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Quick Start Guide

CarMaker DemoKit 2.1

stand-alone

CarMaker (DemoKit, 2006-03)

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The information in this document is furnished for informational use only, may be revised from time to time, and should not beconstrued as a commitment by IPG Automotive GmbH. IPG Automotive GmbH assumes no responsibility or liability for anyerrors or inaccuracies that may appear in this document.

This document contains proprietary and copyrighted information and may not be copied, reproduced, translated, or reduced toany electronic medium without prior consent, in writing, from IPG Automotive GmbH.

© 2004 - 2006 by IPG Automotive GmbH.All rights reserved.

FailSafeTester™, IPG-CAR™, IPG-CONTROL™, IPG-DRIVER™, IPG-ENGINE™, IPG-GRAPH™, IPG-KINEMATICS™,IPG-LOCK™, IPG-MOTORCYCLE™, IPG-MOVIE™, IPG-ROAD™, IPG-ROADDATA™, IPG-TIRE™, IPG-TRAILER™,IPG-TRUCK™ are trademarks of IPG Automotive GmbH.

CarMaker®, TruckMaker®, MotorcycleMaker®, MESAVERDE® areregistered trademarks of IPG Automotive GmbH.

All other product names are trademarks of their respective holders.

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1 Contents1 Contents ........................................................................................ 5

2 About this Quick Start Guide ....................................................... 7

3 Running a Demo Test Run ........................................................... 93.1 Description of the Demo Test Run ......................................................... 10

3.2 Analyzing Simulation Results ................................................................ 12

3.3 Checking the Models ............................................................................... 13

3.4 Adapting the Test Run ............................................................................ 14

3.5 What this Demo Illustrates ..................................................................... 14

3.6 Other meaningful Test Runs ................................................................... 15

4 Building Your Own Test Run ...................................................... 174.1 The Test Run ............................................................................................ 18

4.2 Defining a Test Run ................................................................................. 194.2.1 Vehicle, Trailer and Tire Selection ......................................................................... 194.2.2 Loads .................................................................................................................... 204.2.3 The Maneuver Dialog ............................................................................................ 214.2.4 IPG-DRIVER ......................................................................................................... 244.2.5 Road ..................................................................................................................... 254.2.6 Saving ................................................................................................................... 294.2.7 Input from file ........................................................................................................ 294.2.8 Animation or IPG-MOVIE Parameter Interface ..................................................... 294.2.9 Test Series ............................................................................................................ 30

4.3 Example 1 ................................................................................................. 324.3.1 Contents ................................................................................................................ 324.3.2 Setup of a new test run ......................................................................................... 324.3.3 Performance and analysis of the test run ............................................................. 334.3.4 Sketch of the test run ............................................................................................ 35

4.4 Example 2 ................................................................................................. 364.4.1 Contents ................................................................................................................ 364.4.2 Setup of a new test run by modifying an old one .................................................. 364.4.3 Setup of a 3D-road ................................................................................................ 364.4.4 Adaptation of the maneuver steps to the course .................................................. 364.4.5 Controlling of lateral and longitudinal dynamics with IPG-DRIVER ...................... 374.4.6 Variation of car load .............................................................................................. 374.4.7 Sketch of the test run ............................................................................................ 38


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5 Reference ..................................................................................... 395.1 Analyzing Data with IPG-CONTROL ...................................................... 39

5.2 Using IPG-CONTROL .............................................................................. 405.2.1 Quick Reference IPG-CONTROL ......................................................................... 40

5.3 User Accessible Quantities .................................................................... 425.3.1 Environment ......................................................................................................... 435.3.2 Vehicle model ....................................................................................................... 445.3.3 Trailer ................................................................................................................... 525.3.4 Powertrain ............................................................................................................ 555.3.5 Braking System .................................................................................................... 575.3.6 Driver/Driving Maneuvers .................................................................................... 585.3.7 I/O-Quantities ....................................................................................................... 585.3.8 Extra Quantities ................................................................................................... 61


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2 About this Quick Start GuideThis document intends to give a first introduction toCarMaker by showing how to per-form simulations with theCarMaker demo version as a stand-alone application. Eyou do not need to have MATLAB/Simulink installed. It can be seen as a tour guproviding you insight into the powerful world of virtual test driving withCarMaker.The large and detailedCarMaker documentation (which is not part of the demo vesion) is much more than this. It contains every aspect of using, adapting and progming theCarMaker software package. So always keep in mind that the worldCarMaker is much larger than this introduction can show.

This Quick Start Guide assumes that you have correctly installed theCarMaker demoversion. For detailed information about software and hardware requirements aninstallation process please refer to theCarMaker DemoKit CDROM.

Enjoy!


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3 Running a Demo Test RunAn interesting demo test run provided withCarMaker is the "Nürburgring Nordschle-ife". To run this test run, follow these steps:

1 StartCarMaker by choosingCarMaker from the Windows Start menuStart →Programs → CarMaker Demo → CarMaker Stand-alone

TheCarMaker main GUI appears. Also, the 3D animation programIPG-MOV-IE and the virtual instrument panelInstruments appear.

2 In theCarMaker main GUI pull down theFile menu and chooseOpen.TheLoad Test Run browser appears. From this point, the test runs whosenames start with SL (e.g. SL_ABSdemo) are dedicated toCarMaker Simulinkmodels. E.g. they do not work with the stand-aloneCarMaker version.

3 Select the test runNordschleife from theExamples directory and clickOK .

4 To start the simulation press the greenStart button in theCarMaker main GUI.As the simulation runs you can watch the virtual car driving in the animatiowindow and some interesting vehicle and driver signals in the Instruments dow. In the fullCarMaker version any vehicle geometry can be included intotheIPG-MOVIE animation.

5 To stop the simulation press the redStop button in theCarMaker main GUI.


Description of the Demo Test Run 10

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3.1 Description of the Demo Test RunAs you can see in theCarMaker main GUI thecar to be simulated with this test runis the DemoCar. The DemoCar parameter data set models a standard medium-claIn theCarMaker demo version it is not possible to change car parameters becauseare read from encrypted files in theCarMaker data base. The car model is equippewith 195/65R15tires.

The Nordschleife test run is defined as a closed-loop maneuver and makes usedriver modelIPG-DRIVER. You can see this by choosingManeuver from the Param-eters menu.IPG-DRIVER is used for Longitudinal and Lateral Dynamics. Close tManeuver window.

To look at the detailed configuration of the driver model selectDriver from the Param-eters menu of theCarMaker main GUI. You can see that the Cruising Speed is se250 km/h. However, the driver will only drive as fast as the lateral acceleration of 4s2 allows. Furthermore, the driver’s behavior is defined by the g-g diagram. InCarMaker demo version only the standard driver parameters can be changed. Cthe Driver window.


Description of the Demo Test Run 11

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To look at the specified road of this test run selectRoad from the Parameters menu otheCarMaker main GUI. In this case the road is defined by digitized data from a msurement. The data of the digitized road is loaded from the file Nordschleife-21_demo.bin. To get an overview of the road right-click in the road dialog and seBird’s Eye View of Road. You can see the first 5000 m of the Nuerburgring NorLoop. Another way to build a road is by defining it with the help of segments, as shlater on. Close the Road windows.


Analyzing Simulation Results 12

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3.2 Analyzing Simulation ResultsIn this section we will learn about analyzing and plotting simulation results withhelp ofIPG-CONTROL.

1 ChooseIPG-CONTROL from theFile menu. TheIPG-CONTROL windowand aIPG-CONTROL Data Window appear.

2 From thePreferred Quantities list in theIPG-CONTROL window choose thevehicle velocity signalCar.v and the vehicle lateral accelerationCar.ay. Mini-mize theIPG-CONTROL main window.

3 To adapt the units of the signals choose a signal by clicking on its label in thIPG-CONTROL Data Window . Then right-click somewhere in the diagrampane. Now you can select the desired unit from the menu itemUnit of SelectedQuant..

4 To adapt the scaling of the diagram choose a signal by clicking on its label inIPG-CONTROL Data Window . You can zoom in on the x-axis (y-axis) bypressing thex-key (y-key) of your keyboard. You can zoom out on the x-axis (axis) by pressingShift + x (Shift + y). Alternatively use the buttons of theIPG-CONTROL Data Window.

5 To adapt the position of the diagram choose a signal by clicking on its label in tIPG-CONTROL Data Window . Use the arrow keys of your keyboard to findthe desired position. If you want to move all signals at the same time deselecsignals by clicking on the highlighted one. Alternatively, right-click somewhein the diagram pane and selectTotal Fit , Horizontal Fit , Vertical Fit or Alignto Zero.

