Modelling of the system “driver - automation - autonomous vehicle - road”

Abstract

<jats:title>Abstract</jats:title><jats:p>The work presents a simulation model of a “driver–automation–autonomous vehicles–road” system which is the basis for synthesis of automatic gear shift control system. The mathematical description makes use of physical quantities which characterise driving torque transformation from the combustion engine to the car driven wheels. The basic components of the model are algorithms for the driver’s action logic in controlling motion velocity, logic of gear shift control functioning regarding direction and moment of switching, for determining right-hand side of differential equations and for motion quality indicators. The model is realised in a form of an application software package, comprising sub-programmes for input data, for computerised motion simulation of cars with mechanical and hydro-mechanical – automatically controlled – transmission systems and for models of characteristic car routes.</jats:p>

Considerations for Determining the Coefficient of Inertia Masses for a Tracked Vehicle

“…The mobility and stability of a vehicle on wheels or tracks are influenced by the moment of inertia [ 7 ] but also by the place (on the ground) where gravity acts [ 8 , 9 ]. In [ 10 ] is presented a database of the National Highway Traffic Safety Administration (NHTSA), which presents a methodology for calculating not only moments of inertia and center of gravity but also the physical characteristics of the vehicle.…”

“…The development of the virtual simulation model aimed at modeling the main parts of a tracked vehicle, such as the 8 V engine, the hydromechanical transmission, the final transmission, and the tracks [ 10 , 11 , 12 ]. The Matlab programming environment—SIMULINK and SIMSCAPE modules—was used to develop the general simulation model.…”