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Bruzelius, Fredrik
Publications (10 of 42) Show all publications
Pettersson, P., Johannesson, P., Jacobson, B., Bruzelius, F., Fast, L. & Berglund, S. (2019). A statistical operating cycle description for prediction of road vehicles’ energy consumption. Transportation Research Part D: Transport and Environment, 73, 205-229
Open this publication in new window or tab >>A statistical operating cycle description for prediction of road vehicles’ energy consumption
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2019 (English)In: Transportation Research Part D: Transport and Environment, ISSN 1361-9209, E-ISSN 1879-2340, Vol. 73, p. 205-229Article in journal (Refereed) Published
Abstract [en]

We propose a novel statistical description of the physical properties of road transport operations by using stochastic models arranged in a hierarchical structure. The description includes speed signs, stops, speed bumps, curvature, topography, road roughness and ground type, with a road type introduced at the top of the hierarchy to group characteristics that are often connected. Methods are described how to generate data on a form (the operating cycle format) that can be used in dynamic simulations to estimate energy usage and CO2 emissions. To showcase the behaviour of the description, two examples are presented using a modular vehicle model for a heavy-duty truck: a sensitivity study on impacts from changes in the environment, and a comparison study on a real goods transport operation with respect to energy usage. It is found that the stop intensity and topography amplitude have the greatest impact in the sensitivity study (8.3% and 9.5% respectively), and the comparison study implies that the statistical description is capable of capturing properties of the road that are significant for vehicular energy usage. Moreover, it is discussed how the statistical description can be used in a vehicle design process, and how the mean CO2 emissions and its variation can be estimated for a vehicle specification.

Place, publisher, year, edition, pages
Elsevier Ltd, 2019
National Category
Infrastructure Engineering
Identifiers
urn:nbn:se:vti:diva-14086 (URN)10.1016/j.trd.2019.07.006 (DOI)2-s2.0-85068800790 (Scopus ID)
Available from: 2019-08-20 Created: 2019-08-20 Last updated: 2019-08-20Bibliographically approved
Chugh, T., Bruzelius, F., Klomp, M. & Shyrokau, B. (2018). Design of Haptic Feedback Control for Steer-by-Wire. In: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC: . Paper presented at 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018, 4 November 2018 through 7 November 2018 (pp. 1737-1744). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Design of Haptic Feedback Control for Steer-by-Wire
2018 (English)In: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 1737-1744Conference paper, Published paper (Refereed)
Abstract [en]

This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2018
Keywords
Steering (process), Interface, Electronic driving aid, Haptic, Performance, Stability
National Category
Control Engineering
Research subject
90 Road: Vehicles and vehicle technology, 911 Road: Components of the vehicle
Identifiers
urn:nbn:se:vti:diva-13655 (URN)10.1109/ITSC.2018.8569795 (DOI)2-s2.0-85060437781 (Scopus ID)9781728103235 (ISBN)
Conference
21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018, 4 November 2018 through 7 November 2018
Available from: 2019-05-17 Created: 2019-05-17 Last updated: 2019-06-27Bibliographically approved
Blissing, B. & Bruzelius, F. (2018). Exploring the suitability of virtual reality for driving simulation. In: Andras Kemeny, Frédéric Mérienne, Florent Columbet, Stéphane Espié (Ed.), Proceedings of the Driving Simulation Conference 2018: . Paper presented at Driving Simulation Conference 2018 (pp. 163-166). Antibes, France
Open this publication in new window or tab >>Exploring the suitability of virtual reality for driving simulation
2018 (English)In: Proceedings of the Driving Simulation Conference 2018 / [ed] Andras Kemeny, Frédéric Mérienne, Florent Columbet, Stéphane Espié, Antibes, France, 2018, p. 163-166Conference paper, Published paper (Refereed)
Abstract [en]

Head mounted displays (HMDs) is an emerging technology and the availability of affordable systems is growing fast. Replacing projector and large screen solutions with head mounted displays may appear as an appealing solution. However, inherent properties and technical limitations of these systems need to be understood and considered before making the leap to virtual reality.

This paper outlines some of the most fundamental limitations of head mounted displays relevant to this context, both from a technical and human factors perspective. Desirable properties of scenarios and types of studies are deduced, based on these limitations. Finally, a meta analysis is performed on the feasibility of transferring simulator studies found in the literature to platforms with head mounted displays. The results suggest that a noticeable amount (40%) of the investigated simulator studies could likely have been performed with head mounted displays. This number could be increased further with technical advances in display resolution, display technology, reduction in latency, etc.