Please refer to the Appendix for an explanation of other Quantities you can vieIPG-CONTROL. Also, the Appendix contains more detailed information on the funtion range ofIPG-CONTROL.

Note: In the fullCarMaker product version it is possible to load simulation results inthe MATLAB workspace and make use of the whole MATLAB functionality for signanalyzing.


Checking the Models 13

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3.3 Checking the ModelsAlthough model parameters cannot be changed in theCarMaker demo version youcan check the model properties. One way to do this is by using theModel ParameterCheck (ModelCheck) utility.

If you want to do this chooseModel Check from theSimulation menu. To use Mod-elCheck, basic simulation information must first be entered into the entry fields foselected section. For example, if the Aerodynamics of the vehicle would like toobserved then the flow angle range (i.e. the wind’s angle of attack) is entered. Theton Generate Diagrams is then pressed, a short simulation is done in the backgand the results are shown in graph form.


Adapting the Test Run 14

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3.4 Adapting the Test RunBefore changing test run parameters rename the Nordschleife test run by choSave as...from theFile menu. You can create new directories by right-clicking in tpane of the Save test run dialog.

Now, that you already know how to run simulations and analyze the results weinvestigate the influence of some driver parameters on the simulation.

Open the Driver dialog by choosing Driver from the Parameters menu ofCarMaker’smain GUI.

• In the Standard Parameters tab set the value for Cruising Speed to 70. In addchange the Corner Cutting Coefficient (0, ..., 1). Watch the vehicle inIPG-MOVIEand observe Car.v, Car.ay, Car.ax and Car.YawRate inIPG-CONTROL.

• In the Standard Parameters tab set the value for the maximum lateral accelerto 2, 6 or 8. Each time start the Test Run and observe the signals Car.v, Car.aCar. ax and Car.YawRate. Set the maximum lateral acceleration back to 4.

• Change other parameters of the Standard Driver Parameters. E.g. change thenent of g-g Diagram (0.5, 1, 2) and perform simulations. Observe several Quaties inIPG-CONTROL. Use the Appendix as a reference for choosing them.

3.5 What this Demo IllustratesThis demo outlines some fundamental tasks commonly used when performing simtions withCarMaker:

• Test runs play a key-role inCarMaker. A test run defines all aspects of a simulation in CarMaker. It contains the properties of the driver, the road, what kind ovehicle is used, what kind of tire is used, etc. In a later chapter we will learn whtest run exactly is and how to build your own test runs. InCarMaker you defineand adapt test runs because simulating inCarMaker basically means executing tesruns.

• IPG-MOVIE lets you view the simulation results on-line as a 3D movie and givyou first clues as to whether or not the simulation is behaving as intended.

• IPG-CONTROL lets you observe any signal of the simulation you might be intested.

• In CarMaker you have everything you need for analyzing any behavior of a carcontroller (vehicle model, driver model, virtual road, maneuver control, analystools and more).


Other meaningful Test Runs 15

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3.6 Other meaningful Test RunsOther demo test runs illustrate more useful approaches for defining test runs. Yoopen them by pulling down the File menu and choosing Open. From this point, theruns whose names start with SL (e.g. SL_ABSdemo) are dedicated toCarMaker Sim-ulink models. E.g. they do not work with the stand-aloneCarMaker version.

Just browse through the menus like we have already done it in the section "Descrof the Test Run" of this chapter and you will learn many things about defining testin CarMaker. At this point you might want to take a look in the chapter "Building yoown Test Run" in order to get a wider background about theCarMaker features.


Other meaningful Test Runs 16


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4 Building Your Own Test RunImagine you are a development/test engineer. You have been working long and hadeveloping the latest and greatest vehicle widget, and would like to see if it prefoas you have imagined it would. Together with some colleagues you plan a day ofcle testing. The preparation might go something like this:

• Select the vehicle, i.e the one that has the new widget installed.

• Select a test track. Maybe it is the local proving grounds, a curvy race coursesome remote cold weather location. Obstacles can be set up and certain condie.g. wet track, icy, windy, etc. can be anticipated.

• Choose a test driver.

• Make any necessary changes to the vehicle. For example, add snow tires or aload or some other change.

• Define a set of maneuvers that should be performed.

• Optionally, select a trailer or a caravan (camper).

• Of course, there is normally more involved than just this, but the major parts aoutlined.

In CarMaker the preparation for vehicle testing is very similar to how it would be doin the real world.

• Vehicle is selected.

• Test track, along with obstacles and conditions, is then chosen or defined.

• The type of driver is specified or a simple closed loop controller is used.

• Tires, trailer, and loads are specified.

• Maneuver(s) are defined.

• Optionally, a trailer or caravan is selected.

This section describes how to prepare a vehicle test withCarMaker.


The Test Run 18

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4.1 The Test RunBefore talking about preparing a simulation the concept of a test run shoulexplained in a little more detail. In the opening paragraphs of this chapter an outlinthe steps needed to prepare a simulation was given. This included the selectiovehicle, road selection or definition, selection of driver type, maneuver definitions,When all these choices and definitions are made and prepared we are left with ething needed to parameterize and control the virtual vehicle environment (VVE). Tsettings are stored in a file that is used by the VVE during a simulation. This storedwhich can be saved, loaded, edited, etc. is called atest run definition, and the simula-tion that results in the execution of the test run definition is simply atest run. Therefore,a test run is a vehicle simulation that results from the parameterization and controinitions that are specified in the test run definition that is created with theCarMakerGUI. The table below shows the parts of a test run file.

File Identifiers Identifies file type, creator and includes a brief userdefined description of the file. AllCarMaker Info-Files (parameter files) start with this information.

Reference to Vehicle File The vehicle that is selected in the main GUI will reerence a vehicle InfoFile that will be used to parameterize the vehicle model. The vehicle file will thenreference subsystem InfoFiles. For example, the suspension and brake files will be referenced.

Reference to Trailer File Trailer InfoFile that is referenced and used to paramterize the trailer model.

Reference to Tire Files Tire InfoFiles (one for each tire) that is referencedand used to parameterize the tire model.

Load Definitions Additional load definitions defined by the user in theloads dialogue window.

Road Definition or Reference The road is either defined in the road dialogue window and saved in the test run or a digitized road file isreferenced.

Movie Parameters IPG-MOVIE specific information

Input from File If input from a file is used then the file name will belisted here and referenced. (Disabled in theCarMaker demo version).

Error Handling Specified error handling information (Disabled in theCarMaker demo version)

Driver Parameters Driver specific information, including the driversbehavior and other global settings used by the drivermodel during a simulation.

Driving Maneuver(s) The maneuvers that are created in the maneuver dlog window are saved here.


Defining a Test Run 19

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4.2 Defining a Test RunNow that we know what a test run is, let’s go through the steps of putting one toge

4.2.1 Vehicle, Trailer and Tire Selection

When the vehicle, trailer, or tire settings are “selected” the parameter data that isciated with that vehicle, trailer or tire will be used to parameterize the respecCarMaker models. Before being used the parameter data is first saved in files inproject directory, called InfoFiles, which will be read byCarMaker during simulationinitialization and used to customize the more general vehicle (including chaengine, suspension, etc.), tire, and trailer models. The vehicle, trailer and tire parasets are selected in theCarMaker main GUI as shown below

In theCarMaker GUI’s main window there is a section labeledCar. Press theselectbutton to choose a vehicle file. Figure 4.1 shows the vehicle selection area.

Next is the (optional) trailer selection area. If a trailer or caravan is desired choofrom the list opened when the select button is pressed. Figure 4.2 shows the tselection area.

The tires are selected in a similar way. However, in this case use the select buttonto choose all four tires together. Alternately, if the tires are to be chosen individuthen click on the tire description location (one of the four tire names). By rollingmouse over the four tire types shown in the selection area an information boxappear describing which tire (front right, front left, rear right, rear left) will be mofied. Figure 4.3 shows the tire selection area.

Figure 4.1 Vehicle Selection Area

Figure 4.2 Trailer Selection Area

Figure 4.3 Tire Selection Area



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4.2.2 Loads

Changing a car’s (as well as a trailer’s) load leads to a remarkable change in a vehdynamic response. Acceleration and braking are influenced by the change of matire loads, and the body motions (pitching, rolling and yawing) are in turn influenby the mass distribution. Therefore, performing a number of tests with various lothat have different mass and position would play a vital role in the testing of vehdynamic effects with active control systems such as ESP and ABS.

