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Range data in vehicle dynamic simulation
Luleå University of Technology, Department of Business Administration, Technology and Social Sciences, Innovation and Design.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
2009 (English)Conference paper, Presentation (Refereed)
Abstract [en]

This paper presents a way to merge range data into the vehicle dynamic simulation software CarSim 7.1. The range data consists of measurements describing the surface of a road, and thus, creates a close to real life 3D simulation environment. This reduces the discrepancy between the real life tests and simulation of vehicle suspension systems, dampers, springs, etc. It is important for the vehicle industry to represent a real life environment in the simulation software in order to increase the validity of the simulations and to study the effects that uneven roads have on the systems. Furthermore, a 3D environment based on real life data is also useful in driving simulators, when for example, analysing driver behaviour, testing driver response, and training for various driving conditions. To measure and collect data, a car was equipped with instruments and a computer. On top of the car, a SICK LMS200 2D lidar was mounted tilted downwards, facing the road in front of the car. To create the 3D environment, all the individual measurements were transformed to a global coordinate system using the pose (position and orientation) information from a high-class navigation system. The pose information made it possible to compensate for the vehicle motion during data collection.The navigation system consisted of a GPS/IMU system from NovAtel. To reach high navigation performance, the raw GPS/IMU data were post-processed and fused with data from three different fixed GPS base stations. The range data were modified with a Matlab script in order to parse the data into a file that could be read by CarSim software. This created the 3D road used in the vehicle dynamic simulations. The measurements were collected at a go-kart track in Lule°a, Sweden. Finally, tests have been performed to compare simulation results between using a 2D surface (i.e. flat) and a 3D surface (close to real life). It is seen that the simulation results using the 2D surface is clearly different from the 3D surface simulation.

Place, publisher, year, edition, pages
Research subject
Functional Product Development; Industrial Electronics
URN: urn:nbn:se:ltu:diva-27282Local ID: 0b0337f0-13cc-11de-ae64-000ea68e967bOAI: diva2:1000465
International Workshop on Research and Education in Mechatronics : 10/09/2009 - 11/09/2009
Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing
Godkänd; 2009; 20121211 (andbra)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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Nybacka, MikaelFredriksson, HåkanHyyppä, Kalevi
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