Publications
Change search
Refine search result
1 - 42 of 42
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Albinsson, Anton
    et al.
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle. Chalmers Tekniska Högskola.
    Hjort, Mattias
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Required friction utilization for friction estimation on wet asphalt, an experimental study2018In: The Dynamics of Vehicles on Roads and Tracks, CRC Press/Balkema , 2018, p. 407-412Conference 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.

  • 2.
    Albinsson, Anton
    et al.
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Jacobson, Bengt
    Chalmers Tekniska Högskola.
    Jonasson, Mats
    Volvo Cars Cooperation.
    Tire Force Estimation Based on the Recursive Least Square Method Utilizing Wheel Torque Measurement2014Conference paper (Refereed)
    Abstract [en]

    This study investigates a new tire force estimator based on the recursive least square (RLS) method. Tire force estimation with known driving wheel torque is studied and compared to the case with torque estimation from the internal combustion engine. This is motivated by a future scenario with electric propulsion, which reasonably gives improved wheel torque estimations. Sensitivity to vehicle parameters and challenges with individual lateral tire force estimation are also investigated. The results, experimental and simulation data, show good performance and potential for tire force estimation using the RLS method.

  • 3.
    Albinsson, Anton
    et al.
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Pettersson, Pierre
    BorgWarner TorqTransfer Systems,.
    Jonasson, Mats
    Kungliga Tekniska Högskolan.
    Jacobson, Bengt
    Chalmers Tekniska Högskola.
    Estimation of the inertial parameters of vehicles with electric propulsion2015In: Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, ISSN 0954-4070, E-ISSN 2041-2991, p. 1-18, article id 0954-4070Article in journal (Refereed)
    Abstract [en]

    More accurate information about the basic vehicle parameters can improve the dynamic control functions of a vehicle. Methods for online estimation of the mass, the rolling resistance, the aerodynamic drag coefficient, the yaw inertia and the longitudinal position of the centre of gravity of an electric hybrid vehicle is therefore proposed. The estimators use the standard vehicle sensor set and the estimate of the electric motor torque. No additional sensors are hence required and no assumptions are made regarding the tyre or the vehicle characteristics. Consequently, all information about the vehicle is available to the estimator.

    The estimators are evaluated using both simulations and experiments. Estimations of the mass, the rolling resistance and the aerodynamic drag coefficient are based on a recursive least-squares method with multiple forgetting factors. The mass estimate converged to within 3% of the measured vehicle mass for the test cases with sufficient excitation that were evaluated. Two methods to estimate the longitudinal position of the centre of gravity and the yaw inertia are also proposed. The first method is based on the equations of motion and was found to be sensitive to the measurement and parameter errors. The second method is based on the estimated mass and seat-belt indicators.

    This estimator is more robust and reduces the estimation error in comparison with that obtained by assuming static parameters. The results show that the proposed method improves the estimations of the inertial parameters. Hence, it enables online non-linear tyre force estimators and tyre-model-based tyre–road friction estimators to be used in production vehicles.

  • 4.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    A Technical Platform using Augmented Reality for Active Safety Testing2015In: 2015 Road Safety & Simulation International Conference Proceedings / [ed] Dr. Essam Radwan, Dr. Mohamed Abdel-Aty, Orlando, USA: University of Central Florida , 2015, p. 793-803Conference paper (Refereed)
    Abstract [en]

    This paper describes the design of a video see-through augmented reality system for active safety testing. The development is explained in detail, with focus on the design considerations for the different subsystems. It is shown that it is possible to build a system using available commercial off-the-shelf components, while still maintaining the performance needed for the intended application. Accuracy and resolution requirements of the tracking systems are discussed along with measurement methods. We also examine how to use the hardware efficiently to minimize latency and a device to measure and quantify end-to-end latency has been developed.

  • 5.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Driving Simulation and Visualization.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Exploring the suitability of virtual reality for driving simulation2018In: Proceedings of the Driving Simulation Conference 2018 / [ed] Andras Kemeny, Frédéric Mérienne, Florent Columbet, Stéphane Espié, Antibes, France, 2018, p. 163-166Conference 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.

  • 6.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Eriksson, Olle
    Swedish National Road and Transport Research Institute, Infrastructure, Infrastructure maintenance.
    Driver behavior in mixed and virtual reality: a comparative study2016In: 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 (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.

  • 7.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Driving Simulation and Visualization.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driving Simulation and Visualization.
    Eriksson, Olle
    Swedish National Road and Transport Research Institute, Infrastructure, Infrastructure maintenance.
    Driver behavior in mixed and virtual reality: A comparative study2017In: Transportation Research Part F: Traffic Psychology and Behaviour, ISSN 1369-8478, E-ISSN 1873-5517Article in journal (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.

