel corners equipped with in-wheel motors (IWMs). The analysis of recent design trends for electrified road vehicles indicates that a higher degree of integration between powertrain and chassis and the shift towards a corner-based architecture promises improved energy efficiency and safety performances. However, an in-wheel-mounted electric motor noticeable increases unsprung vehicle mass, leading to some undesirable impact on chassis loads and driving comfort. As a countermeasure, a possible solution lies in integrated active corner systems, which are not limited by traditional active suspension, steer-by-wire and brake-by-wire actuators. However, it can also include actuators influencing the wheel positioning through the active camber and toe angle control. Such a corner configuration is discussed in the paper as applied to a sport utility vehicle (SUV). A new chassis design was developed and tested for this reference vehicle using multi-body dynamics simulation. The integrated operation of the active suspension and the wheel positioning control has been analyzed in this study with different driving scenarios and objective metrics for driving comfort evaluation. Additionally, handling and stability tests have also been performed to confirm that new systems do not deteriorate driving safety. The obtained results contribute to a comprehensive assessment of IWM-based architecture, formulated from a driving comfort perspective that is helpful for further designs of electric vehicle corners.



https://doi.org/10.4271/2022-01-0921
Marotta, Raffaele; Strano, Salvatore; Terzo, Mario; Tordela, Ciro; Ivanov, Valentin
Active control of Camber and Toe angles to improve vehicle ride comfort. - In: SAE technical papers, ISSN 2688-3627, (2022), 2022-01-0920, S. 1-14

This paper is part of the European OWHEEL project. It proposes a method to improve the comfort of a vehicle by adaptively controlling the Camber and Toe angles of a rear suspension. The purpose is achieved through two actuators for each wheel, one that allows to change the Camber angle and the other the Toe angle. The control action is dynamically determined based on the error between the reference angle and the actual angles. The reference angles are not fixed over time but dynamically vary during the maneuver. The references vary with the aim of maintaining a Camber angle close to zero and a Toe angle that follows the trajectory of the vehicle during the curve. This improves the contact of the tire with the road. This solution allows the control system to be used flexibly for the different types of maneuvers that the vehicle could perform. An experimentally validated sports vehicle has been used to carry out the simulations. The original rear suspension is a Trailing-arm suspension. It has been modified via Adams Car. The simulations have been carried out using the same software in cosimulation with Simulink. The suspension has been tested through a Parallel Wheel Travel analysis and an Opposite Wheel Travel analysis. The maneuvers carried out have been two variations of Constant Radius Cornering, two variations of Fish-Hook and two variations of Swept-Sine Steer. A decrease in the vertical acceleration of the center of gravity has been achieved by controlling the Camber angle for maneuvers where a trajectory or rotation of the steering is imposed. The Toe angle control has allowed a decrease in vertical acceleration when a trajectory is imposed. In particular, the decrease of the Root Mean Square and the maximum absolute value have been obtained. These results demonstrate an improvement in Ride Comfort.



https://doi.org/10.4271/2022-01-0920
Heydrich, Marius; Ivanov, Valentin; Bertagna, Alessandro; Rossi, Alessandro; Mazzoni, Matteo; Bücner, Florian
Hardware-in-the-loop testing of a hybrid brake-by-wire system for electric vehicles. - In: SAE International journal of vehicle dynamics, stability, and NVH, ISSN 2380-2170, Bd. 6 (2022), 4, S. 477-487

Recent trends in automotive engineering, such as electrification and automatization, are opening chances as well as challenges due to the increased demand on new chassis components (e.g., drivetrain, brakes, steering, suspension, etc.) and control methods. This fast-growing market requires new methods to frontload as much efforts as possible to early design stages. The present article deals with a relevant case study on anti-lock braking system (ABS) design and tuning via hardware-in-the-loop (HIL) tests and rapid control prototyping (RCP) techniques on a hybrid brake-by-wire (BBW) system. Three types of wheel slip control algorithms are tested and benchmarked against each other. It was demonstrated that HIL simulations are suitable to develop vehicle subsystems and control strategies in a quite realistic manner even if the target vehicle or prototype is not available yet. Moreover, the benefits of continuous control approaches against classical rule-based wheel slip control were shown. In the article, aspects such as brake system architecture, control design, HIL testing environment, validation studies, and their analysis are further being discussed.



