Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control....Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.展开更多
New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is stil...New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.展开更多
基金Supported by National Nature Science Foundation of China(Grant Nos.52325212,52372394)National Key Research and Development Program of China(Grant Nos.2022YFE0117100,2021YFB2501201)+1 种基金Industry-University-Research Innovation Fund for Chinese Universities(Grand No.2024HT010)Fundamental Research Funds for the Central Universities.
文摘Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.
文摘New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.