  • 8.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Eriksson, Olle
    Swedish National Road and Transport Research Institute, Infrastructure, Infrastructure maintenance.
    Effects of Visual Latency on Vehicle Driving Behavior2016In: ACM Transactions on Applied Perception, ISSN 1544-3558, E-ISSN 1544-3965, Vol. 14, no 1, p. 5:1-5:12Article in journal (Refereed)
    Abstract [en]

    Using mixed reality in vehicles provides a potential alternative to using driving simulators when studying driver-vehicle inter- action. However, virtual reality systems introduce latency in the visual system that may alter driving behavior, which, in turn, results in questionable validity. Previous studies have mainly focused on visual latency as a separate phenomenon. In this work, latency is studied from a task-dependent viewpoint to investigate how participants’ driving behavior changed with increased latency. In this study, the investigation was performed through experiments in which regular drivers were subjected to different levels of visual latency while performing a simple slalom driving task. The drivers’ performances were recorded and evaluated in both lateral and longitudinal directions along with self-assessment questionnaires regarding task performance and difficulty. All participants managed to complete the driving tasks successfully, even under high latency conditions, but were clearly affected by the increased visual latency. The results suggest that drivers compensate for longer latencies by steering more and increasing the safety margins but without reducing their speed.

  • 9.
    Blissing, Björn
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Ölvander, Johan
    Linköpings universitet, Tekniska högskolan.
    Augmented and Mixed Reality as a tool for evaluation of Vehicle Active Safety Systems2013Conference paper (Refereed)
    Abstract [en]

    Even though the realism of driving simulators increases constantly, there is a potential issue with how representative the test is compared to a real life scenario. An alternative to simulators is to present a mixture of real and simulated environment to the driver and perform the scenario at a test track when driving a real vehicle. This enables an efficient way of testing that inherits many of the advantages of driving simulators as well as some of the advantages of physical testing in prototype vehicles. The present paper is a compilation of previous research in augmented reality in vehicle driving situations, focusing on technical limitations of Head-Mounted-Displays.

  • 10.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    A theoretical justification of the sine with dwell manoeuvre2015In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159, Vol. 53, no 4, p. 493-505Article in journal (Refereed)
    Abstract [en]

    The sine with dwell (SWD) manoeuvre has received much attention within the context of vehicle stability testing. This manoeuvre is used in a test developed by the NHTSA, designed to certificate electronic stability control systems in light vehicles. The test is used in legislations as well as in consumer tests all over the globe. The SWD manoeuvre was designed using test vehicles on a test track and experimentally validated. The paper at hand uses optimal control theory to theoretically justify the use of the SWD manoeuvre to produce a severe lateral motion and over-steering based on steering input. It is shown that a manoeuvre similar to the SWD manoeuvre can be obtained from an optimal control problem using simple vehicle dynamics models. The optimal control method is further used to analyse the manoeuvre's robustness with respect to vehicle dimensions and tyre properties. It is shown that the manoeuvre is robust in dimensions, which theoretically motivates its application for various sizes of vehicles.

  • 11.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Specifications list2010Report (Other academic)
    Abstract [en]

    eVALUE is addressing active safety functions and their capability to perform through two courses of action: defining and quantifying the requirements of a safety function under a relevant traffic accident scenario and developing the testing and evaluation methods for the active safety functions of vehicles. WP2 aims at developing testing procedures based on the system descriptions and scenarios defined in WP1. The testing procedures will be integrated in WP3 and finally carried out and assessed in WP4. D2.2 takes the output of D2.1 and, where scenarios, safety functions and test procedures are related, defines the basis for the test procedures further developed in the next work packages. The test procedures are drafted, taking into account the future “testing protocols” and the “assessment protocols”. The document is structured according to the scheme followed from the project start, where tests are classified into “Design Reviews”,”Physical Testing” and “Laboratory Testing”. The test procedures are also classified depending on clustering different safety functions: “Longitudinal Assistance”, “Lateral Assistance” and “Stability”.

  • 12.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Gomez Fernandez, Jorge
    Chalmers Tekniska Högskola.
    Augusto, Bruno
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    A Basic Vehicle Dynamics Model for Driving Simulators2013In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 8, no 4, p. 364-385Article in journal (Refereed)
    Abstract [en]

    Driving simulators are a useful research tool in studies of vehicle and transport-related human machine interface. A vital part of the driving simulator is the vehicle dynamics model. In the present paper, such a model is developed. The model implements basic first order phenomena, but is yet complete in the terms of modelled parts of the vehicle. A major challenge is the trade-off between simplicity and accuracy imposed by the capabilities of the driving simulators motion platform. The modelling language Modelica was used for readability reasons. The model has been validated toward both measurements of a real car and subjectively in a driving simulator. It is shown that the model is well capable of fulfilling the imposed requirements, despite its simplicity. The model is open and available upon request.

