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

www.kit.edu Karlsruhe Institute of Technology (KIT) / Institute of Control Systems (IRS)

KIT – University of the state of Baden-Württemberg and National Laboratory of the Helmholtz Association

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

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

Research Fields of the IRS

2 09/24/2014

Automation Solutions Cooperative Assistance Systems Alternative Energy Storage Solutions Haptic Cooperative Advanced Driving Assistance System (ADAS)

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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

3 09/24/2014

Source: http://commons.wikimedia.org/wiki/File:American_shepherd3.jpg

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

4 09/24/2014

HW-in-the-loop Human Virtual Car Simulation

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

5 09/24/2014

Brake Simulator

Mechanics Electronics Control

HiL Integration

Validation Overview Components Overview Concepts

Driving Simulator

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

6 09/24/2014

Steering Wheel Brake Screen Realtime System Sound

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

Throttle

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

7 09/24/2014

Mechanics Electronics Control

HiL Integration Driving Simulator

Validation Overview Components Overview Concepts

Brake Simulator

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

Hybrid car characteristic

Requirements

Conventional pedal force characteristic

8 09/24/2014

Accuracy according perception Short response time Human perception Nonlinear force characteristic Nonlinear dynamic

Recuperation

• nly

Recuperation & Conventional Brake

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

Accuracy according perception Short response time

9 09/24/2014

Basic concepts for pedal force simulator Passive Active New Concept: Brake Feedback Force Generation by Electric Drive

Nonlinear force characteristic Nonlinear dynamic

Requirements

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

10 09/24/2014

Synchronous Motor Gearbox Connector Torque Sensor Pedal

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

11 09/24/2014

Incremental Encoder Spring Limit Stops

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

12 09/24/2014

CAN Interface DSP Incremental Encoder QEI Torque Sensor CAN Bus PWM Drive Control Unit SM µC Gate Unit Converter QEI Pedal Control Unit / A D

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

13 09/24/2014

Sensor Input Reference Calculation Control Algorithm Failure Detection System Supervision System State Estimation Output Enable & Limit Filtering PWM Signal Field-Oriented Control Gate Signals Emergency Stop Pedal Control Unit (DSP) Drive Control Unit (μC)

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

14 09/24/2014

MM Motor Torque MF Spring Torque MP Pedal Torque MG Pedal Mass Torque MRi Friction Torque i Gear Ratio φi Shaft Angle left/right side JM/G Inertia of Motor/Gearbox J1‘ Inertia of connecting elements left J2 Inertia right kDK Spring Constant of Torque Sensor & Connector dDK Damping Rate

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 with Constraints

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       

1 1 1 2 1 2 1 1 2 1 2 1 2 2 2 2 2 2

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ... ( ( ) ) ) ) ( ) (

DK DK M R DK DK p R G F

J t k t t d t t i M t M J t k t t d t t M t M M t t M t t                                  

2

( ) : Angle of Limit Stops

• 120

( ) 120

M

t Nm i M t Nm        

2 1 1'

( )

M G

J J i J J    

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

16 09/24/2014

Sensor Input Reference Calculation Control Algorithm Failure Detection System Supervision System State Estimation Output Enable & Limit Filtering PWM Signal Field-Oriented Control Gate Signals Emergency Stop Pedal Control Unit Drive Control Unit

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

17 09/24/2014

MP Pedal torque MS Reference torque x System states u Command input torque to motor z Disturbances

V System Kx u

• z

x MP MS Kp Ki ʃ

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 Problem: Not all system states x and pedal torque MP can be measured  Use of Extended Kalmanfilter for estimation Estimated quantities System states Pedal torque

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 

1 1 2 2

ˆ ˆ ˆ ˆ ( ) ( ) ( ) ( )

T

t t t t    

1 2 1 2 2 2

( ) ( ) 1 ( ) ( ) 1 ( ) ( ) ( )

Mes DK DK

t t t t t M t k k t                                         

P

ˆ M

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

V System Kx u

• z

MS Kp Ki ʃ Kalman- filter zk y

PI-State Feedback Control

19 09/24/2014

Pedal torque, estimated MS Command input torque System states, estimated zk Disturbances, known, used in Kalmanfilter

ˆ x

P

ˆ M

P

ˆ M

ˆ x

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

 Deviations below human perception

Measurement Results

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 Root-Mean-Square-Error < 12N

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

Summary – Brake Pedal Simulator

System control and state estimation designed Simulator emulates arbitrary nonlinear force characteristics Required accuracy of pedal force achieved

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Control Algorithm System Model

V System Kx u

• y
• z

Kalman- filter x' MP' MS zk Kp Ki ʃ

1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 1

1 ( ) ( ) ( ) ( ) ... ( ) ( ) 1 ( ) ( ) ( ) 1 ( )

DK DK DK DK DK S F DK DK DK M

t t k d d k d J J J J t t d t t dt t t k g k k d d d J J J J J t i J M                                                                                   

1 10 1 2 20 2 2 2 2

( ) ( ) ( ) ( ) ( ) 1 1

R R P g F

sign M sign M M t M M J J                                      

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

22 09/24/2014

Mechanics Electronics Control

Driving Simulator

Validation Overview Components Overview Concepts

Brake Simulator HiL Integration

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 Integration

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CAN

Source: duden.de/_media_/small/P/PC-201100281327.jpg dspace.com/files/jpg2/px4_px10_px20-de-002_desktopversion_schraeg... ..._refl_dp_300dpi_200x250mm_cmyk_081218.jpg