By pressing the select button in the load selection area in theCarMaker GUI or bygoing to the drop down menu Parameters>Load, the window shown in figure 4.4be opened.

As shown, three loads for each car and trailer can be specified, their position invehicle and their moments of inertia, which can often be neglected with respect tbody. For help when visualizing and positioning the loads, colored circles of differadius are shown in the picture on the left and in theCarMaker GUI (Section A). Byclicking the right mouse button a menu is opened which allows the car load informato be imported from another test run.

The coordinate system used is a cartesian system with x = 0 at theback of the vehicleand increasing in the direction of the front, y = 0 at the middle of the vehicleincreasing in the direction of the driver’s side (passenger side in Japan and in the Uand z = 0 on the road surface and increasing towards the sky.

Figure 4.4 Vehicle Loads Window



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4.2.3 The Maneuver Dialog

One of the most important components of a test run is the maneuver definitionwith CarMaker, defining complex open and closed loop maneuvers is straightforwa

The maneuver dialog is opened through theParametersdropdown menu in theCarMaker GUI (Parameters-> Maneuver). Figure 4.5 shows the maneuver dialowindow that is opened as a result.

The following figure shows the maneuver dialog window again, but this time thetions are outlined. A description of the sections follows.

The maneuvers dialog window is divided into the following main parts:

Figure 4.5 Maneuver Dialog Window

Figure 4.6 The Sections of the Maneuver Dialog Window

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Mini-Maneuver list area

The Mini-Maneuvers are defined in sections B, C and D and shown in this areThey will be run in the order that they appear.

Duration/Description area

- Description - add a description to the current mini-maneuver. The descriptiwill be shown in the mini-maneuver list area (section A), in the test run file, aalso in theCarMaker GUI when the test run is loaded.

- Duration - the end of a mini-maneuver can be stated by specifying either a tlimit or a distance; the first reached determines the end of the mini-maneuveis possible to leave both fields empty, but under normal circumstances timeshould be selected so that in cases where the vehicle is stopped on the roadbrakes to a stop) the mini-maneuver will come to an end.

Longitudinal dynamics: pedals, hand brake and gear shifting

• C1: Virtual Driver,IPG-DRIVER, is used

• C2: manual control of the pedals, hand brake or gear shiftingPossible values for the pedals range from 0 to 1, were 0 is not depressed andfully depressed. A gear number of 0 represents the idle state. If the first columleft empty then no action is performed.

• C3: simple speed controllerReaching the final speed may cause the end of the maneuver step (additionaltion to time limit and distance).The sensitivity should be about 1.0.

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Lateral Dynamics: steering control

• D1: virtual driver,IPG-DRIVER, is used

• D2: sinus steering, amplitude, period, and number of periods are specified.

• D3: Step Steering, an amplitude and duration are specified. The value of ampliwill be reached and held after T = Start + Duration.

• D4: Follow Course, simply follows the course that is defined.

The duration of the steering ramp (D3 and D4) concerns the time behavior of the(increase of angle). The duration of the steering maneuver itself is defined in secti

Mini-Maneuver Add/Delete Bar

The add/delete bar is used to modify the list of mini-maneuvers.

• New: Add a new mini-maneuver

• Copy: Copy an existing mini-maneuver from the defined list

• Insert: Insert the copied mini-maneuver into the list (i.e. paste)

• Delete: Remove the selected mini-maneuver from the list

• Import: Import defined mini-maneuvers from other test run definitions

Mini-Maneuver Command Box

Box where commands can be added to the defined mini-maneuvers. See the stitled Mini-Maneuver Command Language for more details.

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4.2.4 IPG-DRIVER

The virtual driver is a controller for following a course and a speed controller on aen track. It considers the selected values for desired quantities and control paramof the driver model.

The parameter set of the driver model is divided in longitudinal, lateral dynamdeclutching/gear shifting. Via the menu with the right mouse button, parameter seother test runs can be imported.

Figure 4.10 Driver Standard Parameters



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4.2.5 Road

General inputs

Note the following:

• the starting position is the coordinate where the vehicle is situated at the beginof the test run, and

• the link to a file with a digitalized, measured track (digitalized, in contrast to thdefinition with single segments).

Figure 4.11

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Global road characteristics

There are global settings as default values for the whole track, which can be overron certain positions with different values.

Necessary specifications are

• the track width on the left and on the right side with respect to the center line.track is the part of the road, which has to be used by the virtual driver. Beyond tthere is a border stripe. It is possible to drive on it in case of emergency.If the vehicle leaves this border stripe, too, the simulation is stopped.

• friction values for track and border stripe

and optional

• two stripes following the road track (constant distance to the center line) with cial friction values. Their width (from … to …) is specified with respect to the ceter line.

List of segments

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The road can be built with a list of single segments. The essential inputs like lengthe segment, angle, radius and orientation are printed in the list. The modificationroad segment must be confirmed by clicking into the list. The whole characteristicthe selected road segment are shown in the left part of the dialogue. Road segmeother test runs are imported with “Import”.

Input for the selected segment

The following types of segments may be selected:

• straight

• curve left, curve right (circular arc)

• clothoid left, clothoid right (transition from straight to curve)

For each type of segment, the corresponding inputs for length, angle, radius,(long. and lat.) and camber are necessary or possible.

Override global road characteristics

The global characteristics of the track like width, friction and friction stripes canoverridden in each single segment. A friction stripe always has the length of thement, its width has to be specified.

The right mouse button in the road menu opens a menu, where

• the top view of the defined course (bird’s-eye view) is accessed

D

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• the driving lane of the driver is defined

• markers for

- pylon lanes (input for the driver model),

- speed limit signs (input for the driver model) and

- wind machines (for simulation of cross wind)

can be positioned along the course.

Figure 4.17

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4.2.6 Saving

Saving the data acquired during a simulation is one of the most important aspeany testing methodology as it allows the data to be analyzed, plotted, inspected, mulated, and otherwise used to determine exactly what took place when comparexpected results.

However,CarMaker’s saving functionality is disabled in the demo version.

4.2.7 Input from file

Besides the controlling of test runs by maneuver steps or with the virtual driver, msurements from real driving tests may be used as inputs for a maneuver.

This functionality is disabled in theCarMaker demo version.

4.2.8 Animation or IPG-MOVIE Parameter Interface

The settings for the 3D-animation programIPG-MOVIE can be made, e.g. specifications for the scenery and the movie settings of the corresponding test run.

Figure 4.20



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4.2.9 Test Series

In theCarMaker main GUISimulation --> Test Seriesleads to a dialogue, where anumber of test runs can be put together to form a test series by loading existing tesand placing them one after the other. They can be put in loops with multiple repetiand/or can be separated through pauses of various duration (with/without turn oignition). Parameter studies concerning driver or vehicle quantities can be definthe loops.

With #Loops, a single test run or a specified variation of a test run is directly repein identical form.

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#Iter defines the number of equidistant distributed variations of the selected paramThe variations are distributed randomly, if “Random” is selected.

This way, a loop of test series may contain multiple repetitions of a test run, whethe number is given by the product of #Loops and up to three #Iter.

The abort caused by an error leads to the start of the next test run in the test seriethe loop.


Example 1 32

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4.3 Example 1

4.3.1 Contents• Setup of a new test run (ABS braking maneuver, without ABS controller)

• Simple driving maneuver without driver model

• Very simple road definition

• Starting a test run and animation withIPG-MOVIE

• Analysis, graphical representation withIPG-CONTROL

4.3.2 Setup of a new test run

A simple test run shall be created with acceleration from 0 to 80km/h and brakinto standstill at half force.

The following definitions are necessary to setup a complete test run. In theCarMakermain GUI, both vehicle and tires need to be selected out of a list of possibilities. Ationally, a driving maneuver and a road have to be defined in the corresponding dia

4.3.2.1 Definition of a maneuver

In this menu, the actions with respect to steering wheel, pedals and gear shiftindefined (steering) or are left to the driver model (controlling). A lot of so-called manver steps can be defined, which are then performed one after the other.

1. maneuver step

A first maneuver step is selected with “New” in the menu “maneuver”. The strAcceleration in the “Description” field is optional. The default value for duratiois given as 30s. Gear change is allowed.

In longitudinal dynamics, “Speed Control” with 80km/h is selected, both contparameters remain unchanged. So, pedals and gear shifting are left to a controlleknowing how long the period of acceleration takes, the maneuver step should be tnated when the final speed is reached. Therefore activate "Premature end whespeed is reached". Subsequently, the value of “Duration” is set to 100s to be sutime is sufficient.