  • 13.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Hjort, Mattias
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute, Infrastructure, Crash safety.
    Towards an Indoor Winter Tire Classification Test2012In: Proceedings of VSDIA 2012, 2012Conference paper (Refereed)
    Abstract [en]

    From a traffic safety perspective it is highly motivated to define winter tires interms of their performance in icy road conditions. The present definition of winter(snow) tires, introduced in the EU in 2012, is based on packed snow performance.The present paper investigates the feasibility of an indoor winter tire classificationtest on ice. Results presented here indicates that a test procedure in an indoorhockey rink is possible, with relatively high repeatability. However, further fieldtest is required to fully establish feasibility of the procedure.

  • 14.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Hjort, Mattias
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Svendenius, Jacob
    BorgWarner TTS.
    Validation of a basic combined slip tyre model for use in friction estimation applications2014In: Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, ISSN 0954-4070, E-ISSN 2041-2991, Vol. 228, no 13, p. 1622-1629Article in journal (Refereed)
    Abstract [en]

    Tyre modelling is an important part of understanding and estimating the tyre-road friction. In this paper a basic steady-state tyre model for the combined-slip case is derived. The model is intended to be used in friction estimations applications, where the model complexity is of high priority. The model, described using only two parameters, is validated with measured data from various conditions and tyre types using mobile measurement equipment. The performance from the measurements suggests that only two parameters are sufficient for the combined-slip case.

  • 15.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Karlsson, MariAnne
    Chalmers Tekniska Högskola.
    Augusto, Bruno
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Realism of overtaking situations in motion based driving simulators2013Conference paper (Refereed)
    Abstract [en]

    The credibility of the research results of driving simulator studies is highly dependent on the realism that the simulator is capable of producing. A key component is therefore how realistic the driving is perceived by the drivers (test subjects). Overtaking is a frequently occurring traffic situation (as well as one of the highest risk manoeuvres). The aim of the present study was to enhance the perceived realism of overtaking situations in a motion-based driving simulator by introduce aerodynamic forces and moments. An earlier developed real time model of the aerodynamic forces and moments was been implemented and tested in a study with test drivers.With an appropriate scaling of the forces and torques it was shown that the perceived realism can be enhanced by the introduction of these effects.

  • 16.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Kharrazi, Sogol
    Swedish National Road and Transport Research Institute, Traffic and road users, Förare och fordon, FOF.
    Pettersson, Emil
    Volvo GTT.
    Model and Road Surface Sensitivity of Longitudinal Performance Based Standards2016Conference paper (Refereed)
    Abstract [en]

    Performance-based standards (PBS) is a regulation policy to address the complexity of variations in vehicle combinations. It enables a direct way of addressing certain requirements associated with the safety, environment and road network and their implications to the vehicle specific quantities without stipulating vehicle properties.

    Computer-based simulations may be an efficient tool to assess the performance measures. However, using simulations through models in a legislation raise questions of model accuracy and model complexity. What is a required level of modelling details to be used to assess a PBS measure?

    We investigate three level of complexity of models and the impact this have on three longitudinal performance measures; Startability, Gradeablity and Acceleration Capability. Simulations for 10 vehicle combinations are compared with two different engine alternatives. For Nordic countries, slippery road conditions are common during winter conditions. Hence, low friction is included in the comparison.

    The comparison suggested that the complexity could potentially be kept really low, without major loss of accuracy. However, for slippery conditions, a higher levels of complexity might be required.

  • 17.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Kusachov, Artem
    Winter testing in driving simulators2018Report (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.  

  • 18.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Svendenius, Jacob
    Haldex Brake Products.
    Yngve, Simon
    SAAB Automobile.
    Casselgren, Johan
    Volvo Technology.
    Rönnberg, Johan
    Volvo cars cooporation.
    Olsson, Gunnar
    Optical Sensors.
    Evaluation of Tire to Road Friction Estimators, Test Methods and Metrics2010In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 5, no 2/3, p. 213-236Article in journal (Refereed)
    Abstract [en]

    The tyre to road contact friction is one of the most important properties when it comes to manoeuvrability of ground vehicles and information, to driver and vehicle, is of vital importance in critical situations. Different characteristics of different friction estimation methods make it hard to determine and compare performance of estimators. This article is an attempt to define and evaluate the performance of tyre to road friction estimators. The objective of the performance evaluation is to define and grade the performance of estimators based on all sorts of approaches and combinations of these. The result may be used in the context of benchmarking as well as a tool in the development process of the estimator. The test methods and metrics presented are illustrated with a comparative study of three different estimation approaches