Brake Pedal Simulator CarMaker

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

Integration Concepts

Concept 1

Brake pedal simulation in CarMaker Feedback force command to brake simulator Pedal position used in CarMaker Complex brake pedal simulation possible

Concept 2

Brake pedal characteristic implemented on brake pedal simulator CarMaker selects characteristic Pedal position returned to CarMaker Higher torque / time resolution

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Brake Pedal Simulator CAN CarMaker

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

Conclusion

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 Advanced Driving Simulator presented  Haptic interfaces available  Test bench for cooperative ADAS

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

Result

26 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 27 09/24/2014

Thank you for your attention

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

Appendix

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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

Pedal Feedback Force Characteristic

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Real brake pedal force introduced by braking system Modelling with pedal force characteristic ( ( ), ( )) ( ( )) ( ( ), ( )) ( ( ), ( ))

Pedal Static Hysteresis Damping

F s t s t F s t F s t s t F s t s t    ( ): Pedal Travel s t ( ( ))

Static

F s t

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

Pedal Feedback Force Characteristic

30 09/24/2014

( ( )) ( ( ), ( ))

Static Hysteresis

F s t F s t s t 

( ( )) d s t

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

Pedal Feedback Force Characteristic

Idealized pedal force characteristic for 2 different pedal velocities

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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

32 09/24/2014

CAN Signal Internal Signal Sensor Input Reference Calculation Control Algorithm PWM Signal Emergency Stop Failure Detection System Supervision System State Estimation Output Enable & Limit Field- Oriented Control Gate Signals Filtering Pedal Control Unit Drive Control Unit

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 differential equations Friction model

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       

1 1 1 2 1 2 1 1 2 1 2 1 2 2 2 2 2 2

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ... ( ( ( )) ( ))

DK DK M R DK DK p R G F

J t k t t d t t i M t M J t k t t t d t t M t M t t M t M                                    ( ) ( )

Ri i i Ri Ri i

M sign M d       

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

34 09/24/2014

Coupled differnetial equations Non-Linearities Linearization through

 

2 2

( ) ( ) 2

G P

l M m g sin t        

   

2 2 2

( ) ( ) 2 ( )

G P O S

sin l M m g sin t g g t                     

2 2

0 and     

       

1 1 1 2 1 2 1 1 2 1 2 1 2 2 2 2 2 2

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ( ( ) ) ) ( )

DK DK M R DK DK p G R F

J t k t t d t t iM t M J t k t t d M t M M M t t                             

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

35 09/24/2014

       

1 1 1 2 1 2 1 1 2 1 2 1 2 2 2 2 2 2

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ( ( ) ) ( ) )

DK DK M R DK DK p R G F

J t k t t d t t iM t M J t k t t d M M M t t t M                              Coupled differnetial equations Non-Linearities Linearization through

   

2 2 2

( ) ( ) ( )

F

M k a sin t cos t           

     

2 2 2 2 2

( ) · · ( ) ( ) ( )· ( )

F F F

sin cos M k a t M k t                     

2 2

and      

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

Control Concepts Overview

36 09/24/2014

Compensator Deadbeat Controller

SISO - Control H - Control

PI – State Feedback Constant State Feedback

State Feedback Control 

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

Control Implementation with additional Spring

37 09/24/2014

V System Kx u

• z

MS-MF Kp Ki ʃ Kalman- filter zk y

• MF

ˆ x

P

ˆ M

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

Identification

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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

State Space Model for Kalmanfilter

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System equation

39

1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2

1 ˆ ˆ ( ) ( ) ˆ ˆ ( ) ( ) ˆ ˆ ( ) ( ) 1 ( ) 1 ˆ ˆ ( ) ( ) ˆ ˆ ( ) ( )

DK DK DK DK DK S F DK DK DK P P

t t k d d k d t t J J J J t t k g k k d d d t t J J J J J M t M t         



                                                               

1 1 10 2 2 20 2

... 1 ( ) ( ) ( ) ( ) 1

M R g F R

J i M t sign M M M sign M J                                         

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

State Space Model for Kalmanfilter

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Measurement equation

1 1 2 2 2 2

ˆ ( ) ˆ ( ) ( ) 1 ˆ ( ) ( ) 1 ( ) ˆ ( ) ˆ ( )

Mes DK DK P

t t t t t M t k k t M t                                             

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

Kalmanfilter - Simulation

41 09/24/2014

Time [s]

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

Kalmanfilter - Simulation

42 09/24/2014

Time [s]

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

Kalmanfilter - Measurement

43 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

Quelle: http://www.kistler.co m/medias/sys_mast er/ celum_assets/88247 08071454_934- 073_web_6407_png .jpg?2

Measurement Setup

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Pedal force sensor attached to pedal Actuation via human foot Hence, no possibility to apply velocity profiles  Record command input torque Used pedal characteristics: