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Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground...
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Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 September 2021) | Viewed by 56092

Printed Edition Available!
A printed edition of this Special Issue is available here.

Special Issue Editors

Dr. Flavio Farroni

E-Mail Website
Guest Editor
Department of Industrial Engineering, University of Naples Federico II, 80131 Naples, Italy
Interests: vehicle dynamics; vehicle performance optimization; multiphysical modeling of tire/road interaction; friction and viscoelasticity of polymers; outdoor testing; onboard safety and performance enhancement logics; human/machine interface; driving simulations
Dr. Andrea Genovese

E-Mail Website
Guest Editor
Department of Industrial Engineering, University of Naples Federico II, 80131 Naples, Italy
Interests: vehicle dynamics; applied science and mechanics; tribology; dynamic systems; smart system; energy harvesting; design and development of mechatronic systems and vibration control
Dr. Aleksandr Sakhnevych

E-Mail Website
Guest Editor
Department of Industrial Engineering, University of Naples Federico II, Naples 80131, Italy
Interests: vehicle dynamics; applied science and mechanics; tribology; multiphysical modeling of nonlinear systems; virtual sensors and estimators; autonomous driving; dynamic systems and control

Special Issue Information

Dear Colleagues,

We have the pleasure to invite you to contribute to the Special Issue dedicated to “Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact”. Recent trends in vehicle engineering prove the great effort that scientists and industries have made in seeking solutions to enhance both the performance and the safety of vehicular systems. Physical models concerning vehicle/ground interaction, control strategies for the vehicle and its subsystems, and new technologies are developing all over the world for this purpose. This Special Issue aims to contribute to the study of modern vehicle dynamics, attracting recent experimental and in-simulation advances that are the basis for the current technological growth and for future mobility. The area involves research, studies, and projects coming both from vehicle dynamics and contact mechanics, with the perspective to embrace activities aiming to enhance vehicle performance in terms of handling, comfort, and adherence, and to examine safety optimization also in the emerging contexts of smart, connected, and autonomous driving.

This Special Issue will focus on, but not be limited to, new results in the following topics related to vehicle dynamics and ground interaction:

  • Physical models concerning tire/road, wheel/rail, and generic vehicle/ground interaction;
  • Experimental activities aimed at the investigation and the comprehension of interaction phenomena, from the macroscale, analyzing the whole vehicle data, to the microscale, accounting for indentation, friction, and contact mechanics at the ground;
  • Control strategies focused on vehicle performance enhancement, in terms of handling/grip, comfort and safety, for passenger, motorsport, and future mobility scenarios;
  • Innovative technologies to improve the safety and performance of the vehicle and its subsystems;
  • Identification of vehicle and tire/wheel model parameters and state with innovative methodologies and algorithms;
  • Implementation of real-time software, logic, and models in onboard architectures and driving simulators;
  • Studies and analysis oriented toward the correlation among the factors affecting vehicle performance and safety, with the target to propose strategies for their optimization;
  • Application use cases in road and off-road vehicles, e-bikes, motorcycles, buses, trucks, etc.

Dr. Flavio Farroni
Dr. Andrea Genovese
Dr. Aleksandr Sakhnevych
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Vehicle dynamics
  • Contact mechanics
  • Tire analysis and modeling
  • Friction and viscoelasticity Indoor and outdoor testing
  • Control strategies
  • Active safety
  • Future mobility systems
  • Grip and vehicle setup optimization
  • Driving simulators
  • Physical modeling
  • Vehicle state estimation

Published Papers (18 papers)

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Editorial

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3 pages, 169 KiB  
Editorial
Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact
by Flavio Farroni, Andrea Genovese and Aleksandr Sakhnevych
Appl. Sci. 2022, 12(4), 2034; https://0-doi-org.brum.beds.ac.uk/10.3390/app12042034 - 16 Feb 2022
Cited by 1 | Viewed by 1260
Abstract
Recent trends in vehicle engineering prove the great effort that scientists and industries have made in seeking solutions to enhance both the performance and the safety of vehicular systems [...] Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)

