Abstract
Wheeled Mobile Driving Simulators (WMDS) promise a high potential for urban traffic simulation. The tires generate the accelerations of WMDS and therefore are a key component of this simulator type. Hence, the choice of a proper tire concept is of high importance. Solid tires with compact dimensions and a high vertical stiffness are a possible alternative approach to conventional pneumatic tires. To assess the application potential of solid tires their characteristics are identified. The results show that high slip values and slip angles are necessary to reach the maximum friction coefficient of about 0.8 while their correlation is highly nonlinear. With the identified tire properties, the impact of the tires on energy consumption and motion control performance of WMDS is investigated. The solid tires show an increased energy consumption of about 4% compared to pneumatic tires in representative urban driving cycle simulations. Solid tires with their nonlinear characteristics lead to five times higher lateral acceleration errors in relation to pneumatic tires at accelerations of 5m/s2 during a horizontal eight maneuver. The vertical properties of both tires were identified to be not sufficient for the application of a WMDS solely sprung by tires on uneven grounds of common quality.
Highlights
The required velocity is determined with GPS, an integrated acceleration sensor, and an optical velocity sensor (Correvit S400 Corrsys-Datron Sensorsysteme GmbH, 2003), whose signals are merged by a GeneSys ADMA G (GeneSys Elektronik GmbH: Kreisel-System für Fahrdynamikmessungen, 2016)
The results show an about 4% higher energy consumption if solid tires are used
The use of solid tires in Wheeled Mobile Driving Simulators (WMDS) results in advantages compared to pneumatic tires due to lower acceleration-induced angular movements of the motion platform and a compact package compared to pneumatic tires
Summary
Driving simulators are an important instrument in the research of the still increasing field of driver assistance systems. In this regard a high potential in the simulation of complex urban scenarios arises which leads to huge demands on the dynamic motion representation of driving simulators. Motion Control (MC) concept was published in Betz, Hämisch et al (2012), Betz et al (2013), Betz (2015) It uses a kinetic model, which calculates the necessary forces in longitudinal and lateral direction at the three wheels from the desired accelerations resulting from the MCA. The angle between the resulting velocity vector and the x-axis of the driving simulator coordinate system is the necessary static steering angle if slip angles are neglected
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