VEHICLE PERFORMANCE ANALYSIS OF AN AUTONOMOUS ELECTRIC SHUTTLE MODIFIED FOR WHEELCHAIR ACCESSIBILITY by, Johan Fanas Rojas Committee : Dr. Zachary Asher Dr. Mitchel Keil Dr. Kapseong Ro Western Michigan University 1
Agenda Introduction Methodology Results Conclusion • Introduction • Results • Accessibility • Passive suspension analysis • Autonomous vehicles and accessibility • Active suspension analysis • Vehicle dynamics and accessibility • ADAMS/MATLAB Co-simulation • Novel contributions • Lateral dynamics • Methodology • Energy consumption analysis • WMU project overview • Cost analysis • Ride comfort study • Conclusion • Lateral dynamics • Summary • Energy consumption analysis • Conclusion • Future Work MS Eng. Johan Fanas Rojas 2
Acknowledgment Introduction Methodology Results Conclusion University Faculty Graduate Students • Dr. Zachary Asher • Nick Goberville • Dr. Mitchel Keil • Nicholas Brown • Dr. Kapseong Ro • Amol Patil • Dr. Clive D’Souza • Yogesh Jagdale • Farhang Motallebiaraghi • Tushar Gaikward • Parth Kadav • Marsad Zoardar • Kamolnat Tabattanon • Nicholas Sandhu MS Eng. Johan Fanas Rojas 3
Introduction Methodology Results Conclusion What is the relationship between accessibility, autonomous vehicles and vehicle dynamics ? MS Eng. Johan Fanas Rojas 4
Venn diagram assessment Introduction Methodology Results Conclusion Accessibility Autonomous Vehicle vehicles dynamics MS Eng. Johan Fanas Rojas 5
Autonomous vehicles Introduction Methodology Results Conclusion Accessibility o A self-driving car, also known as an Vehicle Autonomous dynamics vehicles autonomous vehicle (AV), is a vehicle that is capable of sensing its environment and moving safely with little or no human input o The development and mass production of self-driving cars, has the potential to revolutionize transportation mobility and safety o Human error is involved in 94%-96% of car accidents MS Eng. Johan Fanas Rojas 6
Vehicle dynamics Introduction Methodology Results Conclusion Accessibility o Vehicle dynamics is concerned with the movement of vehicles on a road surface. These Vehicle Autonomous dynamics vehicles movements are acceleration, braking, ride and handling o Vehicle dynamics study the forces acting on the vehicle when the tires are submitted to a given input; for example: o Steer input o Vertical displacement o Angular velocity [Guiggiani, Massimo.,The Science of Vehicle Dynamics (2014)] MS Eng. Johan Fanas Rojas 7
Accessibility Introduction Methodology Results Conclusion Accessibility o Individuals with disabilities face barriers when it comes to public/private transportation due to Vehicle Autonomous dynamics vehicles the lack of good vehicle and facility design o Users of wheeled mobility devices are particularly impacted by poor vehicle design o The cost of retro-fitting a vehicle with special features is between $20,000-$80,000 on top of the purchase price of the vehicle [Claypool H., Bin-Nun A., Gerlach J., Self -Driving Car: The Impact on People with Disabilities(2017)] MS Eng. Johan Fanas Rojas 8
Autonomous vehicles and accessibility Introduction Methodology Results Conclusion Accessibility o Autonomous vehicles (AVs) have the potential to increase independent and safe mobility Vehicle Autonomous dynamics vehicles options for many transportation-disadvantaged groups, including older adults and people with disabilities o Design of AVs may require a higher standard of accessibility to ensure that passengers with disabilities can independently use these vehicles without driver assistance. [Harper, Corey D., Chris T. Hendrickson, Sonia Mangones, and Constantine Samaras., Estimating Potential Increases in Travel with Autonomous Vehicles for the Non-Driving, Elderly and People with Travel-Restrictive Medical Conditions (2016)] MS Eng. Johan Fanas Rojas 9
Autonomous vehicles and vehicle dynamics Introduction Methodology Results Conclusion Accessibility o Research on autonomous vehicles has mainly focused on perception, planning, and control Vehicle Autonomous o Control of the vehicle dynamics of an autonomous dynamics vehicles vehicle in the decision-making process is crucial because of uncertainties and safety risks o Existing technologies: o ADAS (Advanced driver-assistance systems) o Lane keeping o Stability control o Path planning [Hayafune K., Hiroaki Y., Control Method of Autonomous Vehicle Considering Compatibility of Riding Comfort and Vehicle Controllability(1990)] [Falcone P., Borrelli F., Asgari J., Tseng H.E., Hrovat D., Predictive Active Steering Control for Autonomous Vehicle Systems(2007)] MS Eng. Johan Fanas Rojas 10
Accessibility and vehicle dynamics Introduction Methodology Results Conclusion Accessibility o Accessible vehicles increase mobility for individuals with disabilities, but they tend to Autonomous Vehicle vehicles dynamics increase fatigue and discomfort on passengers due to poor vehicle design. o Vehicle vibrations affects the passenger’s health and comfort o Accessibility and vehicle dynamics is a poorly studied research area [Matsuoka Y., Kawai K., Sato R., Vibration Simulation Model of Passenger-Wheelchair System in Wheelchair-Accessible Vehicle (2003)] MS Eng. Johan Fanas Rojas 11
Venn diagram assessment Introduction Methodology Results Conclusion Accessibility Well understood Not well understood Vehicle Autonomous dynamics Has not been vehicles studied MS Eng. Johan Fanas Rojas 12
Engineering Inputs Introduction Methodology Results Conclusion Project overview at Western Michigan University o The overall goal of this demonstration project was to expand transportation options for disabled students at Western Michigan University (WMU), by modifying two commercially available automated electric shuttles for wheelchair-accessibility o The project was supported by the Michigan Department of Transportation to fund pilot transportation projects that solve mobility challenges for seniors, persons with disabilities and veterans throughout Michigan. MS Eng. Johan Fanas Rojas 13
Engineering Inputs Introduction Methodology Results Conclusion Key design objectives • Increase the available clear floor space by translating the front and rear axles thereby elongating the wheelbase • Installing a retractable access ramp beneath the vehicle floor to allow for stepless ingress/egress. • Installing flip-up seats (vs. fixed seats) to increase the interior circulation • Provisions for a forward-facing, four-point wheelchair securement system and a lap/shoulder-belt occupant restraint system MS Eng. Johan Fanas Rojas 14
Engineering Inputs Introduction Methodology Results Conclusion Operation of the autonomous shuttles at Western Michigan University • The shuttles operated on a fix route on Western Michigan University’s main campus picking up and dropping off students on seven pickup/drop-off points along the route • The shuttles worked on demand • A ride hailing system was developed for the project • A safety operator is always on board for safety purposes and to assist wheelchair users to ingress the shuttle MS Eng. Johan Fanas Rojas 15
Survey Data Introduction Methodology Results Conclusion MS Eng. Johan Fanas Rojas 16
Survey Data Introduction Methodology Results Conclusion MS Eng. Johan Fanas Rojas 17
Survey Data Introduction Methodology Results Conclusion MS Eng. Johan Fanas Rojas 18
Survey Data Introduction Methodology Results Conclusion If you would like to learn more, you can read an upcoming journal publication from my colleague Sia!! MS Eng. Johan Fanas Rojas 19
AV design comparison Introduction Methodology Results Conclusion Modifications of the autonomous shuttles at Western Michigan University Campus Pilot Design Off-The-Shelf Design $85,000 $ 105,000 Parameters • Wheelbase • Battery type and configuration • Access ramp availability • Wheelchair securement • Seating capacity • Energy capacity • Interior clear floor space A new design is added to our analysis!! The intention of our analysis is to $90,000-$95,000 contrast the benefits of considering accessibility in the early design process of an autonomous vehicle MS Eng. Johan Fanas Rojas 20
Vehicle dynamics and suspension systems Introduction Methodology Results Conclusion Vehicle dynamics and suspension systems • Vehicle dynamics is concerned with the movement of vehicles on a road surface • A suspension system is a group of mechanical components used to connect the vehicle body and tires Types of suspension systems • Passive suspension system • Semi-active suspension system • Active suspension system [Ikenaga, S., Lewis, F. L., Campos, J., & Davis, L., Active suspension control Quarter car passive Quarter car active of ground vehicle based on a full-vehicle model (2000)] suspension system suspension system MS Eng. Johan Fanas Rojas 21
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