Design and Calibration of the Jaguar XK Adaptive Cruise Control - - PowerPoint PPT Presentation

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Design and Calibration of the Jaguar XK Adaptive Cruise Control - - PowerPoint PPT Presentation

Mar 20, 2024 267 likes •509 views

Design and Calibration of the Jaguar XK Adaptive Cruise Control System Tim Jagger MathWorks International Automotive Conference 2006 JAGUAR XK Page 3 ADAPTIVE CRUISE CONTROL(ACC) MODEL BASED CALIBRATION Adaptive Cruise Control The

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Design and Calibration of the Jaguar XK Adaptive Cruise Control System

Tim Jagger MathWorks International Automotive Conference 2006

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JAGUAR XK

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ADAPTIVE CRUISE CONTROL(ACC) MODEL BASED CALIBRATION

  • Adaptive Cruise Control – The Driver’s Perspective
  • The Adaptive Cruise Control System – Control Aspects
  • Jaguar XK Adaptive Cruise Control System
  • Jaguar XK Adaptive Cruise Control Virtual Vehicle Model
  • Model Correlation
  • Jaguar XK Adaptive Cruise Control Calibration Development
  • Queue Assist Development
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ADAPTIVE CRUISE CONTROL THE DRIVER’S PERSPECTIVE

  • Driver Comfort Feature
  • Allows Host Vehicle to follow a target vehicle
  • Automatically Resumes to set speed in absence of target vehicle
  • Driver selects headway
  • Available Headways

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1.0s, 1.4s, 1.8s, 2.2s

  • Driver Selects Cruise Speed

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  • Min. 20mph, Max. 112mph
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ADAPTIVE CRUISE CONTROL CONTROL APSECTS

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JAGUAR XK ADAPTIVE CRUISE CONTROL

  • New Adaptive Cruise Control Algorithms for XK
  • New Features

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Queue Assist Algorithms

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Lead Vehicle Acceleration Algorithm (LVA)

  • Initial Functional Testing – April 2005
  • Initial Calibration Testing – May 2005
  • Unexpected Results ….
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APPROACH XK v S-TYPE

20 40 60 80 100 120 140

  • 26
  • 24
  • 22
  • 20
  • 18
  • 16
  • 14
  • 12
  • 10
  • 8
  • 6
  • 4
  • 2

2 Range m Range Rate m/s COMPARISON OF XK v S-TYPE ACC APPROACH TO LEAD VEHICLE TRAVELLING AT 50mph XK Headway 1 90mph XK Headway 1 100mph S-TYPE Headway 1 90mph S-TYPE Headway 1 100mph S-TYPE shows smooth continuous reduction

  • f range rate with range

XK shows discontinuous reduction

  • f range rate with range
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TEST & DEVELOPMENT

  • Results from 1st ACC Test Session

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Harsh Early Brake Intervention

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LVA Algorithm gave unpredictable results

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Generally unrefined ACC Performance

  • Expectation was that XK ACC would only need small scale refining

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Developed from ACC3

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TEST & DEVELOPMENT

  • In reality major development was required
  • Second test period was for validation NOT development
  • Tight timescales & challenging vehicle allocation
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ADAPTIVE CRUISE CONTROL VIRTUAL VEHICLE MODEL

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MODEL CORRELATION

20 40 60 80 100 120 20 25 30 35 40 45 Time s ACC Host Vehicle Speed m/s X150 ACC-QA Simulink Model Validation Test - SDV1143 Simulation - CADS-X150-CP39-SDB4-trj04h.mdl Approach 1 Approach 2 Auto-Resume to Set Speed Cruising at Set Speed Approach 3 Following Target Vehicle

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MODEL CORRELATION

20 40 60 80 100 120

  • 1.5
  • 1
  • 0.5

0.5 1 1.5

Range m Range Rate Error m/s

Residuals approach 1 Residuals approach 2 Residuals approach 3

X150 ACC-QA Simulink Model Validation Test Vehicle - X150 SDV1143 Simulation - CADS-X150-CP39-SDB4-trj04h.mdl

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CALIBRATION DEVELOPMENT

  • Test Results indicated seven parameters influenced ACC refinement

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Lead Vehicle Acceleration Algorithm (LVA)

