Real-Time Applications
This page contains a limited bibliography of technical papers
and presentations related to CarSim and TruckSim in real-time applications
such as driving simulators and testing of hardware in the loop (HIL).
Thomas Klingler, Bryan Miller, Nathan Picot, Michael Rizzo (General Motors). "FMVSS 126 Electronic Stability Control Sine with Dwell Incomplete Vehicle Type 2 Analysis."
SAE paper 2011-01-0956, April 2011.
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Incomplete vehicles are partially manufactured by an Original Equipment Manufacturer (OEM) and subsequently sold to and completed by a final-stage manufacturer. The FMVSS 126 compliance of the completed vehicle can be certified in three ways: by the OEM provided no alterations are made to identified components (TYPE 1), conditionally by the OEM provided the final-stage manufacturer follows specific guidelines (TYPE 2), or by the final-stage manufacturer (TYPE 3). An engineering solution to provide TYPE 2 certification boundaries for FMVSS 126 compliance to final-stage manufacturers of incomplete vehicles was found using a combination of physical tests and Hardware-in-the-Loop (HIL) simulations. The requirements to comply with FMVSS 135 (Hydraulic Brake Systems) and FVMSS 301 (Fuel System Integrity MPV's, Trucks, and Buses) were used to limit the scope of the investigation. FMVSS 301 compliance restricts the maximum unloaded vehicle curb weight, providing a vehicle weight boundary condition other than the maximum gross vehicle weight. FMVSS 135 provides longitudinal and vertical restrictions on center of gravity location for the completed vehicle. HIL tests were performed to guide targeted physical tests. The HIL results were then correlated to the physical tests. The correlated model was then used to determine pass/fail center of gravity locations for each of the incomplete vehicle model configurations. TYPE 2 FMVSS 126 compliance was achieved by restricting the lateral, longitudinal, and vertical location of the completed vehicle's center of gravity.
Gary Bertollini, Linda Brainer, Jacqueline A. Chestnut, Steven Oja, and Joseph Szczerba (General Motors). "General Motors Driving Simulator and Applications to Human Machine Interface (HMI) Development." SAE paper 2010-01-1037. April 2010. Show summary
This report describes a new driving simulator capability at General Motors (GM) Research and Development's (R&D) Vehicle Development Research (VDR) Laboratory and its application in an iterative HMI development process. The paper also provides an overview of three recent simulator usability tests supporting HMI development.
Tomoya Toyohira (Honda). "The Validity of EPS Control System Development using HILS. SAE paper 2010-01-0008." April 2010. Show summary
In recent years, the increased use of electric power steering in vehicles has increased the importance of issues such as making systems more compact and lightweight, and dealing with increased development man-hours.
John Wilkinson, Thomas Klingler (General Motors), and Cedric W. Mousseau (Michelin Tire). "Brake Response Time Measurement for a HIL Vehicle Dynamics Simulator." SAE paper 2010-01-0079. April 2010. Show summary
Vehicle dynamics simulation with Hardware In the Loop (HIL) has been demonstrated to reduce development and validation time for dynamic control systems. For dynamic control systems such as Anti-lock Braking System (ABS) and Electronic Stability Control (ESC), an accurate vehicle dynamics performance simulation system requires the Electronic Brake Control Module (EBCM) coupled with the vehicles brake system hardware. This kind of HIL simulation-specific software tool can further increase efficiency by means of automation and optimization of the development and validation process. This paper presents a method for HIL vehicle dynamics simulator optimization through Brake Response Time (BRT) correlation. The paper discusses the differences between the physical vehicle and the HIL vehicle dynamics simulator. The differences between the physical and virtual systems are used as factors in the development of a Design Of Experiment (DOE) quantifying HIL simulator performance. Finally, the DOE results are used to drive the development of a tool to correlate the HIL system hardware to the physical vehicle BRT. This leads to the development of hardware with improved BRT, and to the design of new HIL simulators with improved brake response.
Yuuki Shiozawa, Masatsugu Yokote, Masaaki Nawano, Hiroshi Mouri (Nissan Motor Co., Ltd.), "Development of a Method for Controlling Unstable Vehicle Behavior." SAE paper 2007-01-0840, April 2007. Show summary
A model-based predictive controller is validated for a lane keeping assistant system using CarSim in a HIL system.
Goossens, P., "Model-based Design, Virtual Prototyping and Automated Testing
of Electromechanical Subsystems for Automotive Applications," Opal-RT
Technologies, July 2004. Click
here for the PDF |
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HIL testing of automotive subsystems using the Opal-RT
platform at McGill University.
Watanabe, Y., "CarSim on dSPACE," Presentation made at the 2004 dSPACE user conference.
Click
here for the PDF |
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Presentation made at the 2004
dSPACE user conference showing an early version of CarSim/dSPACE HIL.
Watanabe, Y., Sayers , M.W., "Extending Vehicle Dynamics Software for Analysis,
Design, Control, and Real-Time Testing," presented at the The 6th AVEC Symposium,
Hiroshima, Japan, Sep 9-13, 2002.
Show summary
An overview of CarSim and CarSim RT.
Chen, C. and Peng, H., "Rollover prevention for Sports Utility Vehicles With
Human-in-the-Loop Evaluations," 5th Int'l
Symposium on Advanced Vehicle Control, August 2000, Ann Arbor, Michigan. Click
here for the PDF |
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Rollover is studied using TruckSim for regular simulation
and also a driving simulator.
Sayers, M.W., "Vehicle Models for RTS Applications." Vehicle System Dynamics, Vol. 32, No. 4-5, Nov. 1999, pp. 421-438.
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This paper presents the modeling assumptions in CarSim RT.
