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Design and construction of a dynamically scaled vehicle for emergency scenario algorithm development
(2021)
Through the application of the Buckingham Pi theorem, a full-sized vehicle is scaled to create a model vehicle that is both geometrically and dynamically similar. The full-sized vehicle is systematically divided into three distinct sections, which are scaled independently. Each section is first described by an equivalent model to which the Buckingham Pi theorem is applied. The results of the scaling process define the design constraints that must be adhered to during the development of the equivalent scale model. Additional design constraints are added to the scaled vehicle to allow the final design to be flexible in its application and allow for a variety of experiments in subsequent research projects.
The design constraints drive the selection of various components affecting the overall system layout. The final design is compared to the perfectly scaled model to determine their degree of similarity. Modifications are required on the final design to match the corresponding Pi groups of the perfectly scaled model. The modifications consist of redistributing the mass of the vehicle to minimize the deviations. Following the changes to the design, a physical model is constructed. The physical model consists of all the selected components and is built to develop and test vehicle control algorithms.
The physical model is preliminarily validated against simulations to ensure that the longitudinal and lateral dynamics of the vehicle match those of the fully scaled vehicle. The ultimate goal of the scaled vehicle is to test emergency collision avoidance algorithms in a controlled environment and apply the findings to develop full-scale vehicle controllers in CARISSMA related projects.