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ACC brake gain

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Brake demand slew rate

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Time to collision gain

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Residual Distance

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Coast Deceleration Estimate

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Headway Control Maps

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CALIBRATION DEVELOPMENT

  • Test Matrix of 8 possible ACC configurations
  • 4 days per configuration to test on vehicle = 32 days vehicle testing
  • Complete test matrix was evaluated by simulation in 10 days

ACC Vehicle Simulation was vital for calibration development

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SIMULATION PREDICTIONS V TEST RESULTS

20 40 60 80 100 120 140

  • 15
  • 10
  • 5

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Range m Range Rate m/s

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Range m Range Rate m/s

20 40 60 80 100 120 140

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Range m Range Rate m/s

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Range m Range Rate m/s

Test - 90mph Simulation - 90mph Test - 112mph Simulation - 112mph Test - 100mph Simulation - 100mph Test - 80mph Simulation - 80mph

Headway 1 Approach Results. Test v Simulation Predictions

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COMPARISON OF SIMULATION PREDICTIONS WITH PRODUCTION CALIBRATIONS

  • Two calibrations changed from simulation to production
  • Changes based on subjective driver assessment
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QUEUE ASSIST

  • Extension of ACC operating range to 0mph
  • Headway opened significantly at low speeds
  • QA host vehicle unable to track target vehicle accelerating at a

moderate rate

  • Filtering of ACC Speed demand introduced significant lag
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QUEUE ASSIST

10 20 30 40 50 60 70 80 5 10 15 20 25 Time s Speed m/s Jaguar XK QA Simulation. Acceleration from 5mph to 30mph. Headway 1 0.1g. Baseline Calibration Lead Car Speed Headway 1 0.1g. Baseline Calibration Follow Speed Headway 1 0.1g. Baseline Calibration Vehicle Speed 10 20 30 40 50 60 70 80 10 20 30 40 50 60 70 Time s Range m Jaguar XK QA Simulation. Acceleration from 5mph to 30mph. Headway 1 0.1g. Baseline Calibration

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FILTER CUT-OFF FREQUENCY

10

  • 2

10

  • 1

10

  • 60
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Phase (deg)

System: follow_speed_filt_current Frequency (Hz): 0.15 Phase (deg): -42

  • 4
  • 3
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Magnitude (dB)

System: follow_speed_filt_current Frequency (Hz): 0.151 Magnitude (dB): -3

FREQUENCY RESPONSE OF THE FOLLOW SPEED FILTER R44 CALIBRATION.

FREQUENCY Hz 10

  • 1

10

  • 35
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Phase (deg)

System: follow_speed_filt_new_02 Frequency (Hz): 0.979 Phase (deg): -29.9

  • 5
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Magnitude (dB)

System: follow_speed_filt_new_02 Frequency (Hz): 0.979 Magnitude (dB): -3 FREQUENCY RESPONSE OF FOLLOW SPEED FILTER - DESIGN 02.

Frequency Hz

  • Use frequency response toolbox to re-calculate filter constant
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EFFECT OF NEW FILTER CONSTANT

10 20 30 40 50 60 70 80 10 20 30 40 50 60 70 Time s Range m Jaguar XK QA Simulation. Acceleration from 5mph to 30mph Baseline Calibration filter cut-off @ 0.15Hz Filter cut-off @ 1Hz 10 20 30 40 50 60 70 5 10 15 20 25 Time s Speed m/s X150 QA Simulation. Headway 1. Acceleration from 5mph to 30mph. Follow Speed Filter -3db @ 1Hz

Headway 1 0.1g CADS Cal. R44. Follow Speed Filter -3dB @ 1Hz Lead Car Speed Headway 1 0.1g CADS Cal. R44. Follow Speed Filter -3dB @ 1Hz Follow Speed Headway 1 0.1g CADS Cal. R44. Follow Speed Filter -3dB @ 1Hz Vehicle Speed

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JAGUAR XK MODEL BASED DESIGN AND CALIBRATION

SUMMARY

  • Jaguar XK ACC system modelled in simulink
  • ACC Model shows good correlation with test results
  • Model was used to develop Jaguar XK ACC Calibrations
  • Development time per calibration loop reduced from 30 days to 10 days

(Typically 3 - 4 calibration loops on a vehicle program)

  • Vehicle test time now used for validation - not experimentation
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