In lateral dynamics, “Follow Course” is selected without changing the control pareters. So, the vehicle follows the road course, the steering wheel is left to a contro

2. maneuver step

After a mouse click on “END” in the display (left in the dialogue), the specificatiofor the first maneuver step appear in the first row. A second maneuver step is crwith “NEW”, again with default values. It gets the descriptionBraking and the dura-tion 10s. While “Follow Course” is again used for lateral dynamics, “Manual”selected for longitudinal dynamics. The braking procedure consists of gas rel


Example 1 33

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direc-st).

declutching and braking. Coming from constant driving with 80km/h, the gas pedreleased (Start = 0, Value = 0), namely within dt = 0.3s and remains at this value awards. With a short delay, the clutch is pushed (Start = 0.2, Value = 1, dt = 0.2). Arolling for 3 seconds (Start = 3.4), the brake is depressed halfway (Value = 0.5,0.2). The selected duration of 10s for this maneuver step yields the simulation of aseconds at standstill, because the simulation is, of course, not aborted when reastandstill. A mouse click on “END” leads to the display of the second maneuver sThe letters GBC stand for inputs of the corresponding pedals. With “Close”,maneuver dialog may be closed. The definition of the whole maneuver is closed sIn theCarMaker main window, the specified maneuver steps are displayed, too.

4.3.2.2 Definition of the road

In this menu, an existing road definition (or part of it) can be imported from anotest run, a digitalized road can be selected out of a list of existent courses or a robuilt “by hand”. In the last mentioned case, the road is put together with one or mstraights and/or curves in order to define a track with start and end points or to da closed lap course.

Global settings

The default values in “General Settings” remain unchanged. Just for practicewidths of the track is set to 3m left and right, the border stripes are set to 1.5m.friction value of the road is raised to 1.0. Friction stripes are defined later in the ongexample.

Segments

The first segment (first click “NEW”) is a straight with 1000m length, which is loenough for the previously defined maneuver. The default values zero for long.slope and camber of the track are taken over.

The road is defined, the dialogue may be closed.

4.3.2.3 Saving the test run

The test run is saved before it is started. “Save as” opens a dialogue, where a newtory namedexercises can be set up via the right mouse button (cursor on the liIn this directory, the now created test run can be saved astest1 .

For all future modifications intest1 , select “Save” for saving.

4.3.3 Performance and analysis of the test run

4.3.3.1 Preparation

Before the first start, the on-line visualization “Instruments” (cockpit) andIPG-MOV-IE (animation) are started. The status of the simulation is “Idle”.


Example 1 34

s the(left

ndagain

theutral,

el goes

dletitiesloc-eelsch asber

bothith thebut-

Withhile

e orsec-ond-

mod-S-

re, aer-ns

avea tracknt.f thef the

4.3.3.2 Start of the simulation

After clicking the green start button, the “Preprocessing” is activated, then startsimulation. Duration and driven distance are printed. The current maneuver stepdown in theCarMaker main window) is underlaid blue. In Instruments, needles apedal positions move. The animation shows a vehicle, that accelerates and brakesup to standstill. After termination of the simulation, a “Postprocessing” follows andtest run is finished. During the Postprocessing, the gear shifting is changed into nethe clutch is pushed (1 = 100%), gas and brake are released (0), the steering wheto straight position, the engine runs with idle speed.

4.3.3.3 Analysis with IPG-CONTROL

IPG-CONTROL is started and time is selected as x-axis by clicking with the midmouse button in the alphabetic (A–Z, a–z) list of (Preferred) Quantities. The quanon the y-axis are selected with the left mouse button. In this example, the driving veity Car.v, the longitudinal acceleration Car.ax, the brake pressures of the whBrake.pFL up to Brake.pRR, the wheel speeds Car.WheelSpd_FL to _RR as muthe pedal positions DM.Brake, DM.Clutch and DM.Gas and the gear numDM.GearNo are suitable quantities. It might be helpful to take the same color forwheel speed and brake pressure of one wheel. Therefore, a quantity is selected wcursor and the color is specified in the menu which is opened with the right mouseton.

When the test run is started again, every desired quantity is displayed on-line.“Pause” and “Continue”, the display can be stopped and reset to on-line mode, wthe simulation is running. The scale of the diagram can be varied arbitrarily for onmore quantities in x- and/or y-direction in order to observe certain parameters ortions more detailed. If one quantity is activated, the x- and y-values of the corresping cursor position are printed left of the diagram.

4.3.3.4 Extension of the test run to full braking

After the first example has been set up and performed successfully, the test run isified—with only a few manipulations—to a typical application for testing the ABcontrol.

friction value

For the braking maneuver, the friction value is one-sided reduced to 0.4. Therefofriction stripe is overridden in the road dialogue for the segment straight. In “Ovride”, the friction stripe 1 gets the friction value 0.4, the width from 0 to -10m, meafor the right wheels. The track width is overridden with each 10m left and right to henough space in case of skidding. It does not make sense, even to accelerate onwith low friction. This is the reason why a further straight is set in front of this segmeIts length is set to 200m. Only global settings are used. This way, the beginning osegment with low friction on one side becomes visible in the animation because ochange in track width after 200m.


Example 1 35

et thefor

edal is

s andrther

eu-seg-

teps.

Also, deactivate the button "Premature end when final speed is reached" and s"Duration" to 200 m in the Maneuver Dialog. When time and distance is definedDuration the condition which is reached first is valid.

Full braking

In the second maneuver step, the value for the brake pedal is raised to 1.0, the pcompletely pushed. You might also try different values for the brake pedal.

Start

The modified test run is started and analyzed. Here, most of all the wheel speedbrake pressures are of interest. It is a matter for the user whether to perform fumodifications to the friction value.

By variation of the length of the first straight, the beginning of the full braking manver can be shifted to the region of high friction on both sides (here narrow roadment) or to theµ-split region.

4.3.4 Sketch of the test run

The sketch shows the top view of the road and the sequence of the maneuver s

Figure 4.23

Sta

rt

1. straight (200m long, 6m in width)

2. straight (1000m long, 20m in width)

low friction

Acceleration Rolling Braking

(1. maneuver step) (2. maneuver step)


Example 2 36

the

is

righttionafterason

ccurn beth of

p tourves

dure

(thisthisbut-peedoadura-any-

4.4 Example 2

4.4.1 Contents• Setup a new test run by modifying an existing one

• Setup a three-dimensional course withIPG-ROAD

• Connection of road segments and distance-orientated maneuver steps

• Maneuver “Curve Braking”

• Usage of the driver modelIPG-DRIVER to control lateral and longitudinaldynamics

• Variation of car load

4.4.2 Setup of a new test run by modifying an old one

An existing test run is loaded which is used to create a new one by modifying it;existing test run remains unchanged. In this example,exercises/test1 is loadedand saved asexercises/test2 . So, a copy is created, the current test runtest2, which is intended to be modified.

4.4.3 Setup of a 3D-road

In the road dialogue, the straight segment with the friction stripe is replaced by aturn with 90deg and 120m radius, in order to simulate curve braking. The fricstripe remains unchanged. A right turn with 30deg and 120m radius is insertedthe first straight to start the braking maneuver during steady state turning. The refor it is, that the beginning of the curve and the change of the friction value do not otogether. Just for practice, a further straight (300m length, 10% long. slope) caadded at the end of the track. It seems to be appropriate to override the track widthe left side of the segment with 10 meter, too, as run-out of the right turn. It is uthe user to add more segments with certain characteristics. Hint: The radii of the cshould be large enough, so that they can be driven through with 80km/h.

4.4.4 Adaptation of the maneuver steps to the course

The first maneuver step is limited by distance to tune the rolling and braking proceexactly to the beginning of the right turn segment withµ-split condition. This is doneby adapting the distance in “Duration” to the start value of the road segment no. 2one with marker “S” under friction). If example 1 has been overtaken exactly,would be—after having inserted the 30-deg-curve—at 252.4m. Furthermore, theton is deactivated which serves for termination of the maneuver step when final sis reached. After braking to standstill, the driving shall be continued on the rdefined before. Therefore, the first maneuver is copied to the third position. The dtion of this maneuver step is limited to 1000s to reach the end of the defined roadway.


Example 2 37

ted.

te

andCor-cat-y are.

tween

ionales are

t the

4.4.5 Controlling of lateral and longitudinal dynamics with IPG-DRIVER

Up to this point, a simple controller for longitudinal and lateral dynamics—activawithin the maneuver steps—has been used for keeping the car upon the course

Now, this task is taken over by the driver modelIPG-DRIVER. In the first maneuverstep activateIPG-DRIVER for lateral dynamics. In the third maneuver step activaIPG-DRIVER for longitudinal and lateral dynamics.