Research

Jump to: Editorial

19 pages, 77413 KiB  
Article
Static and Dynamic Analysis of Non-Pneumatic Tires Based on Experimental and Numerical Methods
by Andrea Genovese, Dario Garofano, Aleksandr Sakhnevych, Francesco Timpone and Flavio Farroni
Appl. Sci. 2021, 11(23), 11232; https://0-doi-org.brum.beds.ac.uk/10.3390/app112311232 - 26 Nov 2021
Cited by 14 | Viewed by 4579
Abstract
Since the beginning of their production, pneumatic tires have experienced tremendous improvements in structure and materials, becoming the dominant design in the world tires market. Nevertheless, relying upon pressurized air, they are affected by maintenance and security issues that can lead to fatal [...] Read more.
Since the beginning of their production, pneumatic tires have experienced tremendous improvements in structure and materials, becoming the dominant design in the world tires market. Nevertheless, relying upon pressurized air, they are affected by maintenance and security issues that can lead to fatal accidents. Therefore, tire-makers are investigating new tire designs, called Airless or Non-Pneumatic, with the aim of removing air-related problems. The research about such tires is still at an early stage, especially if compared to the one conducted on the pneumatic ones. In this paper, the development of a methodology capable of studying the mechanical behavior of a Non-Pneumatic Tire (NPT) by means of experimental data and numerical approach is illustrated. The experimental activities consisted of a scanner acquisition of the NPT and a footprint analysis for the calculation of the radial stiffness and contact patch pressure distribution. Moreover, the Digital Image Correlation (DIC) technique was applied to carry out a more specific study about the spoke’s deformation. From the acquired 3D model, a calculation of the NPT vertical deflection with finite element analysis (FEA) was performed—validating the model and then submitting it to a steady state analysis—that allows the simulation of a steady state rolling tire with the possibility to replicate different values of slip ratio. The results of the experimental activities are in good agreement with the ones obtained with FEA, further validating the developed methodology. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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15 pages, 3855 KiB  
Article
Speed Oscillations of a Vehicle Rolling on a Wavy Road
by Walter V. Wedig
Appl. Sci. 2021, 11(21), 10431; https://0-doi-org.brum.beds.ac.uk/10.3390/app112110431 - 05 Nov 2021
Cited by 3 | Viewed by 1969
Abstract
Every driver knows that his car is slowing down or accelerating when driving up or down, respectively. The same happens on uneven roads with plastic wave deformations, e.g., in front of traffic lights or on nonpaved desert roads. This paper investigates the resulting [...] Read more.
Every driver knows that his car is slowing down or accelerating when driving up or down, respectively. The same happens on uneven roads with plastic wave deformations, e.g., in front of traffic lights or on nonpaved desert roads. This paper investigates the resulting travel speed oscillations of a quarter car model rolling in contact on a sinusoidal and stochastic road surface. The nonlinear equations of motion of the vehicle road system leads to ill-conditioned differential-algebraic equations. They are solved introducing polar coordinates into the sinusoidal road model. Numerical simulations show the Sommerfeld effect, in which the vehicle becomes stuck before the resonance speed, exhibiting limit cycles of oscillating acceleration and speed, which bifurcate from one-periodic limit cycle to one that is double periodic. Analytical approximations are derived by means of nonlinear Fourier expansions. Extensions to more realistic road models by means of noise perturbation show limit flows as bundles of nonperiodic trajectories with periodic side limits. Vehicles with higher degrees of freedom become stuck before the first speed resonance, as well as in between further resonance speeds with strong vertical vibrations and longitudinal speed oscillations. They need more power supply in order to overcome the resonance peak. For small damping, the speeds after resonance are unstable. They migrate to lower or supercritical speeds of operation. Stability in mean is investigated. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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31 pages, 11294 KiB  
Article
Investigation of Vehicle Stability with Consideration of Suspension Performance
by Vaidas Lukoševičius, Rolandas Makaras, Arūnas Rutka, Robertas Keršys, Andrius Dargužis and Ramūnas Skvireckas
Appl. Sci. 2021, 11(20), 9778; https://0-doi-org.brum.beds.ac.uk/10.3390/app11209778 - 19 Oct 2021
Cited by 6 | Viewed by 4224
Abstract
The issue of movement stability remains highly relevant considering increasing vehicle speeds. The evaluation of vehicle stability parameters and the modeling of specific movement modes is a complex task, as no universal evaluation criteria have been established. The main task in modeling car [...] Read more.
