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

2. Huei Peng Research Summary 2008/02/11 - 2 Vehicle Dynamics Laboratory  Professor Huei Peng  Currently 12 Ph.D. students, 1 M.S. student and 5 visiting scholars

3. Huei Peng Research Summary 2008/02/11 - 3 Major Issues of Ground Vehicles  Sustainability  Energy  Environment  Quality/Functionality  Safety  Workforce

4. Huei Peng Research Summary 2008/02/11 - 4 Outline  Introduction  Active Safety  Hybrid and Fuel Cell Vehicles  Conclusions

5. Huei Peng Research Summary 2008/02/11 - 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

6. Huei Peng Research Summary 2008/02/11 - 6 Active Safety Technologies Rollover generation, prediction and prevention Performance evaluation of VDC 5.5 km, 2 lanes ACC effect on Traffic flow Driver model development

7. Huei Peng Research Summary 2008/02/11 - 7 Worst-Case Evaluation Method DAS design Open-loop Simulations HIL Simulations Field tests Worst-case Simulations Design Iteration Standard test matrix Worst-case test matrix Human driver Model Doi, Nagiri and Amano, Toyota 1998

8. Huei Peng Research Summary 2008/02/11 - 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.

9. Huei Peng Research Summary 2008/02/11 - 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.

10. Huei Peng Research Summary 2008/02/11 - 10 Vehicle or ESC Performance Evaluation

11. Huei Peng Research Summary 2008/02/11 - 11 Rollover Accident due to an Initial Sideswipe Collision

12. Huei Peng Research Summary 2008/02/11 - 12 Rollover Accident Simulation & Avoidance by PISC Without Control With PISC Control

13. Huei Peng Research Summary 2008/02/11 - 13 Rollover Accident at an Intersection

14. Huei Peng Research Summary 2008/02/11 - 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

15. Huei Peng Research Summary 2008/02/11 - 15 Comparison of Trajectories 3  lane width * 1 sec after impact  3 sec after impact

16. Huei Peng Research Summary 2008/02/11 - 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

17. Huei Peng Research Summary 2008/02/11 - 17 SAVME data collection & archiving System for Assessment of the Vehicle Motion Environment 30,561 vehicles, Plymouth road, Ann Arbor, MI, USA 600 ft 200 ft Digital video cameras 100ft

18. Huei Peng Research Summary 2008/02/11 - 18 ICC FOT database Host Vehicle Main beam(133m) Side beam (32m) Width 4.4m  108 drivers.  Mostly highway  In car instrumentations  114,000 total miles (68,000 miles manual)

19. Huei Peng Research Summary 2008/02/11 - 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.

20. Huei Peng Research Summary 2008/02/11 - 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

21. Huei Peng Research Summary 2008/02/11 - 21 Outline  Introduction  Active Safety  Hybrid and Fuel Cell Vehicles  Conclusions

22. Huei Peng Research Summary 2008/02/11 - 22 Hybrid Vehicles Studied Series Parallel Split HEV HHV FCHV FTTS (2000) International Truck (2001) FMTV (2002) Eaton/Fed Ex (2004) DCX Natrium (2005) Super-HMMWV (2006) Super-HMMWV (2007)

23. Huei Peng Research Summary 2008/02/11 - 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 Power Split EVT Vehicle Engine M/G2 M/G1 Battery VehicleModel Fuel consumption, Distance Input state Output state Power demand Power error Throttle Gear shift AFM Mode

24. Huei Peng Research Summary 2008/02/11 - 24 Possible Design Process Automatically-Generated Dynamic Models a.Selection of the powertrain configuration b.Selection of the mechanical parameters c.Selection of the powertrain component sizes Model Based DP Control Theoretical best performance (non-causal) Model Based SDP or ECMS Control Implementable control strategies iteration

25. Huei Peng Research Summary 2008/02/11 - 25 Summary Energy Environment Safety Education 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.