  • 19.
    Bruzelius, Fredrik
    et al.
    Chalmers Tekniska Högskola.
    Uystepruyst, David
    Chalmers Tekniska Högskola.
    Jacobson, Bengt
    Chalmers Tekniska Högskola.
    Krajnovi´c, Sinisa
    Chalmers Tekniska Högskola.
    A simple real-time aerodynamic model for vehicles in overtaking situations2013In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 8, no 3, p. 241-259Article in journal (Refereed)
    Abstract [en]

    Aerodynamic forces and moments play an important role inovertaking situations and affect the trajectory of the involved vehicles. One method of studying these effects and how the driver responds to these is via driving simulator studies. However, models that describe aerodynamic forces and moments are typically computationally complex and not suited for real time execution in driving simulators. The present work presents a simplified real time model of the moments and forces acting in an overtaking situation due to aerodynamic pressure imbalances. The model is compared with experimentally validated Navier-Stokes solutions. Despite the model’s simplicity, implemented as finite impulse response filters, it manages to capture the main features of the forces and moments. The approach used to derive the model is fairly general and might be used in similar applications where computational burden is a key issue.

  • 20.
    Bruzelius, Fredrik
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Vesco, Mauro
    CRF.
    Camuffo, Isabella
    CRF.
    Dalmau, Josep Maria
    IDIADA.
    Baures, Sebastien
    IDIADA.
    Eriksson, Henrik
    Statens Provningsanstalt.
    Herard, Jacques
    Statens Provningsanstalt.
    Nordström, Lars
    VTEC.
    Basso, Rafael
    VTEC.
    Isasi, Lucia
    TECNALIA.
    Zlocki, Adrian
    IKA.
    Lesemann, Micha
    IKA.
    Lützow, Jörn
    IKA.
    Westhoff, Daniel
    SICK.
    Test report2010Report (Other academic)
    Abstract [en]

    This report is the document summarising the testing experience and knowledge gained from the physical testing activities within the eVALUE project. The document contains brief introductions to the testing scenarios as well as short summaries of conclusions. Appended to this document are the testing reports that have been compiled during the different test sessions. Physical testing at test tracks all across Europe has been the main input in the development of scenarios and test procedures. This document describes the development tests that have been performed during 2010, based on a first draft set of testing protocols. The experience from the performed tests has been used as an important input to the revision of the testing protocols, i.e. the formal documents that describe how a test should be performed and evaluated. These protocols are documented in the separate Deliverable 3.2.

  • 21. Camuffo, I
    et al.
    Cicilloni, R
    Fürstenberg, K
    Westhoff, D
    Aparicio, A
    Benmimoun, M
    Lützow, J
    Lesemann, M
    Zlocki, A
    Eriksson, H
    Herard, J
    Jacobson, J
    Bilbao, N
    Iglesias, I
    Isasi, L
    Sanchez, J
    Leanderson, S
    Heinig, K
    Swedish National Road and Transport Research Institute.
    Andersson, Jan
    Swedish National Road and Transport Research Institute.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute.
    Jansson, Jonas
    Swedish National Road and Transport Research Institute.
    Concepts definition2009Report (Other academic)
  • 22.
    Chugh, Tushar
    et al.
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Klomp, Matthijs
    Chalmers Tekniska Högskola.
    Shyrokau, Barys
    Delft University of Technology.
    Design of Haptic Feedback Control for Steer-by-Wire2018In: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 1737-1744Conference 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.

  • 23.
    Dela, Nicolas
    et al.
    Volvo 3P.
    Laine, Leo
    Volvo 3P.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Sehammar, Håkan
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Renner, Linda
    Swedish National Road and Transport Research Institute, Traffic and road users, Human-vehicle-transport system interaction.
    Markkula, Gustav
    Volvo Technology AB.
    Karlsson, Ann-Sofi
    Volvo Technology AB.
    A pilot evaluation of using large movement driving simulator experiments to study driver behaviour influence on active safety systems for commercial heavy vehicles2009Report (Other academic)
    Abstract [en]

    The evaluation of active safety functions like Electronic Stability Control (ESC) is of increasing importance, driven by legislation, to commercial heavy vehicle producers and to society as a whole to predict the potential benefits of the systems. Direct testing in real traffic with normal drivers of those functions are most often infeasible due to cost, repeatability and safety. This paper presents an attempt to explore the possibility of using large scale moving based driving simulators to evaluate functions like ESC. This is conducted through a simulator experiment where the subject drivers have been provoked in driving scenarios to ESC interventions. The experiment indicates the possibility of using driving simulators for evaluation purposes. This implies that studies of the benefits can be performed with higher accuracy regarding repeatability and evaluation testing of active safety functions can be made more cost efficient and without jeopardizing safety of involved driver and other road-users.