“Parameters --> Driver” opens the driver dialogue, where the desired quantitiescontrol parameters of the lateral and longitudinal dynamics are specified. Set thener Cutting Coefficient to 0 so that the wheels left and right of the center line are loed on different friction values. For the moment leave the other parameters as the

The simulation is started again and the users trie to recognize the difference bethe controlling of the former used simple controller and ofIPG-DRIVER.

4.4.6 Variation of car load

The car load can be changed by placing up to three (positive or negative) additmasses. Each mass, coordinates and moments of inertia of the additional massspecified in the corresponding dialogue and displayed in the graphic window asame moment.


Example 2 38

teps.

4.4.7 Sketch of the test run

The sketch shows the top view of the road and the sequence of the maneuver s

Start 30°-curvestraight

period of acceleration

rollingandbraking

standstill

10%-slope

arbitrary coursewith segments

bring to

constantdriving

µ-low

speed


Analyzing Data with IPG-CONTROL 39

ws

ly and

5 Reference

5.1 Analyzing Data with IPG-CONTROLIPG-CONTROL is used to plot and view the results of a simulation. Figure 5.1 shotheIPG-CONTROL data window.

Figure 5.1 IPG-CONTROL Data Window

From the figure above you can see that there are a number ofquantities(simulationvariables) that have been plotted.IPG-CONTROL allows the user to manipulate theplotted quantities, change the scaling, axis, etc. so that the results can be efficienteffectively analyzed.


Using IPG-CONTROL 40

s on

use

andht

ain

rate

5.2 Using IPG-CONTROLThe quantity on the x-axis is selected with the middle mouse button, the quantitiethe y-axis with the left one.

They can be rejected by clicking again in the list or with the menu of the right mobutton in the graphical window and “Undisplay”.

The quantity on the x-axis is printed red in the list.

Scrolling is performed with the cursor buttons (arrows), zooming in and out with xshift-x in x-direction, with y and shift-y in y-direction or by using the button at the rigside of the graphical window.

5.2.1 Quick Reference IPG-CONTROL• Terminology

- Active Data Set: The data set marked yellow in the “Data Sets” table of the mwindow. Quantities shown in “Preferred Quantities” and “Quantities” tablesbelong to the active data set.

- Active Diagram: The diagram with the red indicator in upper right corner.

- Reference Quantity: Selection of frequently used quantities, shown in a sepatable in the main window for faster access.

- Diagram: The big black area inside a diagram window.

• Table “Data Sets”

- Click left: Select the active data set.

- Click right: Pop up a context menu of the selected data set.

• “Preferred Quantities” and “Quantities” Tables

- Legend

- Bold Font: The quantity data is monotone (increasing values).


Using IPG-CONTROL 41

the

it

.

s.

s).

of

sssor:-axised y-

its

- Red Font: The Quantity is the reference quantity of the active diagram, i.e.quantity of the x-axis.

- Yellow Background: The quantity is being displayed in the active diagram.

• Keyboard and Pointer Use

- Click left: Display/undisplay the quantity in the active diagram.

- Shift-Click left: Display/undisplay the quantity in the active diagram, giving its own y-axis.

- Click middle: Make the quantity the reference quantity of the active diagram

- Ctrl-Click left: Add/remove the quantity to/from the list of preferred quantitie

• Diagram

- Keys x and Shift-x: Change the scale of the x-axis.

- Keys y and Shift-y: Change the scale of all selected y-axes.

- Cursor Up/Down: Change the limits of all selected y-axes.

- Shift-Cursor Up/Down: Change the limits of all selected y-axes (small step

- Ctrl-Cursor Up/Down: Change the limits of all y-axes

- Shift-Ctrl-Cursor Up/Down: Change the limits of all y-axes (small steps).

- PgUp and PgDown: Change the limits of the x-axis.

- Home and End: Change the limits of the x-axis to display the whole range data.

- Delete and Backspace: Remove the selected quantities from the diagram.

- Click left on a diagram: Make the diagram the active diagram.

- Click left on a quantity name: Select the quantity.

- Click left on a y-axis: Select the y-axis and all quantities attributed to it.

- Ctrl-Click left on a y-axis or quantity name: Add to/remove from the list ofselected quantities.

- Click right: Pop up a diagram/quantity related context menu.

- Click left on a quantity name, hold the mouse button, drag the quantity acrothe diagram and drop it on another quantity of the same unit kind (mouse cur|- ): Display the quantity on the same y-axis as the targeted quantity on a yof the same unit kind (mouse cursor: |- ): Display the quantity on the targetaxis.

- on a free location of the diagram (mouse cursor: _|_): Display the quantity onown (new) y-axis.

- Double click left on a y-axis: Open an axis parameters dialog window.

- Double click left on a quantity name: Undisplay the selected quantity.


User Accessible Quantities 42

5.3 User Accessible QuantitiesThe Display-quantities (see list inIPG-CONTROL) are divided in several groups withcorresponding prefixes:

Prefix DescriptionIO. I/O, from an d to hardware

Car. vehicle model

Tr. Trailer

Brake. brake system

PT. powertrain

DM. driving maneuver

MC. motorcycle quantities



-

,

-

5.3.1 Environment

Name Unit Info

CycleCounter – counter of simulation cycles

DeltaT s cycle time

DeltaTPeak s maximum cycle time (within the last n cycles)

GlobalTime s global time, starting at zero at start of real-time system

HilState state of the simulation program (init, simulate, stopidle …)

Kl15SW 0 / 1 ignition switch (0: off, 1: on)

Kl15SWTime s time duration since ignition is on

nError error counter

nLog log message counter

nWarn warning counter

TCPU_Brake s cpu time for brake model calculation

TCPU_DrivMan s cpu time for driving maneuver calculation

TCPU_IO_AposPoll s cputime for receiving apo communications(application on-line communication)

TCPU_IO_AposPollEval s cputime for evaluating apo communications(application on-line communication)

TCPU_IO_AposSend s cpu time forsending apo communications(application on-line communication)

TCPU_IO_In s cpu time for input (from hardware)

TCPU_IO_Out s cpu time for output (from hardware)

TCPU_Model s cpu time for vehicle model calculation

TCPU_PowerTrain s cpu time for powertrain model calculation

TCPU_Total s cpu time for all calculations, input/output and online communication

TCPU_Trailer s cpu time for trailer model calculation

Time s simulation time, starting at zero for each start of atest run

T s global time, starting at zero for start of real-timesystem



5.3.2 Vehicle model

Name Unit InfoReference

body,rot. Sequence

Car.Aero.F_xCar.Aero.F_yCar.Aero.F_z

N aerodynamics forces vehicle body

Car.Aero.Trq_xCar.Aero.Trq_yCar.Aero.Trq_z

Nm aerodynamics torques at Car.Aero.Pos vehicle body

Car.Aero.vxresCar.Aero.vyres

m/s horizontal components of resultant wind flowbetween vehicle and surroundings

vehicle body

Car.Aero.tau rad angle of wind direction vehicle body

Car.alHori m/s^2 centripetal acceleration (in horizontal plane),Car.alHori is perpendicular to Car.v and to Z-axis(DIN 70000, 2.1.2.4)

Inertial, in XY-plane

Car.atHori m/s^2 tangential acceleration (in horizontal plane),Car.atHori is parallel to Car.v and perpendicular toZ-axis (DIN 70000, 2.1.2.5)


Car.CoM.vxCar.CoM.vyCar.CoM.vz

m/s translational velocity of vehicle CenterOfMass Inertial,Frame Absolut

Car.CoM.vx_1Car.CoM.vy_1Car.CoM.vz_1

Car.vxCar.vyCar.vz

m/s translational velocity of vehicle CenterOfMass Frame1,vehicle body

Car.CoM.ax_1Car.CoM.ay_1Car.CoM.az_1

Car.axCar.ayCar.az

m/s^2 longitudinal/ lateral /vertical acceleration ofCen-terOfMass of vehicle body (acceleration is definedzero at equilibrium position)

vehicle body

Car.CoM.axCar.CoM.ayCar.CoM.az

m/s^2 longitudinal/ lateral /vertical acceleration ofCen-terOfMass of vehicle body (acceleration is definedzero at equilibrium position)

Inertial,Frame Absolut

Car.Aero.tauCar.Aero.vyres–Car.Aero.vxres–

-------------------------------------------atan=



Car.CamberFLCar.CamberFRCar.CamberRLCar.CamberRR

rad camber angle (DIN 70000, 4.1.4)Inclination of the wheel plane towards the vehicle’slongitudinal plane. Positive, if the top of the wheelis inclined towards the outside of the vehicle

vehicle body

Car.Camera_rz rad yaw angle of camera object (used for animation) Inertial,Frame Absolut

Car.Camera_txCar.Camera_tyCar.Camera_tz

m position of camera object(used for animation)


Car.CasterAngleFLCar.CasterAngleFRCar.CasterAngleRLCar.CasterAngleRR

rad caster angle, 3. angle (DIN 70000, 4.1.3.1)

Angle between Z-axis and projection of the steer-ing axis to XZ-plane. Positive, if top end of steeringaxis is inclined to the rear.

vehicle body

[ZXY]

Car.CFL_RoadDistCar.CFR_RoadDistCar.CRL_RoadDistCar.CRR_RoadDist

m road (center line) coordinate of belonging wheelcarrier

road

Car.CFL_rxCar.CFL_ryCar.CFL_rz

rad rotation carrier front left(used for animation)

vehicle body[ZXY]

Car.CFL_txCar.CFL_tyCar.CFL_tz

m translation carrier reference point front left(used for animation)

vehicle body

Car.CFR_rxCar.CFR_ryCar.CFR_rz

rad rotation carrier front right(used for animation)

vehicle body[ZXY]

Car.CFR_txCar.CFR_tyCar.CFR_tz

m translation carrier reference point front right(used for animation)

vehicle body

Car.CRL_rxCar.CRL_ryCar.CRL_rz

rad rotation carrier rear left(used for animation)

vehicle body[ZXY]

Car.CRL_txCar.CRL_tyCar.CRL_tz

m translation carrier reference point rear left(used for animation)

vehicle body

Car.CRR_rxCar.CRR_ryCar.CRR_rz

rad rotation carrier rear right(used for animation)

vehicle body[ZXY]


body,rot. Sequence



Car.CRR_txCar.CRR_tyCar.CRR_tz

m translation carrier reference point rear right(used for animation)

vehicle body

Car.Distance m driving distance since last test run start) Inertial

Car.FxFLCar.FxFRCar.FxRLCar.FxRR

N longitudinal ground reaction force at wheel road contact

Car.FyFLCar.FyFRCar.FyRLCar.FyRR

N lateral ground reaction force at wheel (side force) road contact

Car.FzFLCar.FzFRCar.FzRLCar.FzRR

N vertical ground reaction force at wheel (tire load) road contact

Car.Fr1.axCar.Fr1.ayCar.Fr1.az

m/s^2 Inertial,Frame Absolut

Car.Fr1.rxCar.Fr1.ryCar.Fr1.rz

rad vehicle rotation angles, Cardan angles, wherebyCar.rz = Car.Yaw, Car.ry = Car.Pitch and Car.rz =Car.Roll(DIN 70000, 2.2.1.1 - 3)

Inertial,Frame Absolutrelative, ZYX

Car.Fr1.txCar.Fr1.tyCar.Fr1.tz

m vehicle position Inertial,Frame Absolut

Car.Fr1.vxCar.Fr1.vyCar.Fr1.vz

m/s translational velocity of vehicle reference point Inertial,Frame Absolut

Car.Fr1.vx_1Car.Fr1.vy_1Car.Fr1.vz_1

m/s translational velocity of vehicle reference point Frame1,vehicle body

Car.Hitch.Frc_xCar.Hitch.Frc_yCar.Hitch.Frc_z

N trailer hitch force acting on car Inertial,Frame Absolut


body,rot. Sequence

Car.Distance Car.v tdt∫=



Car.Hitch.Trq_xCar.Hitch.Trq_yCar.Hitch.Trq_z

Nm trailer hitch torque acting on car Inertial,Frame Absolut

Car.Hitch_vxCar.Hitch_vyCar.Hitch_vz

m/s trailer hitch velocity (hitch center reference point) Inertial,Frame Absolut

Car.Hitch_xCar.Hitch_yCar.Hitch_z

m trailer hitch position (hitch center reference point) Inertial,Frame Absolut

Car.InclinAngleFLCar.InclinAngleFRCar.InclinAngleRLCar.InclinAngleRR

rad inclination angleAngle between Z-axis and wheel plane. Positive forpositive rotation around X-axis of the wheel.


Car.Load.<i>.mass kg mass of car load, n = 0..2 –

Car.Load.<i>.txCar.Load.<i>.tyCar.Load.<i>.tz

m position of i-th car load, i= 0..2 vehicle body

Car.LongSlipFLCar.LongSlipFRCar.LongSlipRLCar.LongSlipRR

– longitudinal slip vehicle body

Car.muRoadFLCar.muRoadFRCar.muRoadRLCar.muRoadRR

– road friction coefficient road

Car.Pitch rad vehicle pitch angle (DIN 70000, 2.2.1.2)Positive, if front goes down and rear of the carcomes up.

vehicle body

Car.RoadCoord m vehicle road coordinate (mean value of wheel carri-ers)

Car.RoadCoord = 1/4 (Car.CFL_RoadDist +…FR… + …)

road

Car.Roll rad vehicle roll angle (DIN 70000, 2.2.1.3)Positive, if right side goes down and left side comesup.

Inertial


body,rot. Sequence

Car.LongSlipFL Car.vFL Car.vxFL–max Car.vFL Car.vxFL,( )-----------------------------------------------------------------------=

Car.LongSlipFL 0 if= Car.vFL = Car.vxFL = 0



Car.Sensor.CFL_azCar.Sensor.CFR_azCar.Sensor.CRL_azCar.Sensor.CRR_az

m/s^2 wheel carrier sensor for vertical acceleration wheel carrier

Car.Sensor.SSAngle rad sensor signal of sideslip angle vehicle body

Car.SideGradient unused!

Car.SideSlipAngle rad sideslip angle (DIN 70000, 2.2.1.4)Angle between X-axis of the car and direction ofCar.vHori

value range -pi .. +pi

Inertial,in XY-plane

Car.SideSlipAngle0 rad sideslip angle, value range 0 ... 2 pi Inertial,in XY-plane

Car.SideSlipAngleVel rad/s sideslip angle velocity (DIN 70000, 2.2.1.4) Inertial,in XY-plane

Car.SlipAngleFLCar.SlipAngleFRCar.SlipAngleRLCar.SlipAngleRR

rad slip angle (DIN 70000, 7.1.2)Angle between X-axis of the wheel and the tangentof the trajectory of the center of tire contact. Posi-tive for positive rotation around Z-axis.

Inertial,in XY-plane

Car.ToeFLCar.ToeFRCar.ToeRLCar.ToeRR

rad toe angle (DIN 70000, 4.1.5.1)Angle between X-axis of the car and X-axis of thewheel.Positive for positive rotation around Z-axis.

vehicle body

Car.TrackCurv 1/m curvature of trajectory (DIN 70000, 2.3.3)Car.TrackCurv = 1 / Car.TrackRadiusCar.TrackCurv = 0 if Car.TrackRadius =Car.TrackCurv = if Car.TrackRadius = 0

Inertial

Car.TrackRadius m radius of path/trajectory (DIN 70000, 2.3.2)Distance between a point of the trajectory and thebelonging instantaneous center.

Inertial


body,rot. Sequence

Car.SideSlipAngleCar.vyCar.vx-----------------atan=

Car.SideSlipAngle 0 if Car.vx = Car.vy = 0=

Car.SlipAngleFLCar.vyFLCar.vxFL------------------------atan=

Car.SlipAngleFL 0 if Car.vxFL = Car.vyFL ==

∞∞

Car.TrackRadiusCar.vHori( )2

Car.alHori---------------------------------=

Car.TrackRadius ∞ if Car.alHori = 0=



Car.TrqAlignFLCar.TrqAlignFRCar.TrqAlignRLCar.TrqAlignRR

Nm aligning torque (DIN 70000, 7.3.2.3)Component of the ground reaction moment. Posi-tive for positive direction around Z-axis

vehicle body

Car.txFLCar.txFRCar.txRLCar.txRR

m x translation carrier reference point vehicle body

Car.txRack m rack translation vehicle body

Car.tyFLCar.tyFRCar.tyRLCar.tyRR

m y translation carrier reference point vehicle body

Car.tzFLCar.tzFRCar.tzRLCar.tzRR

m z translation carrier reference point vehicle body

Car.UpGradient unused!

Car.v m/s vehicle velocity, center of vehicle body vehicle body

Car.vHori m/s horizontal vehicle velocity (DIN 70000, 2.1.1.4) vehicle body

Car.vFLCar.vFRCar.vRLCar.vRR

m/s wheel velocity (based on wheel rotation and wheelradius)

vehicle body

Car.vxFLCar.vxFRCar.vxRLCar.vxRR

m/s longitudinal wheel velocity wheel carrier

Car.vyFLCar.vyFRCar.vyRLCar.vyRR

m/s lateral wheel velocity wheel carrier

Car.WFL_rotCar.WFR_rotCar.WRL_rotCar.WRR_rot

rad wheel rotation angle wheel carrier, y


body,rot. Sequence

Car.vHori Car.vx2

Car.vy2

+=

Car.vFL Car.WheelSpd_FL Car.WFL_Radius⋅=



Car.WFL_RadiusCar.WFR_RadiusCar.WRL_RadiusCar.WRR_Radius

m actual wheel radius (distance road to wheel center) wheel carrier

road

Car.WheelSpd_FLCar.WheelSpd_FRCar.WheelSpd_RLCar.WheelSpd_RR

rad/s rotational wheel velocity wheel carrier, y

Car.Yaw rad vehicle yaw angle (DIN 70000, 2.2.1.1)Angle between X-axis of the car and X-axis ofearth fixed system. Positive for positive rotationaround Z-axis.

Inertial

Car.YawRate rad/s vehicle yaw velocity (DIN 70000, 2.2.2.1) Inertial

Suspension Force Elements

Car.lSpringFLCar.lSpringFRCar.lSpringRLCar.lSpringRR

m spring length -

Car.FSpringFLCar.FSpringFRCar.FSpringRLCar.FSpringRR

N spring force (internal) -

Car.FSpringFL_exCar.FSpringFR_exCar.FSpringRL_exCar.FSpringRR_ex

N spring force (external) -

Car.FSpringFL_totCar.FSpringFR_totCar.FSpringRL_totCar.FSpringRR_tot

N spring force (total) -

Car.lDampFLCar.lDampFRCar.lDampRLCar.lDampRR

m damper length -

Car.vDampFLCar.vDampFRCar.vDampRLCar.vDampRR

m/s damper velocity -


body,rot. Sequence



Car.FDampFLCar.FDampFRCar.FDampRLCar.FDampRR

N damper force (internal) -

Car.FDampFL_exCar.FDampFR_exCar.FDampRL_exCar.FDampRR_ex

N damper force (external) -

Car.FDampFL_totCar.FDampFR_totCar.FDampRL_totCar.FDampRR_tot

N damper force (total) -

Car.lBufferFLCar.lBufferFRCar.lBufferRLCar.lBufferRR

m buffer length -

Car.FBufferFLCar.FBufferFRCar.FBufferRLCar.FBufferRR

N buffer Force -

Car.lStabiFLCar.lStabiFRCar.lStabiRLCar.lStabiRR

m stabilizer length -

Car.FStabiFLCar.FStabiFRCar.FStabiRLCar.FStabiRR

N buffer length -


body,rot. Sequence



5.3.3 Trailer


body,rot. Sequence

Tr.axTr.ayTr.az

m/s^2 longitudinal/ lateral /vertical acceleration of Cen-terOfMass of trailer body (acceleration is definedzero at equilibrium position)

trailer body

Tr.CFL_rxTr.CFL_ryTr.CFL_rz

rad rotation carrier front left

(used for animation)

trailer body[ZXY]

Tr.CFL_txTr.CFL_tyTr.CFL_tz

m translation carrier reference point front left(used for animation)

trailer body

Tr.CFR_rxTr.CFR_ryTr.CFR_rz

rad rotation carrier front right(used for animation)

trailer body[ZXY]

Tr.CFR_txTr.CFR_tyTr.CFR_tz

m translation carrier reference point front right(used for animation)

trailer body

Tr.CM_xTr.CM_yTr.CM_z

m absolute position of CenterOfMass of trailer body Inertial

Tr.CM_xvTr.CM_yvTr.CM_zv

m/s absolute velocity of CenterOfMass of vehicle body Inertial

Tr.CRL_rxTr.CRL_ryTr.CRL_rz

rad rotation carrier rear left(used for animation)

trailer body[ZXY]

Tr.CRL_txTr.CRL_tyTr.CRL_tz

m translation carrier reference point rear left(used for animation)

trailer body

Tr.CRR_rxTr.CRR_ryTr.CRR_rz

rad rotation carrier rear right(used for animation)

trailer body[ZXY]

Tr.CRR_txTr.CRR_tyTr.CRR_tz

m translation carrier reference point rear right(used for animation)

trailer body

Tr.FxFLTr.FxFRTr.FxRLTr.FxRR

N longitudinal ground reaction force at wheel road contact



-

Tr.FyFLTr.FyFRTr.FyRLTr.FyRR

N lateral ground reaction force at wheel (side force) road contact

Tr.FzFLTr.FzFRTr.FzRLTr.FzRR

N ground reaction force at wheel (tire load) road contact

Tr.LongSlipFLTr.LongSlipFRTr.LongSlipRLTr.LongSlipRR

– longitudinal slip trailer body

Tr.Pitch rad trailer pitch angle (DIN 70000, 2.2.1.1)Positive, if front goes down and rear of trailercomes up.

trailer body

Tr.RoadCoord m trailer road coordinate (mean value of wheel carri-ers)Tr.RoadCoord = 1/4 (Tr.CFL_RoadDist + …FR…+ …)

road

Tr.Roll rad trailer roll angle (DIN 70000, 2.2.1.3)Positive, if right side goes down and left side comesup.

Inertial

Tr.rxTr.ryTr.rz

rad trailer rotation angles, Cardan angles, wherebyTr.rz = Tr.Yaw.ry = Car.Pitch and Car.rz = Car.Roll(DIN 70000, 2.2.1.1 - 3)

Inertialrelative, ZYX

Tr.SideSlipAngle rad sideslip angle (DIN 70000, 2.2.1.4)Angle between X-axis of trailer and direction ofTr.vHori i


Tr.SideSlipAngleVel rad/s sideslip angle velocity (DIN 70000, 2.2.1.4) Inertial, in XYplane

Tr.TrqBrakeFLTr.TrqBrakeFRTr.TrqBrakeRLTr.TrqBrakeRR

Nm brake torque –


body,rot. Sequence

T r.LongSlipFL T r.vFL Tr.vxFL–max T r.vFL Tr.vxFL,( )----------------------------------------------------------------=

Tr.LongSlipFL 0 if= Tr.vFL = Car.vxFL = 0

Tr.SideSlipAngleTr.vyTr.vx-------------atan=

Tr.SideSlipAngle 0 if Tr.vx = Tr.vy = 0=



Tr.txTr.tyTr.tz

m trailer position Inertial

Tr.vxTr.vyTr.vz

m/s trailer velocity trailer body

Tr.v m/s trailer velocity, center of trailer body trailer body

Tr.vHori m/s horizontal trailer velocity (DIN 70000, 2.1.1.4) trailer body

Tr.vFLTr.vFRTr.vRLTr.vRR

m/s wheel velocity (based on wheel rotation and wheelradius)

trailer body

Tr.WFL_rotTr.WFR_rotTr.WRL_rotTr.WRR_rot

rad wheel rotation angle wheel carrier

Tr.WheelSpdFLTr.WheelSpdFRTr.WheelSpdRLTr.WheelSpdRR

rad/s rotational wheel velocity wheel carrier

Tr.Yaw rad trailer yaw angle (DIN 70000, 2.2.1.1)Angle between X-axis of trailer and X-axis of earthfixed system. Positive for positive rotation aroundZ-axis.