The issue of movement stability remains highly relevant considering increasing vehicle speeds. The evaluation of vehicle stability parameters and the modeling of specific movement modes is a complex task, as no universal evaluation criteria have been established. The main task in modeling car stability is an integrated assessment of the vehicle’s road interactions and identification of relationships. The main system affecting the vehicle’s road interaction is the suspension of the vehicle. Vehicle suspension is required to provide constant wheel to road surface contact, thus creating the preconditions for stability of vehicle movement. At the same time, it must provide the maximum possible body insulation against the effect of unevennesses on the road surface. Combining the two marginal prerequisites is challenging, and the issue has not been definitively solved to this day. Inaccurate alignment of the suspension and damping characteristics of the vehicle suspension impairs the stability of the vehicle, and passengers feel discomfort due to increased vibrations of the vehicle body. As a result, the driving speed is artificially restricted, the durability of the vehicle body is reduced, and the transported cargo is affected. In the study, analytical computational and experimental research methods were used. Specialized vehicle-road interaction assessment programs were developed for theoretical investigation. The methodology developed for assessing vehicle movement stability may be used for the following purposes: design and improvement of vehicle suspension and other mechanisms that determine vehicle stability; analysis of road spans assigned with characteristic vehicle movement settings; road accident situation analysis; design of road structures and establishment of certain operational restrictions on the road structures. A vehicle suspension test bench that included original structure mechanisms that simulate the effect of the road surface was designed and manufactured to test the results of theoretical calculations describing the work of the vehicle suspension and to study various suspension parameters. Experimental investigations were carried out by examining the vibrations of vehicle suspension elements caused by unevenness on the road surface. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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15 pages, 3179 KiB  
Communication
A Double Sky-Hook Algorithm for Improving Road-Holding Property in Semi-Active Suspension Systems for Application to In-Wheel Motor
by Seunghoon Woo and Donghoon Shin
Appl. Sci. 2021, 11(19), 8912; https://0-doi-org.brum.beds.ac.uk/10.3390/app11198912 - 24 Sep 2021
Cited by 2 | Viewed by 2403
Abstract
This paper presents a double sky-hook algorithm for controlling semi-active suspension systems in order to improve road-holding property for application in an in-wheel motor. The main disadvantage of the in-wheel motor is the increase in unsprung masses, which increases after shaking of the [...] Read more.
This paper presents a double sky-hook algorithm for controlling semi-active suspension systems in order to improve road-holding property for application in an in-wheel motor. The main disadvantage of the in-wheel motor is the increase in unsprung masses, which increases after shaking of the wheel, so it has poor road-holding that the conventional theoretical sky-hook algorithm cannot achieve. The double sky-hook algorithm uses a combination of damper coefficients, one from the chassis motion and the other from the wheel motion. Computer simulations using a quarter and full car dynamic models with the road conditions specified by ISO2631 showed the effectiveness of the algorithm. It was observed that the algorithm was the most effective in the vicinity of the wheel hop frequency. This paper also proposed the parameter set of the double sky-hook algorithm to differentiate the driving mode of vehicles under advanced development. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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18 pages, 4250 KiB  
Article
Variability of Gravel Pavement Roughness: An Analysis of the Impact on Vehicle Dynamic Response and Driving Comfort
by Vidas Žuraulis, Henrikas Sivilevičius, Eldar Šabanovič, Valentin Ivanov and Viktor Skrickij
Appl. Sci. 2021, 11(16), 7582; https://0-doi-org.brum.beds.ac.uk/10.3390/app11167582 - 18 Aug 2021
Cited by 12 | Viewed by 3749
Abstract
Gravel pavement has lower construction costs but poorer performance than asphalt surfaces on roads. It also emits dust and deforms under the impact of vehicle loads and ambient air factors; the resulting ripples and ruts constantly deepen, and therefore increase vehicle vibrations and [...] Read more.
