Application of unscented Kalman filter for clutch position control of automated manual transmission

In this paper, an adaptive sliding mode controller (ASMC) is proposed for an electromechanical clutch position control system to apply in the automated manual transmission. Transmission systems undergo changes in parameters with respect to the wide range of driving condition, such as changing in friction coefficient of clutch disc and stiffness of diaphragm spring, hence, an adaptive robust control method is required to guarantee system stability and overcome the uncertainties and disturbances. As the majority of transmission dynamics variables cannot be measured in a cost-efficient way, a non-linear estimator based on unscented Kalman filter (UKF) is designed to estimate the state valuables of the system. Also, a non-linear dynamic model of the electromechanical actuator is presented for the automated clutch system. The model is validated with experimental test results. Numerical simulation of a reference input for clutch bearing displacement is performed in computer simulation to evaluate the performance of controller and estimator. The results demonstrate the high effectiveness of the proposed controller against the conventional sliding mode controller to track precisely the desired trajectories

Increasing Safety of Automated Driving by Infrastructure-Based Sensors

This paper describes the development of an intelligent infrastructure, a test field, for the safety assurance of automated vehicles within the research project Ingolstadt Innovation Laboratory (IN2Lab). It includes a description of the test field architecture, the RoadSide Units (RSU) concept based on infrastructure-based sensors, the environment perception system, and the mission control system. The study also proposes a global object fusion method to fuse objects detected by different RSUs and investigate the overall measurement accuracy obtained from the usage of different infrastructure-based sensors. Furthermore, it presents four use cases: traffic monitoring, assisted perception, collaborative perception, and extended perception. The traffic monitoring, based on the perception information provided by each roadside unit, generates a global fused object list and monitors the state of the traffic participants. The assisted perception, using vehicle-to-infrastructure communication, broadcasts the state information of the traffic participants to the connected vehicles. The collaborative perception creates a global fused object list with the local detections of connected vehicles and the detections provided by the roadside units, making it available for all connected vehicles. Lastly, the extended environment perception monitors specific locations, recognizes critical scenarios involving vulnerable road users and automated vehicles, and generates a suitable avoidance maneuver to avoid or mitigate the occurrence of collisions

CHAOTIC BEHAVIOR OF HYDRAULIC ENGINE MOUNT

ABSTRACT The constitutive relationships of the rubber materials that act as the main spring of a hydraulic mount are nonlinear. In addition to material induced nonlinearity, further nonlinearities may be introduced by mount geometry, turbulent fluid behavior, boundary conditions, temperature, decoupler action, and hysteretic behavior. While all influence the behavior of the system only certain aspects are realistically considered using the lumped parameter approach employed in this research. The nonlinearities that are readily modeled by the lumped parameter approach constitute the geometry and constitutive relationship induced nonlinearity, including hysteretic behavior, noting that these properties all make an appearance in the load-deflection relationship for the mount and may be readily determined via experiment or finite element analysis. In this paper we will shoe that under certain conditions, the nonlinearities involved in the hydraulic engine mounts can show a chaotic response