https://doi.org/10.4271/10-06-04-0031
Feißel, Toni; Büchner, Florian; Kunze, Miles; Rost, Jonas; Ivanov, Valentin; Augsburg, Klaus; Hesse, David; Gramstat, Sebastian
Methodology for virtual prediction of vehicle-related particle emissions and their influence on ambient PM10 in an urban environment. - In: Atmosphere, ISSN 2073-4433, Bd. 13 (2022), 11, 1924, S. 1-14

As a result of rising environmental awareness, vehicle-related emissions such as particulate matter are subject to increasing criticism. The air pollution in urban areas is especially linked to health risks. The connection between vehicle-related particle emissions and ambient air quality is highly complex. Therefore, a methodology is presented to evaluate the influence of different vehicle-related sources such as exhaust particles, brake wear and tire and road wear particles (TRWP) on ambient particulate matter (PM). In a first step, particle measurements were conducted based on field trials with an instrumented vehicle to determine the main influence parameters for each emission source. Afterwards, a simplified approach for a qualitative prediction of vehicle-related particle emissions is derived. In a next step, a virtual inner-city scenario is set up. This includes a vehicle simulation environment for predicting the local emission hot spots as well as a computational fluid dynamics model (CFD) to account for particle dispersion in the environment. This methodology allows for the investigation of emissions pathways from the point of generation up to the point of their emission potential.



https://doi.org/10.3390/atmos13111924
Ivanov, Valentin; Marotta, Raffaele; Strano, Salvatore; Terzo, Mario; Tordela, Ciro
A PID-based active control of camber angles for vehicle ride comfort improvement. - In: Advances in Italian mechanism science, (2022), S. 397-404

In the automotive industry, one of the principal issues is to ensure the comfort of vehicles as much as possible. High vertical accelerations of the vehicle body transmit undesired vibration, causing malaise to passengers. Car vehicles are subjected to vibrations induced by the road roughness or, during a curve travelling, by the roll motion. These factors contribute to generating the total vertical acceleration. The vertical acceleration due to the first factor can be decreased by correctly dimensioning the stiffness and damping of the suspension. In this paper, the active control of the camber angle of the rear wheels is proposed to reduce the vertical acceleration due to the roll motion. The proposed technique has been applied to a validated vehicle model developed in the ADAMS Car environment. The trailing-arm type rear suspension has been modified to include actuators functional for the control system implementation. The tracking of the variable vehicle body roll angle by rear wheels is allowed exploiting two PID controllers to improve the contact of the tire with the road and, therefore, the ride comfort. Two manoeuvres called Sine Steer and Fish-hook have been employed to validate the designed controllers. The RMS and the maximum value of the vehicle body's vertical acceleration decrease, demonstrating the employability of the proposed control system to improve ride comfort.



Hesse, David; Feißel, Toni; Kunze, Miles; Bachmann, Eric; Bachmann, Thomas; Gramstat, Sebastian
Comparison of methods for sampling particulate emissions from tires under different test environments. - In: Atmosphere, ISSN 2073-4433, Bd. 13 (2022), 8, 1262, S. 1-17

Traffic-related emissions are strongly criticised by the public because they contribute to climate change and are classified as hazardous to health. Combustion engine emissions have been regulated by limit values for almost three decades. There is currently no legal limit for non-exhaust emissions, which include tire wear particle emissions and resuspension. As a result, the percentage of total vehicle emissions has risen continuously. Some of the particles emitted can be assigned to the size classes of particulate matter (≤10 µm) and are therefore of particular relevance to human health. The literature describes a wide range of concepts for sampling and measuring tire wear particle emissions. Because of the limited number of studies, the mechanisms involved in on-road tests and their influence on the particle formation process, particle transport and the measuring ability can only be described incompletely. The aim of this study is to compare test bench and on-road tests and to assess the influence of selected parameters. The first part describes the processes of particle injection and particle distribution. Based on this, novel concepts for sampling and measurement in the laboratory and in the field are presented. The functionality and the mechanisms acting in each test environment are evaluated on the basis of selected test scenarios. For example, emissions from external sources, the condition of the road surface and the influence of the driver are identified as influencing factors. These analyzes are used to illustrate the complexity and limited reproducibility of on-road measurements, which must be taken into account for future regulations.



https://doi.org/10.3390/atmos13081262