Gravel pavement has lower construction costs but poorer performance than asphalt surfaces on roads. It also emits dust and deforms under the impact of vehicle loads and ambient air factors; the resulting ripples and ruts constantly deepen, and therefore increase vehicle vibrations and fuel consumption, and reduce safe driving speed and comfort. In this study, existing pavement quality evaluation indexes are analysed, and a methodology for adapting them for roads with gravel pavement is proposed. We report the measured wave depth and length of gravel pavement profile using the straightedge method on a 160 m long road section at three stages of road utilization. The measured pavement elevation was processed according to ISO 8608, and the frequency response of a vehicle was investigated using simulations in MATLAB/Simulink. The international roughness index (IRI) analysis showed that a speed of 30–45 km/h instead of 80 km/h provided the objective results of the IRI calculation on the flexible pavement due to the decreasing velocity of a vehicle’s unsprung mass on a more deteriorated road pavement state. The influence of the corrugation phenomenon of gravel pavement was explored, identifying specific driving safety and comfort cases. Finally, an increase in the dynamic load coefficient (DLC) at a low speed of 30 km/h on the most deteriorated pavement and a high speed of 90 km/h on the middle-quality pavement demonstrated the demand for timely gravel pavement maintenance and the complicated prediction of a safe driving speed for drivers. The main relevant objectives of this study are the adaptation of a road roughness indicator to gravel pavement, including the evaluation of vehicle dynamic responses at different speeds and pavement deterioration states. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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13 pages, 929 KiB  
Article
A Screw-Axis Approach to the Stability of Two-Wheeled Vehicles
by Matteo Bova and Matteo Massaro
Appl. Sci. 2021, 11(16), 7393; https://0-doi-org.brum.beds.ac.uk/10.3390/app11167393 - 11 Aug 2021
Cited by 2 | Viewed by 1945
Abstract
The stability of two-wheeled vehicles is predominantly characterized by the well-known weave and wobble vibration modes, which have been extensively investigated in the literature, mainly in terms of their frequencies and damping ratios. In this work the focus is towards their mode shapes, [...] Read more.
The stability of two-wheeled vehicles is predominantly characterized by the well-known weave and wobble vibration modes, which have been extensively investigated in the literature, mainly in terms of their frequencies and damping ratios. In this work the focus is towards their mode shapes, which are investigated using the screw-axis (also called Mozzi-axis), instead of the classic compass diagrams, for a better understanding of their three-dimensional patterns. The analysis is then carried out using the velocity centres for a characterization from the top, rear and side view of the vehicle. The multibody vehicle model employed for the numerical analysis is built in Adams. The dataset resembles that of a 250cc sport motorcycle, and has been derived from laboratory tests. The stability analysis is carried out in the frequency domain. It is found that, depending on the selected plane for the projection of the three-dimensional vibration motion, the trajectories of the velocity centres of the weave and wobble can cross either aft or fore the centre of mass, which has been associated to the under- and over-steering behaviour in the literature. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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34 pages, 8170 KiB  
Article
Assessment of Tire Features for Modeling Vehicle Stability in Case of Vertical Road Excitation
by Vaidas Lukoševičius, Rolandas Makaras and Andrius Dargužis
Appl. Sci. 2021, 11(14), 6608; https://0-doi-org.brum.beds.ac.uk/10.3390/app11146608 - 18 Jul 2021
Cited by 9 | Viewed by 2325
Abstract
Two trends could be observed in the evolution of road transport. First, with the traffic becoming increasingly intensive, the motor road infrastructure is developed; more advanced, greater quality, and more durable materials are used; and pavement laying and repair techniques are improved continuously. [...] Read more.
Two trends could be observed in the evolution of road transport. First, with the traffic becoming increasingly intensive, the motor road infrastructure is developed; more advanced, greater quality, and more durable materials are used; and pavement laying and repair techniques are improved continuously. The continued growth in the number of vehicles on the road is accompanied by the ongoing improvement of the vehicle design with the view towards greater vehicle controllability as the key traffic safety factor. The change has covered a series of vehicle systems. The tire structure and materials used are subject to continuous improvements in order to provide the maximum possible grip with the road pavement. New solutions in the improvement of the suspension and driving systems are explored. Nonetheless, inevitable controversies have been encountered, primarily, in the efforts to combine riding comfort and vehicle controllability. Practice shows that these systems perform to a satisfactory degree only on good quality roads, as they have been designed specifically for the latter. This could be the cause of the more complicated car control and accidents on the lower-quality roads. Road ruts and local unevenness that impair car stability and traffic safety are not avoided even on the trunk roads. In this work, we investigated the conditions for directional stability, the influence of road and vehicle parameters on the directional stability of the vehicle, and developed recommendations for the road and vehicle control systems to combine to ensure traffic safety. We have developed a refined dynamic model of vehicle stability that evaluates the influence of tire tread and suspensions. The obtained results allow a more accurate assessment of the impact of the road roughness and vehicle suspension and body movements on vehicle stability and the development of recommendations for the safe movement down the road of known characteristics. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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20 pages, 2490 KiB  
