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Integration of a space-segment model with GPS lli i h hi l d i i l i satellites in the vehicle dynamics simulation

Dipl.-Ing. Tobias Butz, Dipl. Ing. (FH) Bernhard Schick IPG Automotive GmbH Prof Dr Ing Gert F Trommer Dipl Ing Matthias Wankerl Institute of System Optimization

IPG Automotive GmbH | Tobias Butz | “apply & innovate 2012“ – IPG Technology Conference 20.09.2012 1

• Prof. Dr.-Ing. Gert F. Trommer, Dipl.-Ing. Matthias Wankerl

Institute of System Optimization

Motivation

Motivation

• Use of navigation solutions for advanced driver assistance systems (ADAS)

U f i i l i i f i i l d i i i i

Motivation

• Use of navigation solutions in safety-critical driving situations
• To simulate the significantly

enhanced for the information enhanced for the information content, quality and redudancy by means of suitable fusion algorithms

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Motivation

Motivation

• To develop and evaluate GPS/INS-based integration and fusion algorithms in the

seamless process with IPG CarMaker

Motivation

• Makes artificial, but realistic, pseudo and delta range measurements available. In

addition to these, error models and error functions in the receiver, the GPS

• bservation parameters as well as in the vehicle’s inertial sensors have been

integrated into the vehicle dynamics simulation

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The IPG CarMaker

IPG CarMaker

“Virtual Test Driving” to evaluate concepts, models, controllers and systems

The IPG CarMaker

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The Global Positioning System (GPS)

Global Positioning System (GPS)

GPS consists of three segments:

The Global Positioning System (GPS)

Space Segment needs to be integrated The Control-Segment is User Segment is simulated by the car

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pay further by the use of current ephemeris-data

How does GPS?

Global Positioning System (GPS)

How does GPS?

Transmisson to Receiver

Generates a Pseudo Random Code Also generates a Pseudo Random Also generates a Pseudo Random Code and compares the two codes

4x

Zeit t

• Datei. Wenn weiterhin das rote x angezeigt wird, müssen Sie das Bild möglicherweise löschen und dann erneut

Distance of least four satellites known

Self-localization by By means of the time difference

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triangulation possible is determined the distance

Difference between GPS and the Implementation

Implementation

Normally, based on the reception time of the satellite signal and the pseudo-ranges of at least

Difference between GPS and the Implementation

four satellites, one‘s own position and that of the clock fields of the satellite receiver are calculated As the positional data of the virtual vehicle are known in the CarMaker simulation environment the calculation is modified accordingly in this case: The positions of satellites are calculated by means of these positional data, using the reception time of the satellite signals and the h i id l d t epherimidal data.

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Implementation

Calculation of the Satellite Calculation of the Satellite Space-Segment

Calculation of satellite position in ECEF (Earth centered Earth fixed) at time of transmission using Calculation of transmission time of the satellite centered, Earth fixed) at time of transmission using ephemeridal data signal Recalculation of signal runtime Repetition of steps 2 – 5 until desired accuracy has been achieved

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accuracy has been achieved

Implementation of the Space-Segment Model

Implementation

Implementation of the Space Segment Model

• Parameterized and controlled by means of a

clearly structured, user-friendly graphical user interface (GUI)

• Prior to starting the virtual road test the desired

values an parameters are entered here

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Errors and Faults

Errors and Faults

Errors and Faults

• In order to allow a realistic simulation of the errors and faults in the signals and

sensors are modeled Th di t b f th GPS b h d ll t d ff i th GUI

• The disturbance of the GPS can be changed as well as turned off via the GUI
• In addition the IMU error can be simulated and the quality of the inertial sensors

In addition, the IMU error can be simulated and the quality of the inertial sensors determined with the help of the GUI

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Overview of Integrated GPS Errors

Errors and Faults

Overview of Integrated GPS Errors

• Receiver Clock Error
• Ephemris-Error
• Ionospheric Error
• Ionospheric-Error
• Troposheric-Error
• Receiver Noise
• Pseudorange Noise
• Delta-Range-Noise
• Range-Rate-Noise

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The Goodness of the IMU

Errors and Faults

The Goodness of the IMU

• The IMU (Inertial Measurement Unit)

i l d th includes three accelerometers and gyros

• The goodness is described by three fault sizes:
• Bias
• Scale Factor Error
• Angle/Velocity Random Walk

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New Applications through the Integration

Benefit

• New and updated driver assistance systems / map-based driver assistance systems

New Applications through the Integration

• Predictive driving / lower emissions through reduced fuel consumption / optimized

energy management strategies for hybrid electric and battery electric vehicles

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New Applications through the Integration

Benefit

• Newly developed functional algorithms can be examined in virtual road tests

involving a wide range of traffic and traffic situations (corresponding to real-world

New Applications through the Integration

customer use cases)

• Simulation of complex traffic scenarios using a highly capable traffic model
• Interlinking of vehicles: Car-to-Car (C2C)
• r Car-to-Infrastructure (C2I)

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Conclusion

Conclusion

• The integration of the space-segment-model into the vehicle dynamics simulation

CarMaker makes a highly capable tool available that allows newly developes

Conclusion

functions and functional algorithms to be tested and evaluated in virtual road tests at a very early stage

• Ability to even repeat complex traffic scenarios which is very important for the

Ability to even repeat complex traffic scenarios, which is very important for the development and to evaluate Car-to-X-Communication

• Consequently, this new method offers major optimization potential for both existing

and new driver assistance systems as well as for innovative energy management systems and operating strategies

• Thi

t l ll i ifi t t ib ti t f t d f l ffi i

• This new tool allows an significant contribution to safety and fuel efficiency

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