Search

Teleoperation can be regarded as an effectivebackup system for self-driving vehicles, which could take overvehicle control in some special scenarios that the automatedvehicles could not handle. However, there are still many challengesin teleoperation, such as low situation awareness. Thiscould potentially be dangerous in some extreme situations.However, it could be effectively improved by providing suitabledriving feedbacks. Hence, this article provides a timely andcomprehensive review of existing and possible driving feedbacktechniques in teleoperation. They are presented from the pointof view of video feedback, steering force feedback, motioncueingfeedback, audio and vibration feedback, and other nonconventionalfeedback modes. Then, the current challenges,future trends and opportunities in teleoperation are presentedand discussed. QC 20230613

Advanced active safety systems play a crucial role in ensuring the safe driving of vehicles in critical conditions such as an obstacle avoidance manoeuvre. However, conventional techniques relying mainly on braking interventions may not result in the desired vehicle response in such situations. Over-actuation through the control of individual motion actuators could potentially improve the safety performance of vehicles. This study evaluates various configurations of motion actuators for path following and yaw stability control of vehicles in critical driving scenarios. The configurations include active front steering (S), active front steering + torque vectoring (ST), active front steering + active camber (SC) and active front steering + torque vectoring + active camber (STC). The evaluation is achieved based on a nonlinear model predictive control formulation, which considers yaw stability and the physical limits of motion actuators. This problem formulation uses a double-track vehicle model, combined with the Dugoff tyre model and its variant with the camber effect, to model the vehicle dynamics. The actuator configurations are evaluated regarding the passing velocity, tracking accuracy, safety distance and robustness to reference trajectory variation. The results indicate that the integrated control of STC performs the best among all the four configurations while S performs the worst. Furthermore, SC is generally superior to ST. QC 20220523

This paper presents a test procedure developed to gather good quality data from objective and subjective testing on winter conditions. As the final goal of this test is to analyse the correlation between objective metrics and subjective assessments on winter for steering and handling, this procedure has to ensure a minimum change of the surface properties, which has a major influence on vehicle performance, during the whole test campaign. Therefore, the method presented keeps the total test time very low and allows similar vehicle configurations to be test- ed, objectively and subjectively, very close in time. Moreover, continuous maintenance work on the ice is performed. Reference vehicles are also used to monitor the changes on vehicle per- formance caused by weather conditions, which are inevitable. The method showed to be very effective. Initial results on objective metrics and subjective assessments are also presented. QC 20160404 iCOMSA

This study introduces a method for estimating the vehicle’s maximum entry speed for an ISO3888 part-2 double-lane change (DLC) test in simulation. Pseudospectral collocation in TOMLAB/ PROPT calculates the optimal steering angle that maximizes the entry speed. The rationale is to estimate the vehicle’s performance in the design phase and adapt the tuning to improve DLC ratings. A two-track vehicle dynamics model (VDM) employing non-linear tires, suspension properties and a simplified Dynamic Stability and Traction Control (DSTC) system was parameterized as a 2011 T5 FWD Volvo S60 using in-field tests and its corresponding kinematics and compliance (K&C) measurements. A sensitivity analysis on the parameters revealed certain trends that influence the entry speed, which can be varied from 69.4 up to 73.3 km/h when adapting certain vehicle features. To evaluate the method, the generated optimal steering control inputs for the simulated S60 were applied on the actual car motivating the further development of the method. QC 20150408

During development of new vehicles finding correlation links between subjective assessments and objective metrics is an important part in the vehicle evaluation process. Studying different correlation links is of importance in order to make use of the gained knowledge in the front end of development, during testing and for new systems. Both subjective assessments using the rating scale of 1-10 from expert drivers and objective metrics from different tests measured by a steering robot were collected by standard testing protocols at an automotive manufacturer. This paper evaluates driver ratings and analyse correlations by using Regression Analysis and Neural Networks through a case study approach. Links have been identified and are compared to related research. QC 20131007 iCOMSA