Article
Multi-Objective Optimisation of Tyre and Suspension Parameters during Cornering for Different Road Roughness Profiles
by Georgios Papaioannou, Jenny Jerrelind and Lars Drugge
Appl. Sci. 2021, 11(13), 5934; https://0-doi-org.brum.beds.ac.uk/10.3390/app11135934 - 25 Jun 2021
Cited by 10 | Viewed by 2042
Abstract
Effective emission control technologies and novel propulsion systems have been developed for road vehicles, decreasing exhaust particle emissions. However, work has to be done on non-exhaust traffic related sources such as tyre–road interaction and tyre wear. Given that both are inevitable in road [...] Read more.
Effective emission control technologies and novel propulsion systems have been developed for road vehicles, decreasing exhaust particle emissions. However, work has to be done on non-exhaust traffic related sources such as tyre–road interaction and tyre wear. Given that both are inevitable in road vehicles, efforts for assessing and minimising tyre wear should be considered. The amount of tyre wear is because of internal (tyre structure, manufacturing, etc.) and external (suspension configuration, speed, road surface, etc.) factors. In this work, the emphasis is on the optimisation of such parameters for minimising tyre wear, but also enhancing occupant’s comfort and improving vehicle handling. In addition to the search for the optimum parameters, the optimisation is also used as a tool to identify and highlight potential trade-offs between the objectives and the various design parameters. Hence, initially, the tyre design (based on some chosen tyre parameters) is optimised with regards to the above-mentioned objectives, for a vehicle while cornering over both Class A and B road roughness profiles. Afterwards, an optimal solution is sought between the Pareto alternatives provided by the two road cases, in order for the tyre wear levels to be less affected under different road profiles. Therefore, it is required that the tyre parameters are as close possible and that they provide similar tyre wear in both road cases. Then, the identified tyre design is adopted and the optimum suspension design is sought for the two road cases for both passive and semi-active suspension types. From the results, significant conclusions regarding how tyre wear behaves with regards to passenger comfort and vehicle handling are extracted, while the results illustrate where the optimum suspension and tyre parameters have converged trying to compromise among the above objectives under different road types and how suspension types, passive and semi-active, could compromise among all of them more optimally. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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21 pages, 5060 KiB  
Article
Handling Enhancement of Autonomous Emergency Steering for Reduced Road Friction Using Steering and Differential Braking
by Yu-Min Lin and Bo-Chiuan Chen
Appl. Sci. 2021, 11(11), 4891; https://0-doi-org.brum.beds.ac.uk/10.3390/app11114891 - 26 May 2021
Cited by 7 | Viewed by 2859
Abstract
Steering has more potential than braking to prevent rear-end collisions at higher relative velocities. A path tracking controller based on multi-input multi-output (MIMO) model predictive control (MPC) is proposed to enhance the handling performance of autonomous emergency steering in this paper. A six-state [...] Read more.
Steering has more potential than braking to prevent rear-end collisions at higher relative velocities. A path tracking controller based on multi-input multi-output (MIMO) model predictive control (MPC) is proposed to enhance the handling performance of autonomous emergency steering in this paper. A six-state MIMO bicycle model including actuator dynamics of steering and differential braking is used for model prediction. Two control inputs are front wheel steering angle and direct yaw moment. Two model outputs are lateral displacement and heading angle. According to the work load ratios at four wheels, control allocation is used to determine the optimal braking force distribution to prevent tire force saturation. The performance of a single-input single-output (SISO) MPC that uses only steering angle control to track the lateral displacement of the desired path is employed to benchmark the performance of the proposed algorithm. Simulation results show that both SISO MPC and MIMO MPC can track the path on nominal road surface with high road friction coefficient of 0.9. For a road surface with medium road friction coefficient of 0.7, the SISO MPC is unable to track the path and loses directional stability. However, the MIMO MPC can still track the path and demonstrate robust path tracking and handling enhancement against model uncertainty due to reduced road friction. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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15 pages, 1541 KiB  