Place, publisher, year, edition, pages
Antibes, France: , 2018
Keywords
Simulator (driving), Driver information, In vehicle information, Technology, Change, Human factor
National Category
Interaction Technologies
Research subject
90 Road: Vehicles and vehicle technology, 911 Road: Components of the vehicle; 80 Road: Traffic safety and accidents, 84 Road: Road users
Identifiers
urn:nbn:se:vti:diva-13341 (URN)978-2-85782-734-4 (ISBN)
Conference
Driving Simulation Conference 2018
Projects
Chronos 2
Funder
VINNOVA
Available from: 2018-10-15 Created: 2018-10-15 Last updated: 2019-03-13Bibliographically approved
Albinsson, A., Bruzelius, F. & Hjort, M. (2018). Required friction utilization for friction estimation on wet asphalt, an experimental study. In: The Dynamics of Vehicles on Roads and Tracks: . Paper presented at 25th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2017, 14 August 2017 through 18 August 2017 (pp. 407-412). CRC Press/Balkema
Open this publication in new window or tab >>Required friction utilization for friction estimation on wet asphalt, an experimental study
2018 (English)In: The Dynamics of Vehicles on Roads and Tracks, CRC Press/Balkema , 2018, p. 407-412Conference paper, Published paper (Refereed)
Abstract [en]

Real-time information about the friction coefficient between the tyre and the road can be used to improve active safety systems and is an enabler for autonomous vehicles. Large tyre force excitation is normally required to obtain an accurate friction estimate. This paper quantifies this requirement for four different tyre models on wet salted asphalt at water freezing temperatures. Cost functions and different tyre models are evaluated and the results are compared to a previous study performed for snow conditions. The suitability of commonly used tyre models for friction estimation on snow and wet asphalt has thus been investigated.

Place, publisher, year, edition, pages
CRC Press/Balkema, 2018
Keywords
Contact (tyre road), Friction, Real time, Tyre, Calculation, Force
National Category
Vehicle Engineering
Research subject
90 Road: Vehicles and vehicle technology, 911 Road: Components of the vehicle
Identifiers
urn:nbn:se:vti:diva-13696 (URN)2-s2.0-85061325886 (Scopus ID)9781138035713 (ISBN)
Conference
25th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2017, 14 August 2017 through 18 August 2017
Available from: 2019-03-25 Created: 2019-03-25 Last updated: 2019-06-27Bibliographically approved
Bruzelius, F. & Kusachov, A. (2018). Winter testing in driving simulators. Linköping: VTI
Open this publication in new window or tab >>Winter testing in driving simulators
2018 (English)Report (Other academic)
Abstract [en]

Many traffic accidents are due to winter conditions like slippery roads and limited visibility. The road administrators put a lot of effort into snow removal and de-icing the roads, and the vehicle manufacturers have been working with functionality to support drivers in winter conditions for decades.

Many issues of driving in winter conditions originate in drivers’ behaviours such as risk taking and lack of awareness. Studying drivers’ behaviour in winter conditions in general, and the effect of various countermeasures of the vehicle, would increase the understanding of the underlying mechanisms and could possibly be used to reduce the accident risks. Motion-base driving simulators are tools frequently used for driving behaviour research. However, the validity of the results of such studies depends to a large extent on the realism of the simulation. The purpose of this project was to study winter simulation with the aim to improve the realism of simulator driving in winter conditions.

Driving in winter is in many ways different from driving in summer. The difference can to a considerable extent be explained by the tire-to-road interaction. Winter driving is typically characterized by softer motion and slower development of tire forces. In the present project two aspects of the motion have been studied, the motion feedback in the simulator and models for tire-to-snow behaviour.

Vehicle motion during winter driving is characterized by large vehicle body slip angles and the associated yaw motions. Thus, understanding the importance of yaw motion feedback is essential to simulate winter conditions. A study was designed to investigate the impact that lack of yaw motion will have on the driver, and if it alters his driving behaviour. It was found that the yaw motion alters the driving behaviour, implying that it contains vital information for a wide range of driving situations. A second study was carried out to investigate if the rotation centre, which is a consequence of the yaw and lateral motions, can be used to present valuable information about the vehicle state to the driver. Indicative results suggest that the rotation centre of the motion is valuable to the driver, but further studies are needed. The softer and slower motions of winter driving suggest that pre-positioning of the simulator’s motion platform could be performed to improve the motion envelope. A third implementation study performed in the project suggests this.  

Place, publisher, year, edition, pages
Linköping: VTI, 2018. p. 32
Series
ViP publication: ViP - Virtual Prototyping and Assessment by Simulation ; 2017-2
Keywords
Tyre road contact, Properties, Friction, Slipperiness, Icy road, Snow, Yawing (veh), Simulation, Simulator (driving)
National Category
Vehicle Engineering
Research subject
90 Road: Vehicles and vehicle technology, 91 Road: Vehicle design and construction
Identifiers
urn:nbn:se:vti:diva-13268 (URN)
Available from: 2018-09-20 Created: 2018-09-20 Last updated: 2019-06-04Bibliographically approved
Hjort, M., Eriksson, O. & Bruzelius, F. (2017). Comprehensive study of the performance of winter tires on ice, snow, and asphalt roads: The influence of tire type and wear. Tire Science and Technology, 45(3), 175-199
Open this publication in new window or tab >>Comprehensive study of the performance of winter tires on ice, snow, and asphalt roads: The influence of tire type and wear
2017 (English)In: Tire Science and Technology, ISSN 0090-8657, Vol. 45, no 3, p. 175-199Article in journal (Refereed) Published
Abstract [en]

This work presents a comprehensive study of the performance of winter tires on snow, ice, and asphalt. A set of 77 different winter tires were carefully selected for the study. Of these, 27 were new and 50 were worn from real traffic use. All three tire types for winter conditions (Nordic, European, and studded) were represented. All tires have been tested using a mobile tire-testing device for snow and asphalt and using a stationary tire-testing facility for ice. Both devices recorded the tire forces and motions, enabling a close to complete stationary characterization of the tires. In addition, 42 of the tires were tested on a passenger car, where brake performance was evaluated for the three different road conditions. This enables a comparative study of performance between tire types and wear for various winter road conditions. The results suggest that the recorded data represent real vehicle performance. Some conclusions from the measurements are that the effect of wear is consistent between the tire groups and that the performance degradation is most noticeable on studded tires on ice and on European tires on snow.

Place, publisher, year, edition, pages
Tire Society Inc., 2017
Keywords
Tyre, Winter, Studded tyre, Wear, Snow, Ice, Braking distance, Performance
National Category
Vehicle Engineering
Research subject
90 Road: Vehicles and vehicle technology, 911 Road: Components of the vehicle
Identifiers
urn:nbn:se:vti:diva-12489 (URN)10.2346/tire.17.450304 (DOI)000413853100002 ()2-s2.0-85032510335 (Scopus ID)
Available from: 2017-11-17 Created: 2017-11-17 Last updated: 2017-12-04Bibliographically approved
Blissing, B., Bruzelius, F. & Eriksson, O. (2017). Driver behavior in mixed and virtual reality: A comparative study. Transportation Research Part F: Traffic Psychology and Behaviour
Open this publication in new window or tab >>Driver behavior in mixed and virtual reality: A comparative study
2017 (English)In: Transportation Research Part F: Traffic Psychology and Behaviour, ISSN 1369-8478, E-ISSN 1873-5517Article in journal (Refereed) In press
Abstract [en]

This paper presents a comparative study of driving behavior when using different virtual reality modes. Test subjects were exposed to mixed, virtual, and real reality using a head mounted display capable of video see-through, while performing a simple driving task. The driving behavior was quantified in steering and acceleration/deceleration activities, divided into local and global components. There was a distinct effect of wearing a head mounted display, which affected all measured variables. Results show that average speed was the most significant difference between mixed and virtual reality, while the steering behavior was consistent between modes. All subjects but one were able to successfully complete the driving task, suggesting that virtual driving could be a potential complement to driving simulators.

Place, publisher, year, edition, pages
Elsevier Ltd, 2017
Keywords
Driver, Behaviour, Simulation, Metod, Measurement, Driving, Steering (process), Speed
National Category
Applied Psychology
Research subject
80 Road: Traffic safety and accidents, 841 Road: Road user behaviour
Identifiers
urn:nbn:se:vti:diva-12462 (URN)10.1016/j.trf.2017.08.005 (DOI)2-s2.0-85030032565 (Scopus ID)
Available from: 2017-12-07 Created: 2017-12-07 Last updated: 2017-12-07Bibliographically approved
Kharrazi, S., Bruzelius, F. & Sandberg, U. (2017). Performance based standards for high capacity transports in Sweden: FIFFI project 2013-03881: final report. Linköping: Statens väg- och transportforskningsinstitut
Open this publication in new window or tab >>Performance based standards for high capacity transports in Sweden: FIFFI project 2013-03881: final report
2017 (English)Report (Other academic)
Alternative title[sv]
Prestandabaserade kriterier för högkapacitetstransporter i Sverige : FIFFI projekt 2013-03881: slutrapport
Abstract [en]

Project “Performance Based Standards for High Capacity Transports in Sweden” started at the end of 2013 to investigate applicability of PBS in Sweden, and ended in Autumn 2017. The purpose of the project was to propose a performance based regulation of HCT vehicles and their access to the road network; under a PBS approach to regulation, standards would specify the performance required from the vehicle, rather than mandating prescriptive length and weight limits. In this project, all the three domains of safety, infrastructure and environment were addressed, but the focus has been on safety for which extensive testing, simulations and analysis were performed. This report gathers the outcomes of the project.