  • 24.
    Dela, Nicolas
    et al.
    Volvo 3P.
    Laine, Leo
    Volvo 3P.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute.
    Sehammar, Håkan
    Swedish National Road and Transport Research Institute.
    Renner, Linda
    Swedish National Road and Transport Research Institute.
    Markkula, Gustav
    Volvo Technology AB.
    Karlsson, Ann-Sofi
    Volvo Technology AB.
    A pilot evaluation of using large movement driving simulator experiments to study driver behaviour influence on active safety systems for commercial heavy vehicles2009In: Proceedings of the 21st International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD'09), Stockholm, Sweden, August 17-21, 2009, 2009Conference paper (Refereed)
    Abstract [en]

    The evaluation of active safety functions like Electronic Stability Control (ESC) is of increasing importance, driven by legislation, to commercial heavy vehicle producers and to society as a whole to predict the potential benefits of the systems. Direct testing in real traffic with normal drivers of those functions are most often infeasible due to cost, repeatability and safety. This paper presents an attempt to explore the possibility of using large scale moving based driving simulators to evaluate functions like ESC. This is conducted through a simulator experiment where the subject drivers have been provoked in driving scenarios to ESC interventions. The experiment indicates the possibility of using driving simulators for evaluation purposes. This implies that studies of the benefits can be performed with higher accuracy regarding repeatability and evaluation testing of active safety functions can be made more cost efficient and without jeopardizing safety of involved driver and other road-users.

  • 25.
    Hansson, Patrik
    et al.
    Swedish National Road and Transport Research Institute.
    Stenbeck, Anders
    Swedish National Road and Transport Research Institute.
    Kusachov, Artem
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Augusto, Bruno
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Prepositioning of driving simulator motion systems2015In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6444, Vol. 10, no 3, p. 288-304Article in journal (Refereed)
    Abstract [en]

    Motion base driving simulators have limited space in which to recreate the motions of the simulated road vehicle. Conventional motion cueing algorithms strive to centre the cabin in the simulator motion envelope to accommodate accelerations in a worst case scenario while respecting the physical boundaries. Using information about the road ahead one can preposition the cabin to an off-centre point, virtually increasing the available space so that larger motions are made possible. The prepositioning algorithm presented here was developed as an addition to a classical motion cueing algorithm and makes use of road data and vehicle speed to adjust the simulator displacement. Simulations show that the amount of acceleration presented by an x, y-sled system can, with prepositioning, be increased by up to 25% in longitudinal and 53% in lateral direction for an example road. A comparative study including 12 test subjects indicates that the perceived realism is rated higher with prepositioning.

  • 26.
    Hjort, Mattias
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute, Infrastructure, Crash safety.
    The importance of tyre grip for the ESC function on icy roads2011Conference paper (Refereed)
    Abstract [en]

    In this study we have investigated how tyres with different road grip affect the stability of passenger cars equipped with Electronic Stability Control (ESC) systems during winter road conditions. A field test with a double lane change manoeuvre on ice was performed using 6 test drivers, 4 different passenger cars and 4 different studless winter tyres. The specific tyres were chosen to represent a large difference of road grip on ice and snow. The results show that there was a large performance difference between the best and worst tyres with ESC off, and that activating ESC only resulted in a minor increase of performance.

  • 27.
    Hjort, Mattias
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute, Infrastructure, Crash safety.
    Överstyrning på is och snö med olika vinterdäck: metodutveckling och fältstudie2011Report (Other academic)
    Abstract [en]

    Traffic accidents during winter time are to a larger extent categorized by loss of vehicle control resulting in a skidding accident, compared to accidents occurring summer time. In a study by the Swedish Transport Administration, it was shown that for fatal accidents happening winter time, skidding had occurred in 64 per cent of the accidents on winter road conditions. Out of these, 82 per cent were so called over steering accidents, i.e. events where the vehicle starts to spin.

    The purpose of this study was to develop av method for testing a vehicle's stability during oversteering on slippery roadways, and to use this method to test how large the difference is between different kinds of winter tyres on ice and snow.

    A test method based on NTHSA's sine-with-dwell manoueuvre was developed. The manouevre uses a steering robot and induces heavy oversteering on slippery surfaces, such as ice and snow.

    The manouevre was then used with an ESC equipped rear-wheel driven passenger car, fitted with both new and worn winter tyres of the three different kinds that are available in Sweden, to compare the level of oversteering that is possible to obtain with a steering manouevre on different ice and snow surfaces. The results show that studded tyres are more stable than unstudded on smooth ice. Even the worn studded tyre, with only a fraction of the studs remaining, is performing well compared to the unstudded tyres, and is comparable to a new unstudded winter tyre of Nordic type and much better than the tyres of Central European type. The winter tyres of Central European type stand out as those generating most oversteering on this surface. On surfaces with higher friction level, the tyres with least grip are also those that generate least oversteering, which makes it difficult to discuss these results in terms of traffic safety.

  • 28.
    Hjort, Mattias
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute, Infrastructure, Crash safety.
    Kharrazi, Sogol
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Towards a method for determining maximum oversteer in slippery conditions2013In: Proceedings of 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD'13). Qingdao, China, 19-23 August, 2013., 2013Conference paper (Refereed)
    Abstract [en]

    Fatal accidents during winter time in Sweden are to a large extent due to vehicle spinning. Therefore, it is crucial to analyse and compare vehicle/tyre performance on slippery roads with respect to oversteering. In this study, a new test method for evaluation of vehicle's stability during oversteering on icy roadways is developed and evaluated using a series of tests with a rear wheel driven car, equipped with ESC, and six different tyres on ice test tracks in northern Sweden. The test method consists of an asymmetric sine-with-dwell manoeuvre and a measure forquantifying the level of oversteering based on the relation between yaw rate and lateral acceleration. The test results show good robustness of the method, and that it can successfully rate the various tyres performance on polished ice. However, to have a fair comparison, the proposed method should be modified to take into account the steering ability of the tyres and the consequent difference in the manoeuvre severity when tested with tyres with different side grip.

  • 29.
    Hjort, Mattias
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute, Infrastructure, Crash safety.
    Krafft, Maria
    Folksam.
    Ydenius, Anders
    Folksam.
    Rizzi, Matteo
    Vectura.
    Jämförelse av vinter och sommardäck på barmark sommartid: tester, riskanalys och djupstudier2015Report (Other academic)
    Abstract [en]

    In Sweden non-studded winter tyres has become increasingly popular during the winter season. Since it is allowed to use non-studded winter tyres also during summer time, a large number of drivers choose to do that. The purpose of this study has been to investigate the difference in road grip between winter- and summer tyres summer time, and to assess possible effects on traffic safety. A field test was carried out where road grip was measured on dry and wet asphalt pavement with different types of tyres. The results showed that the winter tyres (non-studded of Nordic type) led to 15–20 per cent longer braking distances compared to summer tyres. Accident risk analyses were performed for three types of accidents: rear end collision, frontal collision and collision with pedestrian. The study indicated that using winter tyres leads to an increase in accident risk for all three accident types. At low collision speeds the absolute increase in risk is small, maybe just a few percent, but the relative increase may be large, sometimes up to 100 per cent. In-depth studies of fatal accidents indicated a 3 per cent increase of risk from using winter tyres summertime, compared to summer tyres. However, this result was not statistically significant.

  • 30.
    Hjort, Mattias
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Eriksson, Olle
    Swedish National Road and Transport Research Institute, Infrastructure, Infrastructure maintenance.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driving Simulation and Visualization.
    Comprehensive study of the performance of winter tires on ice, snow, and asphalt roads: The influence of tire type and wear2017In: Tire Science and Technology, ISSN 0090-8657, Vol. 45, no 3, p. 175-199Article in journal (Refereed)
    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.

  • 31.
    Jacobson, Jan
    et al.
    SP.
    Eriksson, Henrik
    SP.
    Hérard, Jacques
    SP.
    Leandersson-Olsson, Susanna
    VTEC.
    Nordström, Lars
    VTEC.
    Basso, Rafael
    VTEC.
    Fredriksson, Krister
    VTEC.
    Dalmau, Josep Maria
    IDIADA.
    Aparicio, Andres
    IDIADA.
    Baures, Sebastien
    IDIADA.
    Munoz, Oscar
    Swedish National Road and Transport Research Institute.
    Lesemann, Micha
    ika.
    Zlocki, Adrian
    ika.
    Lützow, Jörn
    ika.
    Fahrenkrog, Felix
    ika.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Swedish National Road and Transport Research Institute.
    Hjort, Mattias
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Westhoff, Daniel
    SICK.
    Vesco, Mauro
    CRF.
    Camuffo, Isabella
    CRF.
    Marenco, Silvano
    CRF.
    Murdocco, Vincenzo
    CRF.
    Sanchez, Javier
    RBTK.
    Isasi, Lucia
    RBTK.
    Final testing protocols2011Report (Other academic)
    Abstract [en]