Article
Empirical Models for the Viscoelastic Complex Modulus with an Application to Rubber Friction
by Marco Furlan Tassara, Kyriakos Grigoriadis and Georgios Mavros
Appl. Sci. 2021, 11(11), 4831; https://0-doi-org.brum.beds.ac.uk/10.3390/app11114831 - 25 May 2021
Cited by 5 | Viewed by 3639
Abstract
Up-to-date predictive rubber friction models require viscoelastic modulus information; thus, the accurate representation of storage and loss modulus components is fundamental. This study presents two separate empirical formulations for the complex moduli of viscoelastic materials such as rubber. The majority of complex modulus [...] Read more.
Up-to-date predictive rubber friction models require viscoelastic modulus information; thus, the accurate representation of storage and loss modulus components is fundamental. This study presents two separate empirical formulations for the complex moduli of viscoelastic materials such as rubber. The majority of complex modulus models found in the literature are based on tabulated dynamic testing data. A wide range of experimentally obtained rubber moduli are used in this study, such as SBR (styrene-butadiene rubber), reinforced SBR with filler particles and typical passenger car tyre rubber. The proposed formulations offer significantly faster computation times compared to tabulated/interpolated data and an accurate reconstruction of the viscoelastic frequency response. They also link the model coefficients with critical sections of the data, such as the gradient of the slope in the storage modulus, or the peak values in loss tangent and loss modulus. One of the models is based on piecewise polynomial fitting and offers versatility by increasing the number of polynomial functions used to achieve better fitting, but with additional pre-processing time. The other model uses a pair of logistic-bell functions and provides a robust fitting capability and the fastest identification, as it requires a reduced number of parameters. Both models offer good correlations with measured data, and their computational efficiency was demonstrated via implementation in Persson’s friction model. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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18 pages, 2802 KiB  
Article
Central Non-Linear Model-Based Predictive Vehicle Dynamics Control
by Philipp Maximilian Sieberg and Dieter Schramm
Appl. Sci. 2021, 11(10), 4687; https://0-doi-org.brum.beds.ac.uk/10.3390/app11104687 - 20 May 2021
Cited by 5 | Viewed by 2383
Abstract
Considering automated driving, vehicle dynamics control systems are also a crucial aspect. Vehicle dynamics control systems serve as an important influence factor on safety and ride comfort. By reducing the driver’s responsibility through partially or fully automated driving functions, the occupants’ perception of [...] Read more.
Considering automated driving, vehicle dynamics control systems are also a crucial aspect. Vehicle dynamics control systems serve as an important influence factor on safety and ride comfort. By reducing the driver’s responsibility through partially or fully automated driving functions, the occupants’ perception of safety and ride comfort changes. Both aspects are focused even more and have to be enhanced. In general, research on vehicle dynamics control systems is a field that has already been well researched. With regard to the mentioned aspects, however, a central control structure features sufficient potential by exploiting synergies. Furthermore, a predictive mode of operation can contribute to achieve these objectives, since the vehicle can act in a predictive manner instead of merely reacting. Consequently, this contribution presents a central predictive control system by means of a non-linear model-based predictive control algorithm. In this context, roll, self-steering and pitch behavior are considered as control objectives. The active roll stabilization demonstrates an excellent control quality with a root mean squared error of 7.6953×10−3 rad averaged over both validation maneuvers. Compared to a vehicle utilizing a conventional control approach combined with a skyhook damping, pitching movements are reduced by 19.75%. Furthermore, an understeering behavior is maintained, which corresponds to the self-steering behavior of the passive vehicle. In general, the central predictive control, thus, increases both ride comfort and safety in a holistic way. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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18 pages, 1159 KiB  
Article
Modelling and Stability Analysis of Articulated Vehicles
by Tianlong Lei, Jixin Wang and Zongwei Yao
Appl. Sci. 2021, 11(8), 3663; https://0-doi-org.brum.beds.ac.uk/10.3390/app11083663 - 19 Apr 2021
Cited by 17 | Viewed by 3734
Abstract
This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The [...] Read more.
This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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10 pages, 641 KiB  
Article
On the Effect of a Rate-Dependent Work of Adhesion in the Detachment of a Dimpled Surface
by Antonio Papangelo
Appl. Sci. 2021, 11(7), 3107; https://0-doi-org.brum.beds.ac.uk/10.3390/app11073107 - 31 Mar 2021
Cited by 5 | Viewed by 1785
Abstract
