Integration of an Active Brake Pedal Simulator in the CarMaker - PowerPoint PPT Presentation

Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems IPG apply & innovate 2014, September 23/24 Simon Rothfuss, Michael Flad, Sören Hohmann Karlsruhe Institute of Technology (KIT) / Institute of Control Systems (IRS) KIT – University of the state of Baden-Württemberg and www.kit.edu National Laboratory of the Helmholtz Association

Research Fields of the IRS Automation Alternative Energy Cooperative Solutions Storage Solutions Assistance Systems Haptic Cooperative Advanced Driving Assistance System (ADAS) Sources: http://people.tuke.sk/ivo.petras/RLD.gif cdn.redmondpie.com/wp-content/uploads/2012/11/iOS-battery-logo.png bosch-kraftfahrzeugtechnik.de/media/ubk_europe/db_application/stage_funktion/bilder/ESP_Function_w982.jpg 2 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Haptic Cooperative ADAS Direct Perception Direct Integration Instant Communication Intuitive Cooperative System Source: http://commons.wikimedia.org/wiki/File:American_shepherd3.jpg 3 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Cooperative ADAS Development Cooperative ADAS development requires test environment Virtual Car Human HW-in-the-loop Simulation 4 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Overview Driving Simulator Brake Simulator HiL Integration Overview Mechanics Overview Components Electronics Concepts Control Validation 5 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Advanced Driving Simulator Steering Wheel Sound Realtime System Throttle Screen Brake Sources: pk-soundandmusic.com/imagebase/7-1417505.gif sensodrive.de/__we_thumbs__/1035_5_s-pr-wheelHT-1.jpg autosieger.de/images/articles/continental_gaspedal_3.jpg bosch-automotivetechnology.com/media/en/ubk_europe/db_application/... ...downloads/pdf/antrieb/de_5/gs_datenbl_apm_de.pdf dspace.com/files/jpg2/px4_px10_px20-de-002_desktopversion_schraeg... ..._refl_dp_300dpi_200x250mm_cmyk_081218.jpg 6 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Overview Driving Simulator Brake Simulator HiL Integration Overview Mechanics Overview Components Electronics Concepts Control Validation 7 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Requirements Conventional pedal force characteristic Hybrid car characteristic Human perception Recuperation Recuperation only & Conventional Brake Nonlinear force characteristic Accuracy according perception Nonlinear dynamic Short response time 8 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

New Concept Requirements Accuracy according perception Nonlinear force characteristic Short response time Nonlinear dynamic Basic concepts for pedal force simulator Active Passive New Concept: Brake Feedback Force Generation by Electric Drive 9 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Brake Pedal Simulator - Mechanics Connector Gearbox Synchronous Motor Pedal Torque Sensor 10 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Brake Pedal Simulator - Mechanics Spring Limit Stops Incremental Encoder 11 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Electrical System Torque CAN Sensor Interface A D / DSP CAN Incremental QEI PWM Bus Encoder Pedal Control Unit Gate SM Converter QEI µC Unit Drive Control Unit 12 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Software Architecture Sensor System State Filtering Input Estimation Control Algorithm Reference Calculation Emergency Failure System Output Stop Supervision Enable & Limit Detection Pedal Control Unit (DSP) Field-Oriented Gate Signals PWM Signal Control Drive Control Unit ( μ C) 13 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

System Model – Mechanics φ i Shaft Angle left/right side M M Motor Torque J M/G Inertia of Motor/Gearbox M F Spring Torque J 1‘ Inertia of connecting elements left M P Pedal Torque J 2 Inertia right M G Pedal Mass Torque k DK Spring Constant of Torque Sensor & Connector M Ri Friction Torque d DK Damping Rate i Gear Ratio 14 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

System Equations Coupled nonlinear differential equations                     J ( ) t k ( ) t ( ) t d ( ) t ( ) t i M ( ) t M ( ( ) t ) 1 1 DK 1 2 DK 1 2 M R 1 1                   J ( ) t k ( ) t ( ) t d ( ) t ( ) t M t ( ) M ( ( t ) ) ... 2 2 DK 1 2 DK 1 2 p R 2 2     M ( ( t ) ) M ( ( t ) ) G 2 F 2     2 with J J i ( J J ) 1 1' M G Constraints      0 ( ) t : Angle of Limit Stops 2    -120 Nm i M ( ) t 120 Nm M 15 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Software Architecture Sensor System State Filtering Input Estimation Control Algorithm Reference Calculation Emergency Failure System Output Stop Detection Supervision Enable & Limit Pedal Control Unit Field-Oriented Gate Signals PWM Signal Control Drive Control Unit 16 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

PI-State Feedback Control V z K p M P u M S ʃ K i System x - - K x M P Pedal torque M S Reference torque x System states u Command input torque to motor z Disturbances 17 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

System State Estimation Measurement equation    ( ) t       1 ( ) t 0 0 1 0   2      ( ) t     1 ( ) t 0 0 0 1        2 ( ) t      2   M ( ) t k 0 k 0       Mes DK DK ( ) t  2 Problem: Not all system states x and pedal torque M P can be measured  Use of Extended Kalmanfilter for estimation Estimated quantities   T     ˆ ˆ ˆ ˆ System states ( ) t ( ) t ( ) t ( ) t 1 1 2 2 ˆ Pedal torque M P 18 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

PI-State Feedback Control V z K p y u M S ʃ System K i - - ˆ x K x Kalman- filter z k ˆ M P ˆ M Pedal torque, estimated P M S Command input torque ˆ x System states, estimated z k Disturbances, known, used in Kalmanfilter 19 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems

Measurement Results  Deviations below human perception  Root-Mean-Square-Error < 12N 20 09/24/2014 Simon Rothfuss, Michael Flad, Sören Hohmann: Integration of an Active Brake Pedal Simulator in the CarMaker Environment for Design and Evaluation of Haptic Driver Assistance Systems