    This report is the final document summarizing the inspection and testing protocols of the eVALUE project. It describes principles, inspection protocols and testing protocols for performance testing of ICT-based safety systems. The inspection protocols (published earlier in D2.2) and the testing protocols introduced in D3.1 are replaced by the ones in D3.2. The older versions are obsolete and should be disregarded. The inspection protocols cover the definition of the test vehicle, HMI aspects, environmental conditions, and functional safety. The inspection protocols are used to prepare for the physical tests as well as evaluating the performance of the vehicle. The testing protocols address longitudinal, lateral, and stability-oriented traffic scenarios. The longitudinal scenarios include a pedestrian crossing the road in front of the vehicle, or the situation where a driver approaches a stationary queue of cars. Involuntarily lane departures and cars in the blind spot during a lane change are situations covered by the lateral scenarios. Exiting a highway, avoiding an obstacle, and braking on a partially ice-covered road surface are examples of traffic scenarios related to stability.

  • 32.
    Kharrazi, Sogol
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driving Simulation and Visualization.
    Sandberg, Ulf
    Swedish National Road and Transport Research Institute, Society, environment and transport, Environment.
    Performance based standards for high capacity transports in Sweden: FIFFI project 2013-03881: final report2017Report (Other academic)
    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.

  • 33.
    Kharrazi, Sogol
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Hjort, Mattias
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Andersson, Håkan
    Testing Vehicle Performance on Snow Using Sine with Dwell2014In: Proceedings of the 14th International Symposium on Advanced Vehicle Control (AVEC), Tokyo, September 2014., 2014Conference paper (Refereed)
    Abstract [en]

    Measuring and evaluating vehicle and tire performance in winter conditions are highly motivated by accident statistics. The present paper investigates use of the sine with dwell maneuver in this context. Various aspects of winter testing is discussed and illustrated with test track measurements, such as test repeatability and trade-off between stability and maneuverability. An evaluation procedure is presented and demonstrated with the classical issue of which axle to choose for the worst set of tires.

  • 34.
    Klomp, Matthijs
    et al.
    E-AAM Driveline Systems.
    Gao, Yunlong
    Tongji University.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Longitudinal Velocity and Road Slope Estimation in Hybrid Electric Vehicles Employing Early Detection of Excessive Wheel Slip2014In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159, Vol. 52, no SUPPL. 1, p. 172-188Article in journal (Refereed)
    Abstract [en]

    Vehicle speed is one of the important quantities in vehicle dynamics control. Estimation of the slope angle is in turn a necessity for correct dead reckoning from vehicle acceleration. In the present work, estimation of vehicle speed is applied to a hybrid vehicle with an electric motor on the rear axle and a combustion engine on the front axle. The wheel torque information, provided by electric motor, is used to early detect excessive wheel slip and improve the accuracy of the estimate. A best-wheel selection approach is applied as the observation variable of a Kalman filter which reduces the influence of slipping wheels as well as reducing the computational effort. The performance of the proposed algorithm is illustrated on a test data recorded at a winter test ground with excellent results, even for extreme conditions such as when all four wheels are spinning.

  • 35.
    Klomp, Matthijs
    et al.
    eAAM.
    Gao, Yunlong
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Robust Estimation of Longitudinal Velocity and Road Slope in Hybrid Electric Vehicles using an Adaptive Kalman Filter2013In: Proceedings of the 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks, 2013Conference paper (Refereed)
  • 36.
    Kusachov, Artem
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Augusto, Bruno
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Fischer, Martin
    German Aerospace Center.
    The Importance of Yaw Rotation Centre on the Driver Behaviour2015Conference paper (Refereed)
    Abstract [en]

    Yaw motion feedback plays an important role for the perception of motion in driving simulators. This paper investigates the momentary rotation points’ importance on the driver behaviour, through a simulator experiment.

    A double lane change manoeuvre was used to measure the driver behaviour and perception for two different rotation point presentations; steady state and dynamic. Only subtle differences in driver behaviour and perception could be noticed, but the dynamic rotation point is favourable. This is more prominent for low friction driving.

    The results of this work show that the momentary rotation point, i.e. the point in which the planar motion can be described by a single rotation, contains information that is valuable to the driver. This motion can be represented by most motion platforms.

  • 37.
    Kusachov, Artem
    et al.
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Xie, Xiaoli
    Chalmers Tekniska Högskola.
    The Importance of Yaw Motion Feedback in Driving Simulators2016In: The Dynamics of Vehicles on Roads and Tracks: Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015, Graz, Austria, 2016, p. 769-778Conference paper (Refereed)
    Abstract [en]

    In hexapod based driving simulator, utilizing one degree of freedom limits the potential in others. Taking into account that improper representation of the yaw motion in the driving simulator can be more harmful then beneficial in terms of the simulator’s fidelity, the influence of the yaw component on the driver’s motion perception in the driving simulator was studied. An experiment was conducted that included regular driving on the rural road and the light car crash on the T-junction. All 17 test subjects were divided into 2 groups – one group had yaw feedback in the motion cueing, the second did not. The difference in the vehicle states and driver’s subjective opinion between the group with and without yaw component in the motion feedback was analyzed. It was concluded that the absence of the way component brings the difference, sometimes significant, to the driver’s behavior and accordingly – to the motion perception.