Patterned surfaces have proven to be a valuable design to enhance adhesion, increasing hysteresis and the detachment stress at pull-off. To obtain high adhesive performance, soft materials are commonly, used, which easily conform to the countersurface, such as soft polymers and elastomers. Such [...] Read more.
Patterned surfaces have proven to be a valuable design to enhance adhesion, increasing hysteresis and the detachment stress at pull-off. To obtain high adhesive performance, soft materials are commonly, used, which easily conform to the countersurface, such as soft polymers and elastomers. Such materials are viscoelastic; i.e., they show rate-dependent properties. Here, the detachment of two half spaces is studied, one being flat and the other having a dimple in the limit of short range adhesion and a power law rate-dependent work of adhesion, as observed by several authors. Literature results have suggested that the dimpled surface would show pressure-sensitive adhesion, showing two possible adhered states, one weak, in partial contact, and one strong when full contact is achieved. By accounting for a power law rate-dependent work of adhesion, the “weak state” may be much stronger than it was in the purely elastic case, and hence the interface may be much more tough to separate. We study the pull-off detachment stress of the dimpled surface, showing that it weakly depends on the preload, but it is strongly affected by the dimensionless unloading rate. Finally, possible implications of the presented results in the detachment of soft materials from rough substrates are discussed. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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19 pages, 8400 KiB  
Article
A Comparative Study of Energy Consumption and Recovery of Autonomous Fuel-Cell Hydrogen–Electric Vehicles Using Different Powertrains Based on Regenerative Braking and Electronic Stability Control System
by Ahmet Yildiz and Mert Ali Özel
Appl. Sci. 2021, 11(6), 2515; https://0-doi-org.brum.beds.ac.uk/10.3390/app11062515 - 11 Mar 2021
Cited by 26 | Viewed by 4034
Abstract
Today, with the increasing transition to electric vehicles (EVs), the design of highly energy-efficient vehicle architectures has taken precedence for many car manufacturers. To this end, the energy consumption and recovery rates of different powertrain vehicle architectures need to be investigated comprehensively. In [...] Read more.
Today, with the increasing transition to electric vehicles (EVs), the design of highly energy-efficient vehicle architectures has taken precedence for many car manufacturers. To this end, the energy consumption and recovery rates of different powertrain vehicle architectures need to be investigated comprehensively. In this study, six different powertrain architectures—four independent in-wheel motors with regenerative electronic stability control (RESC) and without an RESC, one-stage gear (1G) transmission, two-stage gear (2G) transmission, continuously variable transmission (CVT) and downsized electric motor with CVT—were mathematically modeled and analyzed under real road conditions using nonlinear models of an autonomous hydrogen fuel-cell electric vehicle (HFCEV). The aims of this paper were twofold: first, to compare the energy consumption performance of powertrain architectures by analyzing the effects of the regenerative electronic stability control (RESC) system, and secondly, to investigate the usability of a downsized electrical motor for an HFCEV. For this purpose, all the numerical simulations were conducted for the well-known FTP75 and NEDC urban drive cycles. The obtained results demonstrate that the minimum energy consumption can be achieved by a 2G-based powertrain using the same motor; however, when an RESC system is used, the energy recovery/consumption rate can be increased. Moreover, the results of the article show that it is possible to use a downsized electric motor due to the CVT, and this powertrain significantly reduces the energy consumption of the HFCEV as compared to all the other systems. The results of this paper present highly significant implications for automotive manufacturers for designing and developing a cleaner electrical vehicle energy consumption and recovery system. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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27 pages, 1746 KiB  
Article
On-Board Road Friction Estimation Technique for Autonomous Driving Vehicle-Following Maneuvers
by Stefania Santini, Nicola Albarella, Vincenzo Maria Arricale, Renato Brancati and Aleksandr Sakhnevych
Appl. Sci. 2021, 11(5), 2197; https://0-doi-org.brum.beds.ac.uk/10.3390/app11052197 - 03 Mar 2021
Cited by 18 | Viewed by 3485
Abstract
In recent years, autonomous vehicles and advanced driver assistance systems have drawn a great deal of attention from both research and industry, because of their demonstrated benefit in reducing the rate of accidents or, at least, their severity. The main flaw of this [...] Read more.
In recent years, autonomous vehicles and advanced driver assistance systems have drawn a great deal of attention from both research and industry, because of their demonstrated benefit in reducing the rate of accidents or, at least, their severity. The main flaw of this system is related to the poor performances in adverse environmental conditions, due to the reduction of friction, which is mainly related to the state of the road. In this paper, a new model-based technique is proposed for real-time road friction estimation in different environmental conditions. The proposed technique is based on both bicycle model to evaluate the state of the vehicle and a tire Magic Formula model based on a slip-slope approach to evaluate the potential friction. The results, in terms of the maximum achievable grip value, have been involved in autonomous driving vehicle-following maneuvers, as well as the operating condition of the vehicle at which such grip value can be reached. The effectiveness of the proposed approach is disclosed via an extensive numerical analysis covering a wide range of environmental, traffic, and vehicle kinematic conditions. Results confirm the ability of the approach to properly automatically adapting the inter-vehicle space gap and to avoiding collisions also in adverse road conditions (e.g., ice, heavy rain). Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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12 pages, 4160 KiB  
Article
Traffic Simulation of Future Intelligent Vehicles in Duisburg City Inner Ring
by Xiaoyi Ma, Xiaowei Hu, Thomas Weber and Dieter Schramm
Appl. Sci. 2021, 11(1), 29; https://0-doi-org.brum.beds.ac.uk/10.3390/app11010029 - 23 Dec 2020
Cited by 12 | Viewed by 2347
Abstract
Intelligent vehicles gradually enter the vehicular fleet with advanced driver-assistance technologies. Their impact on traffic should, therefore, be considered by transportation decision-makers. This paper examines the effect of vehicles with different levels of automation on traffic flow, such as non-assisted vehicles, vehicles with [...] Read more.
Intelligent vehicles gradually enter the vehicular fleet with advanced driver-assistance technologies. Their impact on traffic should, therefore, be considered by transportation decision-makers. This paper examines the effect of vehicles with different levels of automation on traffic flow, such as non-assisted vehicles, vehicles with driver assistance systems, and fully autonomous vehicles. The accuracy of the examined traffic scenario is also an important factor in microscopic traffic simulation. In this paper, the central part of the city of Duisburg, Duisburg’s inner ring, is chosen for the traffic scenario. Through the cooperation with local government, official data of Origin/Destination matrices, induction loops, and traffic light plans are provided for this work. Thus, traffic demand from Origin/Destination matrices and induction loops are generated and compared, respectively. Finally, vehicles with different levels of automation are simulated in the Duisburg inner ring scenario. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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16 pages, 4956 KiB  
Article
Identification of Tire Model Parameters with Artificial Neural Networks
by José Luis Olazagoitia, Jesus Angel Perez and Francisco Badea
Appl. Sci. 2020, 10(24), 9110; https://0-doi-org.brum.beds.ac.uk/10.3390/app10249110 - 20 Dec 2020
Cited by 10 | Viewed by 4008
Abstract
Accurate modeling of tire characteristics is one of the most challenging tasks. Many mathematical models can be used to fit measured data. Identification of the parameters of these models usually relies on least squares optimization techniques. Different researchers have shown that the proper [...] Read more.
Accurate modeling of tire characteristics is one of the most challenging tasks. Many mathematical models can be used to fit measured data. Identification of the parameters of these models usually relies on least squares optimization techniques. Different researchers have shown that the proper selection of an initial set of parameters is key to obtain a successful fitting. Besides, the mathematical process to identify the right parameters is, in some cases, quite time-consuming and not adequate for fast computing. This paper investigates the possibility of using Artificial Neural Networks (ANN) to reliably identify tire model parameters. In this case, the Pacejka’s “Magic Formula” has been chosen for the identification due to its complex mathematical form which, in principle, could result in a more difficult learning than other formulations. The proposed methodology is based on the creation of a sufficiently large training dataset, without errors, by randomly choosing the MF parameters within a range compatible with reality. The results obtained in this paper suggest that the use of ANN to directly identify parameters in tire models for real test data is possible without the need of complicated cost functions, iterative fitting or initial iteration point definition. The errors in the identification are normally very low for every parameter and the fitting problem time is reduced to a few milliseconds for any new given data set, which makes this methodology very appropriate to be used in applications where the computing time needs to be reduced to a minimum. Full article
(This article belongs to the Special Issue Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact)
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