The Influence of Electronic Stability Program on the safety of commercial vans with special regard to load distribution

Transkript

1 The Influence of Electronic Stability Program on the safety of commercial vans with special regard to load distribution Winfried Tomaske Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

2 Index of contents Motivation/ Accident Analysis Accident statistics of trucks/ N1 light trucks, Influence of ESP (Electronic Stability Program) Measurement of vehicle data Tyre characteristics, Damping chracteristics, Axle kinematics, Rollover protection / Loading unit calculation/design Handling Tests The Influence of ESP; Validation Tests Driving Simulator Tests The Influence of ESP Summary Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

3 Accidents with trucks Datenquelle: Knorr-Bremse Group Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

4 Road accidents in 2011 with driver of N 1 vehicle (GVM 3.5 t) as main responsible Kind of accident Collision with which starts, stops or is another vehicle stationary moving ahead or waiting moving laterally in the same direction oncoming turning into or crossing the road Collision with vehicle and pedestrian Collision with an obstacle in the carriageway Leaving the to the right carriageway to the left Accident of another kind Total Total Casualties Fatalities Severely injured Slightly injured Data source: Federal Statistics, Road accidents with goods vehicles 2011 Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

5 Influence of ESP on active safety Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

6 Goods Vehicles involved in accidents with personal injury Vehicles involved Data source: Federal Statistics < 3,5 t 3,5 t - 7,5 t 7,5 t - 12,0 t > 12,0 t no data Lorries and trucks with standard body Kind of vehicle Semi trailer tractor other tractor other goods vehhicles Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

7 Accident cause, Dekra Datenquelle: Berg F.,A. et al: Sicherheit von Transportern DEKRA/VDI Symposium 2004 Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

8 Rolling fleet Since 2008 without vehicles temporarily out of registration Lorries and trucks with standard body Reunification: 3 October 1990 < 3.5 t Old and new Laender of FRG > t +141% > 7.5 t Year Data sources: KBA & StBA Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

9 Vehicle and vehicle data Mercedes Benz Sprinter 215 CDI Leistung 110 kw Daten Werte Maße Laderaummaße LxBxH 3265x1780x1650 mm Radstand 3665 mm Spurweite vorne/hinten 1710/1716 mm Schwerpunktlage 1475 mm Schwerpunkthöhe 840 mm Trägheitsmoment des Fahrzeugs um x-achse (I xx ) Trägheitsmoment des Fahrzeugs um y-achse(i yy ) Trägheitsmoment des Fahrzeugs um z-achse (I zz ) 1300 kgm kgm kgm 2 Gesamtgewicht 2342 kg Nutzlast kg Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

10 Design study of the rollover protection Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

11 Construction and calculation of the rollover protection and the loading system Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

12 Test vehicle with equipment Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

13 Variable loading conditions B1 B4 B5 B2 B3 B6 asymmetric loading conditions Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

14 Test-vehicle with testing wheels Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

15 Measuring of vehicle data Front axle Kraft[N] Einfederung[mm] Spring characteristics Moment[Nm/ ] Vorderachse Wanksteifigkeit Wankwinkel[ ] Roll characteristics Rear axle Damping characteristics Axle kinematics Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

16 Tire characteristics Lateral force characteristics dynamic tire test rig Restoring torque characteristics Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

17 Measuring system Cockpit with steering wheel sensor GPS sensor Slip angle sensor Brake pedal sensor Steering wheel sensor GPS Platform ADMA Brake pressure sensor Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

18 Dynamic handling tests Double lane change manoeuvre DIN ISO Double lane change manoeuvre DIN ISO Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

19 Validation Test, stationary driving conditions Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

20 5.58 Yaw rate Clock Display Slip Angle v delta Fz VL Bremsdrcke Fz VR Fz HL Fz HR Gain 1 1 Lenkwinkel Rad VR Inputs Outputs ay Memory Druck Bremse VR nach ABS CarSim S -Function 1 Geschw.Rad VR Vehicle Code : i_s Motormoment Motormomenteingriff Schlupf Rad VL Schlupf Rad VR Schlupf Rad HL Schlupf Rad HR Input Simulation Fy Achse vorne Gain Fy Achse hinten 1 Output Simulation FZL 1 Masse in kg Schlupf _ist je Rad FZR 1 FZL 2 l vorne FZR 2 Radstand in m l hinten L 900 calpha v calpha Vorne caplha v in rad 900 calpha h calpha hinten s1 caplha h in rad 1.71 s2 spur vorne Scope v Rad VL delta v m l v yaw soll l h ca v ca h Gier soll Fz hinten Motormoment delta psipunkt delta psi delta VL deltapsipunkt deltabeta VR Motormoment HL deltaschlupf Rad VL deltaschlupf Rad VR HR deltaschlupf Rad HL deltaschlupf Rad HR Momenteingriff Fahrzustandserkennung und Fuzzy Regler deltapsipunkt Pressure (MPa ) Bremsdruckregler Gierraten vergleich Add 2 Rate Limiter 1 Saturation 2 Load dependent ESP-control spur hinten Fy vorne Fz hinten Fy hinten Schwerpunkthöhe ay Schwerpunktanlage calpha hinten v beta ay l hinten delta beta deltabeta beta soll beta Vergleich VL Schwerpunkthöhe VR delta Schlupf Wunschschlupf Schlupf _soll HL Wunschschlupf HR Schlupfregler Schlupf _soll je Rad 1 Gain g`s->m/s 2 Scope m mass h ay rolloversituation rollovercoefficient 1.71 track width w To Workspace *9.81 Weight m*g Wheel lift off R=(Fz,R-Fz,L)/(Fz,R+Fz,L) -->Rollover coefficient When R=1 then left wheels lift off When R=-1 then right wheels lift off Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

21 Simulation with and without ESP Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

22 Validation Test, instationary driving conditions Validation ISO ; B1 with ESP Validation ISO ; B1 without ESP Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

23 Influence of ESP on the handling behaviour Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

24 Double Lane Change Manoeuvre Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

25 Double Lane Change Manoeuvre Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

26 The effect of loading conditions on ESP Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

27 Querkaft i. Abh. vom Schräglaufwnkel bei 3 bar Tyre characteristics: Continental summer 4 Querkraft[kN] kn 4 kn 6 kn 9 kn 10 kn Schräglaufwinkel[ ] Querkraft i. Abh. Schräglaufwinkel Tyre characteristics: Goodyear all season 4 Fy[kN] kn 4 kn 6 kn 9 kn 10 kn S-Lauf[ ] Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

28 Lenkradwinkelgradient bei B1 Lenkradwinkel in Grad steady-state cornering (ISO 4138) with and without ESP Querbeschleunigung in m/s2 Lenkradwinkelgradient ohne ESP Lenkradwinkelgradient mit ESP Lenkradwinkelgradient 350 Lenkradwinkel in Grad steady state cornering (ISO 4138) without ESP different tyres Querbeschleunigung in g's Goodyear Ganzjahresreifen Conti Sommerreifen Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

29 Lenkradwinkel bei B1 ohne ESP Lenkradwinkel in Grad Double Lane change manoeuvre Max. lateral acceleration 6 m/s² -250 Zeit in s Querbeschleunigung bei B1 ohne ESP Querbeschleunigung in m/s Zeit in s Messung B1 Simulation B1 Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

30 sinusoidal steering input max. lateral acceleration 5,5 m/s² Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

31 Double lane-change manoeuvre max. lateral acceleration 7,5 m/s² Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

32 Double lane change manoeuvre with full braking max. longitudinal deceleration 10 m/s² Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

33 Table of max acceleration values steady-state cornering with ESP without ESP max. lateral acceleration 5,5 m/s² 7 m/s² Double lane change manoeuvre with ESP without ESP 4 m/s² 7,5 m/s² max. longitudinal deceleration 10 m/s² Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

34 Driving Simulator Tests Dynamic Driving Simulator; 8 DoF Obstacle avoidance manoeuvre with wild boarses Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

35 Typical trajectory, obstacle avoidance manouvre Only 20 % of the driver were able to avoid the obstacle (without ESP); Given velocity 100 km/h Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

36 Double Lane change manoeuvre with different braking systems Lenkradwinkel in Grad lastabhängiges ESP normales ESP ohne ESP Zeit in s 10 Querbeschleunigung in m/s lastabhängiges ESP normales ESP ohne ESP Zeit in s 10 5 lastabhängiges ESP normales ESP ohne ESP Visuel scene in the driving simulator Schwimmwinkel in Grad Zeit in s Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

37 Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

38 Summary - accident analysis shows the importance of ESP - Especially N1 drivers are mostly involved in accidents - a test vehicle with an adaptive load control ESP was assembled with a rollover protection and a loading unit - vehicle data were measured with test rigs - a vehicle model was designed in CarSim - Validation tests were done considering stationary and instationry driving conditions - avoidance tests were done with a dynamic driving simulator - the importance of a load adaptive ESP system was shown in driving simulator tests, considering especially normal drivers Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October

39 Thank you very much Winfried Tomaske DEKRA VDI Symposium Securing of Cargo on Road Vehicles, October