Studiens syfte är att identifiera olika hälsodiskurser i läromedel för idrott och hälsa, som riktas mot högstadiet och gymnasiet, som unga män respektive unga kvinnor socialiseras in i genom deras möte med läromedlen.Med en diskursanlytisk utgångspunkt och metod för att förklara bilders meningserbjudande i deras litterära kontext analyseras bilder och den litterära kontexten bilderna existerar i, från fem olika läromedel till idrott och hälsa. Det meningserbjudande bilderna innehåller problematiseras genom Foucaults teori om makt, och socialisationsteorins teori om socialisation och diskursernas reproduktion.Studien kommer fram till att hälsosamma kvinnor och män definieras olika. Den hälsosamma mannen är vältränad och muskulös. Han tränar framför allt styrka i överkroppen och uthållighet och träningen innehåller manliga element som fart och kraft. Den ohälsosamma mannen är inaktiv och misslyckas därmed med att vara en man.Den hälsosamma kvinnan är smal och vältränad. Hon tränar styrka i ben och rumpa, uthållighet och rörlighet. Träningen innehåller kvinnliga element som rörlighet, koordination, rytm och takt samt estetik. Kvinnan framställs som problematisk då en stor del av kvinnan existerar i en riskdiskurs genom att kvinnnan tränar för att förebygga och rehabilitera skada. Hon framställs även som psykiskt och mentalt ömtålig genom att stress och stresshantering är en stor del av kvinnans hälsodiskurs. Den hälsosamma kvinnan tränar, men endast på måttlig intensitet då hon riskerar att bli skadad eller drabbas av ohälsosamma skönhetsideal. Samtidigt undviker den hälsosamma kvinnan att äta fel då detta kan leda till ohälsa.Både hälsosamma män och kvinnor är fysiskt attraktiva, och den hälsosamma naturliga människan är i naturen tillsammans med det motsatta könet.

Platooning is a way to increase the traffic flow and capacity on roads to handle the upcoming problems of traffic congestion and exhaust emissions. The aim with this work is to evaluate if the safety distance of platooning vehicles can be further reduced when both lateral and longitudinal control is implemented. The idea is that when the vehicle in front suddenly brakes the vehicle behind, if needed, is steered aside while braking and stops beside the preceding vehicle. The analysis is performed using a game theoretical approach and different detailed vehicle models. Results show that the safety distance can be reduced. QC 20130611

Studiens syfte är att identifiera och diskutera meningserbjudande i form av institutionella förutsättningar för meningsskapande i idrott och hälsa. Genom en kritisk diskursanalys identifieras och prövas Quennerstedts ämnesdiskurser i idrott och hälsa. Sedan problematiseras eventuella skillnader mellan denna studiens och Quennerstedts källor. Två olika källor används för att uppfylla studiens syfte och svara på frågeställningarna. Den ena källan består av lärares synpunkter på ett utkast till kursplanerna i Lgr11 från hösten 2009. Den andra källan innefattar färdiga kursplanen för idrott och hälsa i Lgr11, samt dess kommentarmaterial. Utifrån Quennerstedts teori utförs en pragmatisk diskursanalys för att kategorisera ämnesdiskurser i studiens källor. Fysiologidiskursen framträder som den starkaste ämnesdiskuren hos både lärarna och i Lgr11 med kommentarmaterial. Den fysiologiska diskursen i den centrala kursplanen är tydligt knuten till ett holistiskt hälsoperspektiv. Bland lärarna framträder en mer varierad syn på idrott och hälsa som speglar ämnets historia i form av en historisk reproduktion. Quennerstedts ämnesdiskurser är inte tillfredsställande för att beskriva diskurserna som källorna i denna studie speglar. Därför utarbetas ett förslag till en ny struktur på ämnesdiskurser utifrån tre nya överdiskurser. Den holistiska hälsodiskursen och dess underdiskurser syftar till att ge eleverna kunskaper och färdigheter som möjliggör hälsosamma val ur ett livslångt perspektiv, och där alla delar av ämnets innehåll är en del av en större helhet. Den kulturella diskursen och dess underdiskurser syftar till att reproducera intresset för kulturella eller traditionella aktiviteter såsom skidåkning och friluftsliv. Slutligen utgår den reduktionistiska diskursen med underdiskurser från ämnets olika delar som viktiga i sig själva för att skapa en hälsosam eller funktionell kropp genom undervisningen.