  • 38.
    Lesemann, Micha
    et al.
    IKA.
    Zlocki, Adrian
    IKA.
    Isasi, Lucia
    TECNALIA.
    Aparicio, Andres
    IDIADA.
    Jacobson, Jan
    SP.
    Eriksson, Henrik
    SP.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation.
    Nordström, Lars
    VTEC.
    Final report2011Report (Other academic)
    Abstract [en]

    This report sums up the activities performed during the complete duration of the project from January 2008 until December 2010. Following the motivation for testing and evaluation of active safety functions, the technical development within the project is described. This includes the derivation of relevant traffic scenarios, a collection of potential test approaches as well as the proposed testing protocols and a collection of experiences made during the application of the protocols. Besides the results of the project, open issues and weaknesses in connection with future research need are discussed herein. Furthermore, links to existing initiatives and projects in the same domain are described. An important part is also the documentation of a critical debate about the results of the project that was held during the final demonstration event. Representatives of all relevant stakeholders including the automotive industry, governing and legislative institutions as well as research and academia discussed and commented the achievements, thus giving important input for future research and other initiatives.

  • 39.
    Pettersson, Pär
    et al.
    Chalmers Tekniska Högskola.
    Johannesson, Pär
    RISE.
    Jacobson, Bengt
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Driver and vehicle. Chalmers Tekniska Högskola.
    Fast, Lars
    RISE.
    Berglund, Sixten
    Chalmers.
    A statistical operating cycle description for prediction of road vehicles’ energy consumption2019In: Transportation Research Part D: Transport and Environment, ISSN 1361-9209, E-ISSN 1879-2340, Vol. 73, p. 205-229Article in journal (Refereed)
    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.

  • 40.
    Sedran, Stefano
    et al.
    Politecnico di Torino.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Körsimulering och visualisering, SIM.
    Kharrazi, Sogol
    Swedish National Road and Transport Research Institute, Traffic and road users, Förare och fordon, FOF.
    Jacobson, Bengt
    Chalmers University of Technology.
    Amati, Nicola
    Politecnico di Torino.
    A Heavy Vehicle Dynamics Model for Driving Simulators2016Conference 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.

  • 41.
    Subbanna, Arun Kumar
    et al.
    Chalmers Tekniska Högskola.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle technology and simulation. Chalmers Tekniska Högskola.
    Drenth, Edo
    Modelon.
    Torstensson, Ivar
    Modelon.
    Sundström, Peter
    Modelon.
    Velocity Planning for a Racing Driver Model2012In: Proceedings of the 11th International Symposium on Advanced Vehicle Control (AVEC ’12), 2012Conference paper (Refereed)
    Abstract [en]

    There is limited information found in literature concerning simulation of limit handling capability of a vehicle model using a driver model. Determining the limit handling capabilities can be a valuable tool for development and analysis of vehicle designs and using a driver model is a convenient way of achieving this . This work presents two different strategies to a driver models that uses the lane for lateral position and limited a priori information about the track in the form of pre-view about curvature ahead of the car. These driver models results in longitudinal velocity planners that uses one single and one multi preview of the reference path. Both strategies have been implemented in the Vehicle Dynamics Library from Modelon using the Modellica language and simulated to illustrate their performance.

  • 42.
    Svendenius, Jacob
    et al.
    Lunds Universitet.
    Gäfvert, Magnus
    Modelon AB.
    Bruzelius, Fredrik
    Swedish National Road and Transport Research Institute. Volvo Technology.
    Hultén, Johan
    Volvo Car Cooperation.
    Experimental Validation of the Brush Tire Model2009In: Journal of Tire Science and Technology, ISSN 0090-8657, Vol. 37, no 2, p. 122-137Article in journal (Refereed)
    Abstract [en]

    The paper contains an experimental validation of the physically based brush-tire model toward the tire behavior in a number of different realistic conditions. Results of measurements performed with summer, winter, and studded tires on different road foundations such as wet and dry asphalt, basalt, snow, and ice are presented.

    The purpose behind the validation is to study the possibilities of using the brush model to estimate the friction coefficient from measurements or estimates of the longitudinal tire forces and tire slip. The sensitivity of the included tire parameters toward various factors that may change during normal run of the vehicle is also investigated.

1 - 42 of 42
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf