06/2013 Stefan Eitzinger, MSF/Graz 1 Disclosure or duplication without consent is prohibited

Vehicle dynamics objective assessment part 1

Introduction
vehicle dynamics in the development process
subjective evaluation vs. objective evaluation of vehicle dynamics
Measurement Equipment
measurement of command signals (steering wheel angle, pedal position)
equipment for measurement/analysis of cars mechanical behavior (toe-,
camber angle, wheel speed)
measurement of total vehicles response (yaw rate, side slip angle, roll
angle)
Testing Procedures
longitudinal dynamics (straight ahead behaviour)
lateral dynamics (cornering behaviour)
lateral dynamic transfer characteristics (lateral transfer behaviour)
driving stability tests (roll- and yaw stability)


06/2013 Stefan Eitzinger, MSF/Graz 2 Disclosure or duplication without consent is prohibited
Vehicle dynamics in the development process
Prototype
Design
Simulation
Test Rig
Virtual Model
On-Vehicle
Objective Tests Subjective Rating
Validation of Geometry,
Kinematics and Compliance
Verification of
Specifications
Optimisation loop
Release
Optimisation loop
Validation of Simulation Model
Chassis Concept
06/2013 Stefan Eitzinger, MSF/Graz 3 Disclosure or duplication without consent is prohibited
Subjective Rating Objective Testing
Lenkradwinkel Dim. MW SA MW SA
Mittelwert (0,5-4) s Grad 31,56 3,08 29,42 2,95
Giergeschwindigkeit
Maximalwert Grad/s 10,48 0,48 10,66 0,51
Peak-Response-Time s 0,29 0,04 0,34 0,05
90% Response Time s 0,21 0,08 0,25 0,11
berschwingweite % 24,19 3,45 25,13 4,66
Stationrwert (3-4 s) Grad/s 8,28 0,12 8,34 0,14
Gierverstrkungsfaktor Grad/s/Grad 0,26 0,03 0,29 0,03
Querbeschleunigung
Peak-Response-Time s 0,56 0,11 0,69 0,13
90% Response Time s 0,33 0,08 0,41 0,11
Stationrwert (3-4 s) m/s 4,01 0,02 4,02 0,04
Schwimmwinkel
Stationrwert (3-4 s) Grad 0,74 0,24 1,00 0,26
Bewertungsma
TB-Wert Grad*s 0,22 0,08 0,35 0,12
TBN-Wert - 7,35 1,18 8,92 1,42
teilbeladen vollbeladen
Vehicle dynamics On Vehicle Tests
+ Driver-independent comparison of different vehicles
+ Results can be reproduced with high conformity
+ Lower requirements on the capabilities of the test
driver
+ Vehicle-comparison possible even after a long time
+ Results can be used for validation of simulated
results
+ No equipment required
+ Immediate results
+ Highest sensitivity in direct comparisons
06/2013 Stefan Eitzinger, MSF/Graz 4 Disclosure or duplication without consent is prohibited
definition of best-in-class
proposals for improvements
Tools:
rating sheets, performance tables
on-vehicle tests (professional /
normal driver)
spider diagrams
specific target values for
reproducible and comparable
driving maneuvers


Subjective Objective
Tools:
catalogue of maneuvers
selection of target-values
VD-measurements
Calculation of selected target-
values
40 Cornering behaviour
40 1010 Steering wheel angle gradient at 4 m/s R=100m (ISO 4138) 4.55/m/s
40 1020 Self steering gradient at 4 m/s R=100m (ISO 4138) 0.28/m/s
40 1030 Side slip angle gradient at 4 m/s R=100m (ISO4138) 0.31/m/s
40 1040 Roll angle gradient (ISO4138) 0.4/m/s
40 1050 Maximum roll angle R=100m (ISO4138) 3.53
40 1060 Maximum lateral acceleration R=100m (ISO4138) 8.8m/s
40 1080 Maximum yaw amplification (MSF internal Standard) 0.26/s
40 1090 Minimum yaw amplification (MSF internal Standard) 0.21/s
40 1100 Yaw amplification strictly monotonous decreasing from vch (MSF internal Standard) yes
Chassis development - targets
06/2013 Stefan Eitzinger, MSF/Graz 5 Disclosure or duplication without consent is prohibited
steering
throttle position
brake force
toe-in
camber
wheel travel
brake pressure
wheel speed
pitch angle
roll angle
yaw angle speed
accelerations in all axis
lateral velocity
Measuring a vehicles behaviour - systematics
controlled system
(vehicle properties)
control response
(vehicle reaction)
command signal
(manoeuvre presetting)

During vehicle dynamics measurements the driver usually presets the input but
does not react to the vehicle's behaviour or path. This system of driver and vehicle
can be seen as an open loop control system. Not so when driving on public roads.
Drivers actions Reaction of the car Mechanical behaviour
06/2013 Stefan Eitzinger, MSF/Graz 6 Disclosure or duplication without consent is prohibited
Chassis: original setup (except prototypes)

Loading: > partially loaded (driver, measurement equipment, design load)
> fully loaded (gross vehicle weight)

Tires: original equipment tires, previously driven (150 km)

Tire pressure: according manufacturer's data 0,05 bar (cold)