This paper presents a way to merge range data into the vehicle dynamic simulation software CarSim 7.1. The range data consists of measurements describing the surface of a road, and thus, creates a close to real life 3D simulation environment. This reduces the discrepancy between the real life tests and simulation of vehicle suspension systems, dampers, springs, etc. It is important for the vehicle industry to represent a real life environment in the simulation software in order to increase the validity of the simulations and to study the effects that uneven roads have on the systems. Furthermore, a 3D environment based on real life data is also useful in driving simulators, when for example, analysing driver behaviour, testing driver response, and training for various driving conditions. To measure and collect data, a car was equipped with instruments and a computer. On top of the car, a SICK LMS200 2D lidar was mounted tilted downwards, facing the road in front of the car. To create the 3D environment, all the individual measurements were transformed to a global coordinate system using the pose (position and orientation) information from a high-class navigation system. The pose information made it possible to compensate for the vehicle motion during data collection.The navigation system consisted of a GPS/IMU system from NovAtel. To reach high navigation performance, the raw GPS/IMU data were post-processed and fused with data from three different fixed GPS base stations. The range data were modified with a Matlab script in order to parse the data into a file that could be read by CarSim software. This created the 3D road used in the vehicle dynamic simulations. The measurements were collected at a go-kart track in Lule°a, Sweden. Finally, tests have been performed to compare simulation results between using a 2D surface (i.e. flat) and a 3D surface (close to real life). It is seen that the simulation results using the 2D surface is clearly different from the 3D surface simulation. Godkänd; 2009; 20121211 (andbra) Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing

Vehicles are becoming increasingly more complex in terms of, for example. Electronic Stability Program (ESP), Antilock Braking System (ABS), Traction Control System (TCS), and Active Rollover Protection (ARP), i.e. several different control systems that have to interact to perform well when driving. Hence, efficient testing activities are vital to ensure that the components and systems in the vehicle are functioning as intended. The testing activities at a proving ground initially seem to mainly incorporate technical aspects that focus mainly on the prototype vehicle and its components. However, services related to automotive testing are also important to ensure professional tests where the actors, here called service providers, are those who supply the proving ground and the subsequent services. Tracks to run the tests on are rather obvious, but there is also a need for administrative services, accommodation, logistics, access to local test drivers for endurance tests, mechanics, information and communication technologies, etc.The research presented in this thesis has studied “Which technologies have the potential to contribute to winter testing activities?”, “How can technologies support the testing activities?”, “How can the actors benefit from technology supported winter testing?”, and the guiding vision trough the work has been to contribute to service innovation in winter testing activities. A premise has been that technology, in particular vehicle dynamics and distributed engineering will be useful to contribute to the vision. The research has an explorative approach to winter testing, since previous research in this area is limited. The research, therefore, has embarked from a topic (i.e. vehicle dynamics) rather than a hypothesis. Still, the research project is based on previous research, specifically a technological framework for the transmission of real-time data from test vehicles to development facilities worldwide. The last three years of research used Action Research (AR) Participatory Action Research (PAR) and Participatory and Appreciative AR (PAAR) as a frame of reference, since it was considered important to involve both researcher and participants in the studies to evolve from the experience in the field and participate in group improvement or service provision changes. This approach resulted in the use of extensive empirical data to find supportive technical concepts for the service providers. Service providers were seen to continuously develop services at the proving ground, while looking for ways to provide better services, e.g. safety on the test tracks and correct and relevant information about the weather conditions. However, it can be argued that there is a focus on the more visible facilities, e.g. related to ice and land tracks, as well as a view of services to make people from the automotive industry comfortable when away from home, e.g. tourism and adventures. These are important. Yet, the advancement of automotive systems and more complex vehicles has “gradually” made testing activities more dependent on technologies. In this context, the technological services provided at the proving ground seem more invisible. This can relate to a perspective on technologies as the expertise area of OEM and Tier1. In turn, such a view makes it difficult to proactively take the next step in providing technological support. Yet, in the studies presented in this thesis it is found that the service providers already act as a competent and trusted partner in the testing activities. Further, the studies show that an upcoming challenge for OEM and Tier1 is the issue of developing well-defined methods to standardize tests. This is one opportunity for service providers to provide new or extended services. Therefore, in this thesis, Remote Test Management, steering robots and objective evaluation of vehicles are explained technically and outlined as being part of such service innovation. Fordon blir allt mer komplexa med antisladdsystem (ESP), antispinnsystem (TCS), låsningsfria bromsar (ABS) och rundslagningsskydd (ARP) och alla dessa är olika kontrollsystem som måste interagera med varandra för att prestera bra under körning. Därför är tester av dessa system och fordonet av största vikt för att säkerställa att komponenterna och systemen i fordonet fungerar felfritt. Testaktiviterterna vid en provanläggning kan i en första anblick ses fokusera mestadels på prototypfordon och dess komponenter. Men tjänster relaterade till fordonstestning är också av största vikt för att säkerställa professionella tester där vintertestentreprenörerna tillhandahåller provanläggningar och tillhörande tjänster. Förutom provbanor så finns det ett behov av administration, boende, logistik, tillgång till lokala testförare, mekaniker, informations- och kommunikationsstöd mm.Forskningen som presenteras i denna avhandling har studerat “Vilka teknologier som har potential att bidra till vintertestaktiviteterna?”, “Hur kan teknologier stödja testaktiviteterna?”, “Hur kan aktörerna dra nytta av stödjande teknologi under vintertestning?” och visionen under arbetet har varit att bidra till tjänsteinnovation för vintertestaktiviteter. Tanken har varit att fordonsdynamik och distribuerat ingenjörsarbete kan bidra till denna vision. Forskningen har en explorative ansatts till vintertest av fordon eftersom tidigare forskning inom området är begränsat. Forskningen har därför utgått från ett ämne (fordonsdynamik) istället för en hypotes. Samtidigt så har forskningen baserats på tidigare forskningsprojekt, nämligen ett tekniskt ramverk för överföring av realtidsmätdata från testfordon till utvecklingsplatser utspridda i världen. Aktionsforskning (AR, PAR, PAAR) har använts som referensram de sista tre åren i forskningen eftersom det ansågs vara viktigt att involvera både forskare och deltagare i studierna och tillsammans utvecklas från erfarenheterna och delta i tjänsteutveckling. Denna ansats resulterade i användandet av omfattande empirisk data för att hitta stödjande teknologikoncept för vintertestentreprenörer. Observerat är att vintertestentreprenörer kontinuerligt utvecklar sina tjänster på provanläggningarna samtidigt som de söker nya sätt att erbjuda bättre tjänster till sina kunder, t.ex. säkerhet på provanläggningen och relevant väderinformation. Dock kan det ses som att fokuset har varit på provanläggningarna, d.v.s. relaterat till is- och landbaserade provbanor, men även fokus på turism- och äventyrstjänster för människor från deras kunder. Dessa är viktiga men utvecklingen av fordonssystem och mer komplexa fordon har gradvis medfört att testaktiviteterna har blivit mer beroende av teknologier. I denna kontext syns inte de tekniska tjänsterna som levereras på provanläggningarna. Detta kan relatera till synen att teknologier är expertområdet hos biltillverkare och underleverantörer. En sådan syn gör det svårt att proaktivt ta nästa steg och erbjuda teknisk support. I studierna presenterade i denna avhandling synliggörs det att vintertestentreprenörerna redan agerar som en kompetent och trogen partner i testaktiviteterna. Studierna visar också att en framtida utmaning för biltillverkare och underleverantörer är utvecklingen av väldefinierade testmetoder och standardiserade tester. Detta är en möjlighet för vintertestentreprenörer att erbjuda utökade eller nya tjänster och i denna avhandling presenteras Remote Test Management, styrrobotar och objektiv utvärdering av fordon som de teknologikoncept som kan stödja tjänsteinnovation. Godkänd; 2009; 20091006 (miknyb); DISPUTATION Ämnesområde: Funktionella produkter/Functional Product Development Opponent: Specialist/Professor Jochen Pohl, Linköpings universitet Ordförande: Professor Tobias Larsson, Luleå tekniska universitet Tid: Torsdag den 17 december 2009, kl 09.00 Plats: B 192, Luleå tekniska universitet Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing

This report present a pre-study project of AVL-DRIVE measurement system conducted from 27st of July 2009 until 15th of October 2009.The focus of the pre-study was to see how the system, as it is, could be used by the service providers and their customers during winter and summer testing in northern Sweden but also if the system could be extended and further developed to suit their needs. The AVL-DRIVE system is designed for objective assessment and quality control of Driveability based on human experience. Procedures for the objective assessment of the subjective perception of the driver have been used to define the evaluation method and formulas. Experiences acquired from internal and external vehicle benchmarks and Driveability development projects are incorporated in the AVL-DRIVE system. AVL-DRIVE uses different sensors and CAN bus information to capture the most significant data and vehicle parameters, such as, accelerations, engine data, vehicle speed, pedal position and vibrations. These input quantities are collected by the DMU2 (DRIVE Main Unit 2, located in the car boot) and passed on to a PC (Notebook, located at the passenger seat) for further analysis. Ratings for all Driving Modes are displayed online during driving. A rental car, Audi Q5 2.0 TFSI Quattro S-tronic, was equipped with the AVL-DRIVE system. The pre-study consisted of a number of tests, both on public roads including gravel and tarmac, but also on Bosch/ATM test tracks. One use for the system as it is today could be to study the change in vehicle drivability after endurance tests or after longer periods of testing. This could be done by driving a set of specified driving cycles called Fahr Manöver Katalog (FMK) in this report. Another idea put forward by an engineer at a service provider was to use the AVL-DRIVE system to compare certain driving maneuvers with a vehicle directly from the cold chambers and with the vehicle warmed up, to study the effects on Driveability for cold car and systems. Also these tests do not require any ESP, ABS, or ASR activity so the AVL-DRIVE system as it is could be used for this purpose. However, a handling version of the AVL-DRIVE that could also handle ESP, ABS, and ASR interventions would be of great interest to the service providers and the automotive testing in general. Godkänd; 2009; 20091006 (miknyb) Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing

The Swedish road administration sees a need to improve the road grip estimation capacity for the Swedish road system. The challenge is to find methods to measure road grip fast and reliable. There where six different system types at the tests in Arjeplog, three continuous, two system measuring road grip through deceleration and one system based on GPS and accelerometers. Two system types used air craft runway tires. The other systems used either studded winter tires or friction winter tires. Test runs where performed and road grip where recorded for three different surface types, old system 2000 ice, polished ice and new system 2000 ice. Weather data was collected during the three days. It is clear that all systems can detect changes in road grip. It is clear that continuous systems hold an information advantage over the sequence oriented systems. For measurements of road grip on winter roads, we recommend that rubber compounds adapted for cold conditions are used, as the resolution of the road grip measurement where better. In extreme condition like on polished ice, studded winter tires increase the road grip significantly. Godkänd; 2008; 20081007 (ysko) Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing

The performance of cars has during recent years become increasingly dependent on complex electronic systems used especially for safety but also comfort, performance and informatics. Automotive winter testing activities in northern Sweden is vital to test and try out those systems. A contradiction to increased performance is that faulty software also causes 30 % of severe malfunctions in the functionality of the car. To deal with these problems, as early in the design process as possible, innovative methods to cope with digital abstraction and the physical world in a unified way seems promising. One useful approach, in automotive winter testing, might be to support the possibilities for real-time vehicle simulations of the car in motion. The closer collaboration in the automotive industry might be an incitement for investing in technologies for knowledge sharing. Besides enhancing the product development process, additional knowledge might support innovations. Today, instead of providing parts similar to their competitors and relying on one or two automakers, successful suppliers focus heavily on innovation and on collaboration with a number of manufacturers on a global market. Due to the possibilities to visualize whole processes, the use of simulations seems to support a' seeing first' approach to innovations. Thus, the purpose of this paper is to describe an as-is scenario and a to-be scenario for automotive winter testing to highlight how the use of real-time simulations facilitates innovative methods Validerad; 2007; 20070416 (tobias) Fastelaboratoriet – VINNEXC, CASTT - Centre for Automotive Systems Technologies and Testing

Today, rather than provide parts similar to their competitors and rely on one or two automakers, successful automotive component suppliers focus heavily on innovation and collaboration with several manufacturers in a global market. In this thesis, an as-is scenario for automotive winter testing is presented. A plausible to-be scenario framed by a Functional Product Innovation (FPI) vision is discussed. This vision places an emphasis on additional knowledge and information in early design phases, such as the importance of understanding the actual use of the product and the environment where it is going to be used since these aspects need to be designed into the final product. Life cycle perspective and close cross- company collaboration in the design and development of products constitutes a basis for realizing FPI. A simulation-driven approach during the early phases to support product development decisions, by the same token, try out those solutions in numerous of what-if business scenarios, is also included in the vision. A concept enabling distributed vehicle testing is suggested with an emphasis on vehicle dynamics simulation and visualization. The main benefit of this concept is that different disciplines involved in the product development process can use the system to enhance the concurrency between activities. Control system engineers and mechanical engineers can view ongoing tests in real-time and change designs, and efficiently re- simulate and influence ongoing tests in a distributed manner. The use of dynamic simulation software during the test in real-time will give more information of the vehicle's behavior and feed the visualization application with the data needed to render the moving vehicle in a 3D environment. By using visualization aids, engineers can simultaneously see the behavior of the vehicle and regular data presented in graphs or tables, and thus perceive more information from the test. A Java based visualization application presents the test results in a rich 3D environment, thus enabling non-experts to understand the dynamic behavior of complex vehicle systems. This application will contribute to an enhanced validation of the vehicle and the ability to collaborate in a distributed real-time virtual environment. By supporting test procedures with real-time simulations and in particular 3D visualization, how the tests are conducted radically changes. The approach supports decision-making to become a more concurrent activity, as well as facilitating and enabling distributed collaborative work. Furthermore, the approach increases the opportunity to extract rich information of the vehicle and its systems, which provides a good basis for well-informed decisions. Godkänd; 2007; 20070531 (evan)

Increasing complexity of embedded systems in automotive industry calls for more efficient testing and verification processes. This paper presents a visualization application for distributed real-time vehicle validation. Real-time data from vehicles are transmitted via wireless network from the test track to a simulation framework. The processed data from the simulation are distributed to multiple web based visualization clients. The Java™ based client presents data in a rich 3D environment thus enabling non-expert to understand behaviors of complex vehicle systems. The application will contribute to enhanced validation data presentation and the ability to collaborate in a distributed real-time virtual environment. Godkänd; 2006; 20061127 (tobias);ISBN för värdpublikationen: 978-2-287-28772-5 CASTT - Centre for Automotive Systems Technologies and Testing

Due to the high costs of developing new chassis and suspensions, it is interesting to reduce the costs with time efficient MBA (Multibody System Analysis) programs like ADAMS, DADS, Mechanica, etc. In order to reduce developing time, hence costs, the simulations have to be as close the reality as possible. To get there, students, the future in mechanical engineering, have to learn about concurrent engineering, modeling, simulation and distributed engineering. Moreover, thesis work and research have to be carried out even further in this area to find new approaches and increase the knowledge. This thesis designs, simulates and verifies through vehicle testing a new suspension for a race car, which improves the entry and exit into turns while reducing under steer. Tools to enhance the acceleration, analyze control systems and build road data files are presented in this thesis for engineers and students of the future. Validerat; 20101217 (root)