Inertial

Tr.YawRate rad/s trailer yaw angle velocity (DIN 70000, 2.2.2.1) Inertial

Tr.YawDiff rad yaw angle difference between trailer and tractor Inertial

Tr.YawDiffVel rad/s yaw angle velocity difference between trailer andtractor

Inertial

Tr.YawDiffAcc rad/s^2 yaw angle acceleration difference between trailerand tractor

Inertial


body,rot. Sequence

Tr.vHori Tr.vx2

Tr.vy2

+=

Tr.vFL Tr.WheelSpdFL Tr.WFL_Radius⋅=



5.3.4 Powertrain

Name Unit Info

PT.Clutch_Trq Nm clutch input torque (engine side)

PT.DiffF_rot_in rad rotation angle, front differential input

PT.DiffF_rotv_in rad/s rotation angle velocity, front differential input

PT.DiffF_Trq Nm front differential input torque

PT.DiffR_rot_in rad rotation angle, rear differential input

PT.DiffR_rotv_in rad/s rotation angle velocity, rear differential input

PT.DiffR_Trq Nm rear differential input torque

PT.Engine_rot rad engine rotation angle

PT.Engine_rota rad/s^2 engine rotational acceleration

PT.Engine_rotv rad/s engine rotational velocity

PT.nEngine rad/s eng ine ro ta t iona l ve loc i t y (same asPT.Engine_rotv)

PT.Engine_Trq Nm engine torque

PT.EngineOff 0 / 1 engine is stalled

PT.EngineSupp_Trq_xPT.EngineSupp_Trq_yPT.EngineSupp_Trq_z

Nm engine support torque

PT.Gear_GearNo [0 .. n] gear number

PT.Gear_i – gear ratio

PT.Gear_ii – gear ratio, internal ratio of selected gear number

PT.Gear_rot_in rad rotational angle of gear box input shaft

PT.Gear_rotv_in rad/s rotational velocity, gear box input

PT.Gear_Trq Nm gear input torque

PT.StarterActive 0 / 1 starter is active

PT.TrqDriveFL Nm driving torque, wheel front left

PT.TrqDriveFR Nm driving torque, wheel front right

PT.TrqDriveRL Nm driving torque, wheel rear left



PT.TrqDriveRR Nm driving torque, wheel rear right

PT.WFL_rota rad/s^2 rotational acceleration, wheel front left

PT.WFL_rotv rad/s rotational velocity, wheel front left

PT.WFR_rota rad/s^2 rotational acceleration, wheel front right

PT.WFR_rotv rad/s rotational velocity, wheel front right

PT.WRL_rota rad/s^2 rotational acceleration, wheel rear left

PT.WRL_rotv rad/s rotational velocity, wheel rear left

PT.WRR_rota rad/s^2 rotational acceleration, wheel rear right

PT.WRR_rotv rad/s rotational velocity, wheel rear right

Name Unit Info



5.3.5 Braking System

Name Unit Info

Brake.pMC bar master cylinder pressure

Brake.pWB_FL bar pressure wheel brake front left

Brake.pWB_FR bar pressure wheel brake front right

Brake.pWB_RL bar pressure wheel brake rear left

Brake.pWB_RR bar pressure wheel brake rear right

Brake.Trq_FL Nm brake torque front left

Brake.Trq_FR Nm brake torque front right

Brake.Trq_RL Nm brake torque rear left

Brake.Trq_RR Nm brake torque rear right

Brake.BooSignal booster input signal

Brake.PumpIsOn hydraulic pump

Brake.Valve_In_FLBrake.Valve_In_FRBrake.Valve_In_RLBrake.Valve_In_RR

inlet valvesrelative Valve signals [0..1]

Brake.Valve_Out_FLBrake.Valve_Out_FRBrake.Valve_Out_RLBrake.Valve_Out_RR

inlet valvesrelative Valve signals [0..1]

Brake.Valve_PV_FRRLBrake.Valve_PV_FLRR

pilot valvesrelative Valve signals [0..1]



to

5.3.6 Driver/Driving Maneuvers

5.3.7 I/O-Quantities

Remark: These Quantities are application specific.

Name Unit Info

DM.Brake [0 .. 1] brake pedal position

DM.FBrake N brake pedal force

DM.Clutch [0 .. 1] clutch pedal position

DM.Gas [0 .. 1] gas pedal position

DM.GasDrv [0 .. 1] gas pedal position of IPG-DRIVER

DM.GearNo [0 .. n] gear number (0, 1, … n)

DM.Handbrake [0 .. 1] handbrake position

DM.ManDist m driving distance during this mini maneuver

DM.ManNo mini maneuver number

DM.ManStartDist m driving distance at start of this mini maneuver

DM.ManStartTime s simulation time at start of this mini maneuver

DM.ManTime s time since start of this mini maneuver

DM.SelectorCtrl [0 .. n] automatic shifting selector controller

DM.StarterCtrl 0 / 1 starter controller

DM.StWhlAngle rad steering-wheel angle

DM.StWhlAngleAcc rad/s^2 steering-wheel angle acceleration

DM.StWhlAngleVel rad/s steering-wheel angle velocity

Name Unit Info

IO.WheelSpd_FLIO.WheelSpd_FRIO.WheelSpd_RLIO.WheelSpd_RR

rad/s wheel speed

IO.PActUnit_0 bar pressure actuation unit 0

IO.PActUnit_1 bar pressure actuation unit 1 (at the moment identicalunit 0)

IO.StWhlAngle rad steering-wheel angle



IO.axCar

IO.ayCar

m/s^2 longitudinal/ lateral vehicle acceleration

IO.vCar m/s vehicle velocity, mean front wheel velocity

IO.YawRate rad/s vehicle yaw rate

IO.Clutch [0 .. 1] clutch pedal position

IO.Gas [0 .. 1] gas pedal position

IO.nEngine rad/s engine velocity

IO.EngineCoolTemp degC engine cool temperature

IO.TrqEngineDiss Nm (see ECU documentation)

IO.TrqEngineInt Nm (see ECU documentation)

IO.TrqEngineIntMod Nm (see ECU documentation)

IO.TrqEngineLimitHigh Nm (see ECU documentation)

IO.TrqEngineLow Nm (see ECU documentation)

IO.TrqEngineMax Nm (see ECU documentation)

IO.BLS 0 /1 brake light switch

IO.ESP_SW 0 /1 ESP switch

IO.Kl15 0 /1 Kl15

IO.ABSActive 0 /1 ABS (de)activated, CAN Bremse 1

IO.ASRRequest 0 /1 request for ASR, CAN Bremse 1

IO.ASRShift 0 /1 ASR request for gear shifting, CAN Bremse 1

IO.EBVActive 0 /1 EBV (de)activated, CAN Bremse 1

IO.EDSActive 0 /1 EDS (de)activated, CAN Bremse 1

IO.ESPActive 0 /1 ESP (de)activated, CAN Bremse 1

IO.LaABS 0 /1 ABS light (“La”mpe) on/off, CAN Bremse 1

IO.LaASRFDR 0 /1 ASR/FDR light (“La”mpe) on/off, CAN Bremse 1

IO.LaBrake 0 /1 brake light (“La”mpe) on/off, CAN Bremse 1

IO.MSRRequest 0 /1 request for engine control, CAN Bremse 1

IO.ESP_vCar1 m/s vehicle velocity, CAN Bremse 1

Name Unit Info



IO.ESP_vCar2 m/s vehicle velocity, CAN Bremse 1

IO.ESP_YawRate rad/s yaw rate, CAN Bremse 5

IO.ESP_WheelSpd_FLIO.ESP_WheelSpd_FRIO.ESP_WheelSpd_RLIO.ESP_WheelSpd_RR

m/s wheel speed, CAN Bremse 3

IO.HydValveTime_InFLIO.HydValveTime_InFRIO.HydValveTime_InRLIO.HydValveTime_InRR

– hydraulic input valve activation, analog value

IO.HydValveTime_OutFLIO.HydValveTime_OutFRIO.HydValveTime_OutRLIO.HydValveTime_OutRR

– hydraulic output valve activation, analog value

IO.HydValveTime_ASR_FRRLIO.HydValveTime_ASR_FLRR

– ASR valve activation, analog value

IO.HydValveTime_SV_FRRLIO.HydValveTime_SV_FLRR

– sv valve activation, analog value

IO.HydPump 0 /1 hydraulic pump active

IO.HydPumpPwr V hydraulic pump power/voltage, measured

IO.HydPumpPwrOut V hydraulic pump power / voltage, simulated /generated

IO.ASRTrqFast Nm (see ECU documentation)

IO.ASRTrqSlow Nm (see ECU documentation)

IO.BoosterPwr V brake booster voltage

IO.BoosterSW 0 /1 brake booster switch

IO.DeltaT s cycle time

IO.Driv1Gnd V

IO.ESP_ay m/s^2 lateral acceleration (from ECU/CAN)

IO.LLsoll rad/s (see ECU documentation)

IO.LWS_StWhlAngle rad (see ECU documentation)

IO.MSRRequest 0 /1 (see ECU documentation)

IO.MSRTrq Nm (see ECU documentation)

IO.T s global time, starting with zero at start of real-timesystem

Name Unit Info



5.3.8 Extra Quantities

IO.Voltmeter_0IO.Voltmeter_1IO.Voltmeter_2IO.Voltmeter_3

V analog input channels for voltage measurement

Name Unit Info

Name Unit Info

UserOut_00 …UserOut_09

userdef.

user defined variables




Date post:	06-Jun-2020
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