Test track: flat, dry, const. friction coefficient

Environment: max. wind speed 5m/s
Testing conditions
To ensure reproducible results the driver's influence must be
minimized. Vehicle, test track and environmental conditions have to
be in defined conditions (ISO 15037-1). The following conditions must
be fulfilled if not explicitly defined otherwise.
06/2013 Stefan Eitzinger, MSF/Graz 7 Disclosure or duplication without consent is prohibited
roll: rotation round X
V
-axis ( )
pitch: rotation round Y-axis ( )
yaw: rotation round Z
E
-axis ( )
X
Y
Z



In all measurements the motion variables (velocities, accelerations,
rotational speeds) are measured in the vehicle fixed intermediate
coordinate system. This eliminates the gravitational influence due to
pitching and rolling in the measured accelerations.
Intermediate vehicle fixed coordinate system:
Coordinate systems according DIN ISO 8855
earth fixed coordinate system (X
E
, Y
E
, Z
E
)
vehicle fixed coordinate system in COG (X
V
, Y
V
, Z
V
)
vehicle fixed intermediate coordinate system in
COG (X, Y, Z) (X-Y plain is parallel to X
E
-Y
E
plain)

Rotational degrees of freedom in the vehicle
fixed coordinate system:
06/2013 Stefan Eitzinger, MSF/Graz 9 Disclosure or duplication without consent is prohibited
In DIN ISO 8855 the motion variables of vehicles are defined. The sketch below shows the most
important of them for a left turn manoeuvre under Ackermann-condition (ay<<, no side slip at
each tyre).
Motion variables of vehicles
yaw angle
side slip angle
steering angle
course angle
a,0
Ackermann angle
v driving speed
v
x,y
speed in x-, y-axis
a
x,y
acceleration in x-, y-axis
COG centre of gravity

instantaneous centre of
velocity

x
0
y
0

x
y



a 0

COG
v
x
v
v
y

a
y
a
x
a

06/2013 Stefan Eitzinger, MSF/Graz 11 Disclosure or duplication without consent is prohibited
Vehicle dynamics measurement equipment
06/2013 Stefan Eitzinger, MSF/Graz 12 Disclosure or duplication without consent is prohibited
1.) Measurement steering wheel / Steering Robot
steering angle
steering torque
steering velocity
Measuring of command signals (1)
Controled system Control response Command signal
measurement steering wheel from
www.kistler.com (closed loop tests)
steering robot from
www.abd.uk.com
(open loop tests)
06/2013 Stefan Eitzinger, MSF/Graz 13 Disclosure or duplication without consent is prohibited
Measuring of command signals(2)

clutch-, brake pedal force
3.) Pedal force sensor
www.rieger-sensortechnik.de
2.) Cable pull position sensor
travel measurements
(pedal-, wheel travel...
Controlled system Control response Command signal
www.celesco.com
06/2013 Stefan Eitzinger, MSF/Graz 14 Disclosure or duplication without consent is prohibited
1.) Autocollimator
toe
camber
steering kinematics
Measuring of values used for system analysis (1)
Controlled system Control response Command signal
www.rudolph-optics.com/
06/2013 Stefan Eitzinger, MSF/Graz 15 Disclosure or duplication without consent is prohibited
3.) Wheel Speed Sensor
high resolution wheel speed (1024 pulses/rev)
Measuring of values used for system analysis (2)
Controlled system Control response Command signal
www.gregory.de
06/2013 Stefan Eitzinger, MSF/Graz 16 Disclosure or duplication without consent is prohibited
www.corrsys-datron.de
g...grid spacing
g
Changes of brightness on the road
surface generates a speed
proportional frequency in the photo
electronics of the speed sensor. For
sensing lateral speed the grid is V-
shaped.
1.) Optical speed sensor
longitudinal speed
lateral speed
sideslip angle
Controlled system Control response Command signal
Measuring of vehicles response values (1)
www.kistler.com
06/2013 Stefan Eitzinger, MSF/Graz 18 Disclosure or duplication without consent is prohibited
distance body - ground
pitch angle (computed)
roll angle (computed)
3.) Laser distance sensor
Measuring of vehicles response values (3)
A
L
a
h
a
v
atan[(a
h
-a
v
)/A
L
]
Controlled system Control response Command signal
www.drwehrhahn.de
06/2013 Stefan Eitzinger, MSF/Graz 19 Disclosure or duplication without consent is prohibited
pitch rate
roll rate
yaw rate
pitch angle
roll angle
yaw angle
longitudinal acceleration
lateral acceleration
vertical acceleration
path curve coordinates
curve radius
4.) Inertial measurement unit
Measuring of vehicles response values (4)
www.imar-navigation.de/
Controlled system Control response Command signal
06/2013 Stefan Eitzinger, MSF/Graz 22 Disclosure or duplication without consent is prohibited
Data Recording
www.dewetron.com, www.ni.com, www.datatranslation.com, www.panasonic.com, www.vector-informatik.de
vehicle-CAN
meas-CAN
steering robot,
meas. steering wheel
odometer
(speed sensor)
laser-
distance sensor
gyro platform
autocollimator
cable pull-
sensor
further analogue sensors
trigger, force sensors, ...
analogue to
CAN conv.
06/2013 Stefan Eitzinger, MSF/Graz 23 Disclosure or duplication without consent is prohibited
Video: Steering Robot Demo