Driveaway and braking control of vehicles with manual transmission using a robotic driver

Abstract

Robotic drivers are used to drive specific test cycles with arbitrary vehicles on roller dynamometers, e. g. for emission or lifetime tests. In this paper, control concepts for driveaway and braking of vehicles with manual transmission are presented. In contrast to existing approaches, the exact vehicle behaviour is unknown and the robotic driver was not trained on the specific vehicle.While braking control is not only necessary for highly accurate and reproducible following of given speed trajectories, but also for safety reasons to ensure stops whenever required, the driveaway control is-especially for vehicles with manual transmission-a critical manoeuvre, since engine stalling would make the cycle measurement useless, and ideally the fuel consumptions and therefore the emissions of pollutants should be minimal.Both controls were implemented on the robotic driver and emission test cycles have been driven with several real vehicles on a roller dynamometer. These experimental measurement results are presented.

Driving Robot for Reproducible Testing: A Novel Combination of Pedal and Steering Robot on a Steerable Vehicle Test Bench

“…Since teach-in phases are time-consuming [1], the authors in [16] implemented a self-learning system for learning the vehicle behavior. The authors in [13,[17][18][19] alternatively designed a universal vehicle model for the longitudinal control. The required parameterization process with common vehicle parameters reduces the teach-in phase to referencing the actuators when the motor is switched off [12].…”

“…The required parameterization process with common vehicle parameters reduces the teach-in phase to referencing the actuators when the motor is switched off [12]. In this vehicle model [13,[17][18][19]], the braking system was not modeled, since the behavior of the composition of braking force support, ABS and ESP is different for each vehicle. However, the authors noted that brake pedals always have an idle distance and decelerations <0.5 m/s 2 mostly result from drag torque.…”

Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

“…It is necessary for vehicles with manual transmission to realize autonomous driving. The robot driver is a new solution for unmanned driving technology [1][2][3][4]. Instead of human driver, it uses its manipulators to drive different types of vehicles automatically after conducting vehicle performance self-learning [5].…”

“…respectively represent the lateral distance from joint 2 A and joint3 A to the origin of the global coordinate system, the longitudinal distance from joint 2A and joint 3 A to the origin of the global coordinate system.The absolute coordinate number 21 is subtracted from the constraint equation number 19, and the degree of freedom of the shifting manipulator system is 2. The Jacobian matrix q Φ and matrix ξ of the shift manipulator are obtained by differentiating the constraint equations of the shift manipulator to q and t .The Jacobian matrix q Φ of shift manipulator is obtained as…”

Adaptive model-based velocity control by a robotic driver for vehicles on roller dynamometers

“…Apart from a control for driveaway, which also realizes driving in the first gear, and a control for decelerating the vehicle by pushing the break, a control for accelerating or maintaining the velocity by operating the acceleration pedal is needed. Control approaches for the first two tasks are presented in another paper [1], and a flatness-based velocity control for pushing the acceleration pedal is proposed in [2]. The acceleration pedal and driveaway control approaches are based on a simple model of a vehicle, which can be adapted to any vehicle by changing only few specific parameters.…”