Abstract [sv]

Projektet “Performance Based Standards for High Capacity Transports in Sweden” startade i slutet av 2013 för att undersöka möjligheterna att applicera prestandabaserade kriterier, eller Performance Based Standards (PBS), i Sverige. Projektet avslutades hösten 2017. Vid prestandabaserade föreskrifter så specificeras kriterier eller standarder för en prestandanivå som ett fordon måste uppfylla, istället för att bestämma hur samma prestandanivå skulle uppnås genom att sätta gränser för fordonets längd eller vikt. I PBS-projektet har de tre domänerna säkerhet, infrastruktur och miljö beaktas, men fokus var på säkerhet och därför har omfattande testning, simulering och analys genomförts. Denna rapport beskriver resultatet från projektet.

Place, publisher, year, edition, pages
Linköping: Statens väg- och transportforskningsinstitut, 2017. p. 71
Series
VTI rapport, ISSN 0347-6030 ; 948A
Keywords
Longer and heavier vehicle, Lorry, Performance, Vehicle stability, Dynamics, Vehicle, Vehicle handling, Simulator (driving), Test
National Category
Transport Systems and Logistics
Research subject
90 Road: Vehicles and vehicle technology, 91 Road: Vehicle design and construction
Identifiers
urn:nbn:se:vti:diva-12727 (URN)
Available from: 2017-12-21 Created: 2017-12-21 Last updated: 2019-05-17Bibliographically approved
Sedran, S., Bruzelius, F., Kharrazi, S., Jacobson, B. & Amati, N. (2016). A Heavy Vehicle Dynamics Model for Driving Simulators. In: : . Paper presented at 14th International Heavy Vehicle Transport Technology Symposium, Rotorua, New Zealand.
Open this publication in new window or tab >>A Heavy Vehicle Dynamics Model for Driving Simulators
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2016 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The aim of the present paper was to develop and validate a heavy vehicle dynamics model for driving simulators. The model was thought to be open, with a high level of readability and flexibility for future understanding, modification and use. A stepwise increment of the model complexity was utilized to understand the most contributing factors and to obtain a model capable of running in real-time. The model has been validated objectively using a previously validated model and through subjective evaluation in a driving simulator.

Keywords
Simulator (driving), Lorry, Bus, Dynamics, , Mathematical model, Evaluation (assessment)
National Category
Vehicle Engineering
Research subject
90 Road: Vehicles and vehicle technology, 91 Road: Vehicle design and construction
Identifiers
urn:nbn:se:vti:diva-11720 (URN)
Conference
14th International Heavy Vehicle Transport Technology Symposium, Rotorua, New Zealand
Available from: 2017-03-16 Created: 2017-03-16 Last updated: 2017-03-23Bibliographically approved
Blissing, B., Bruzelius, F. & Eriksson, O. (2016). Driver behavior in mixed and virtual reality: a comparative study. In: Andras Kemeny, Frédéric Mérienne, Florent Columbet, Stéphane Espié (Ed.), Proceedings of the DSC 2016 Europe: . Paper presented at Driving Simulator Conference, 7-9 sept, 2016. Paris, France (pp. 179-186). Paris, France: Driving Simulation Association
Open this publication in new window or tab >>Driver behavior in mixed and virtual reality: a comparative study
2016 (English)In: Proceedings of the DSC 2016 Europe / [ed] Andras Kemeny, Frédéric Mérienne, Florent Columbet, Stéphane Espié, Paris, France: Driving Simulation Association , 2016, p. 179-186Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a comparative study of driving behavior when using different virtual reality modes. Test subjects were exposed to mixed, virtual, and real reality using a head mounted display capable of video see-through, while performing a simple driving task. The driving behavior was quantified in steering and acceleration/deceleration activities, divided into local and global components. There was a distinct effect of wearing a head mounted display, which affected all measured variables. Results show that average speed was the most significant difference between mixed and virtual reality, while the steering behavior was consistent between modes. All subjects but one were able to successfully complete the driving task, suggesting that virtual driving could be a potential complement to driving simulators.

Place, publisher, year, edition, pages
Paris, France: Driving Simulation Association, 2016
Keywords
Driving, Simulation, Impact study, Behaviour, Average speed, Steering (process)
National Category
Interaction Technologies
Research subject
80 Road: Traffic safety and accidents, 841 Road: Road user behaviour
Identifiers
urn:nbn:se:vti:diva-10927 (URN)
Conference
Driving Simulator Conference, 7-9 sept, 2016. Paris, France
Projects
Next Generation Test Methods for Active Safety Functions
Funder
VINNOVA, 2011-01819TrenOp, Transport Research Environment with Novel Perspectives
Available from: 2016-09-19 Created: 2016-09-19 Last updated: 2016-10-25Bibliographically approved
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