@inproceedings{RillButzRill, author = {Rill, Daniel and Butz, Christiane and Rill, Georg}, title = {Dynamic Interaction of Heavy Duty Vehicles and Expansion Joints}, series = {Multibody Dynamics 2019, Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics}, volume = {53}, booktitle = {Multibody Dynamics 2019, Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics}, editor = {Kecskem{\´e}thy, Andr{\´e}s and Geu Flores, Francisco}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-23131-6}, doi = {10.1007/978-3-030-23132-3_56}, pages = {471 -- 478}, abstract = {The "Smart Bridge (Intelligente Br{\"u}cke)" project cluster, initiated by the German Federal Highway Research Institute (Bundesanstalt f{\"u}r Straßenwesen, BASt) and the Federal Ministry of Transport and Digital Infrastructure (BMVI), focuses on "smart" monitoring devices that allow an efficient and economic maintenance management of bridge infrastructures. Among the participating projects, the one presented herein focuses on the development of a smart expansion joint, to assess the traffic parameters on site. This is achieved by measuring velocity and weight of crossing vehicles. In reference measurements, performed with a three-axle truck and a typical tractor semi-trailer combination with five axles in total, it was shown that the interaction between the vehicle and the expansion joint is highly dynamic and depends on several factors. To get more insight into this dynamic problem, a virtual test rig was set up. Although nearly all vehicle parameters had to be estimated, the simulation results conform very well with the measurements and are robust to vehicle parameter variations. In addition, they indicate a significant influence of the expansion joint dynamic to the peak values of the measured wheel loads, in particular on higher driving velocities. By compensating the relevant dynamic effects in the measurements, a "smart" data processing algorithm makes it possible to determine the actual vehicle weights in random traffic with reliability and appropriate accuracy.}, language = {en} } @misc{RillEiseltKelichhaus, author = {Rill, Georg and Eiselt, Uwe and Kelichhaus, Thomas}, title = {Vehicle dynamics with RecurDyn based on the TMeasy tire model}, series = {26th International Conference on Theoretical and Applied Mechanics (ICTAM), August 25-30, 2024, Daegu, Korea}, journal = {26th International Conference on Theoretical and Applied Mechanics (ICTAM), August 25-30, 2024, Daegu, Korea}, language = {en} } @inproceedings{ArrietaCastroWeberRill, author = {Arrieta Castro, Abel and Weber, Hans Ingo and Rill, Georg}, title = {Design an integrate vehicle control based-on hierarchical architecture for improve the performance of ground vehicles}, series = {COBEM2015 : 23rd ABCM International Congress of Mechanical Engineering, December 6-11, 2015, Rio de Janeiro, RJ, Brazi}, booktitle = {COBEM2015 : 23rd ABCM International Congress of Mechanical Engineering, December 6-11, 2015, Rio de Janeiro, RJ, Brazi}, organization = {Associa{\c{c}}{\~a}o Brasileira de Engenharia e Ci{\^e}ncias Mec{\^a}nicas}, doi = {10.20906/cps/cob-2015-1970}, language = {en} } @inproceedings{BuenteRillRuggaberetal., author = {B{\"u}nte, Tilman and Rill, Georg and Ruggaber, Julian and Tobol{\´a}ř, Jakub}, title = {Modelling and Validation of the TMeasy Tyre Model for Extreme Parking Manoeuvres}, series = {Advances in Dynamics of Vehicles on Roads and Tracks II, Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2021): August 17-19, 2021, Saint Petersburg, Russia}, booktitle = {Advances in Dynamics of Vehicles on Roads and Tracks II, Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2021): August 17-19, 2021, Saint Petersburg, Russia}, editor = {Orlova, Anna and Cole, David}, publisher = {Springer}, address = {Cham}, isbn = {978-3-031-07305-2}, doi = {10.1007/978-3-031-07305-2_94}, pages = {1015 -- 1025}, abstract = {The TMeasy is a tyre model suitable for vehicle handling analyses and enables easy parametrisation. Recently, a convenient interface to Modelica was implemented by DLR to support the TMeasy also for vehicle modelling in multi-physical domains. This paper focuses especially on the particular problem of reliable reproduction of the tyre's bore torque which occurs during parking manoeuvres. It outlines the theory behind it, discusses the Modelica interface implementation, and presents the results of parameter identification which were achieved based on real experiments with DLR's research platform ROboMObil.}, language = {en} } @article{RillBauerTopcagic, author = {Rill, Georg and Bauer, Florian and Topcagic, Edin}, title = {Performance of leaf spring suspended axles in model approaches of different complexities}, series = {Vehicle System Dynamics}, volume = {60}, journal = {Vehicle System Dynamics}, number = {8}, publisher = {Taylor\&Francis}, doi = {10.1080/00423114.2021.1928249}, pages = {2871 -- 2889}, abstract = {Axles with leaf spring suspension systems are still a popular choice in many commercial vehicles. However, leaf springs are not in perfect conformity to standard multibody vehicle models because they combine guidance and suspension in one single element. Combining standard multibody vehicle models with sophisticated finite element leaf spring models results in rather complex and computing time-consuming solutions. Purely kinematic models, defined by lookup tables or the design kinematics approach, cover only some but not all features of the leaf spring suspension. As shown here, the five-link model, which incorporates a quasi-static solution of the leaf spring compliance, provides a very practical model. It is comparatively lean and provides results of sufficient accuracy in the whole application range.}, language = {en} } @article{BruniMeijaardRilletal., author = {Bruni, S. and Meijaard, J. P. and Rill, Georg and Schwab, A. L.}, title = {State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches}, series = {Multibody System Dynamics}, volume = {49}, journal = {Multibody System Dynamics}, number = {1}, publisher = {Springer}, doi = {10.1007/s11044-020-09735-z}, pages = {1 -- 32}, abstract = {A review of the current use of multibody dynamics methods in the analysis of the dynamics of vehicles is given. Railway vehicle dynamics as well as road vehicle dynamics are considered, where for the latter the dynamics of cars and trucks and the dynamics of single-track vehicles, in particular motorcycles and bicycles, are reviewed. Commonalities and differences are shown, and open questions and challenges are given as directions for further research in this field.}, language = {en} } @article{RillBauerKirchbeck, author = {Rill, Georg and Bauer, Florian and Kirchbeck, Mathias}, title = {VTT - a virtual test truck for modern simulation tasks}, series = {Vehicle system dynamics}, volume = {59}, journal = {Vehicle system dynamics}, number = {4}, publisher = {Taylor\&Francis}, doi = {10.1080/00423114.2019.1705356}, pages = {635 -- 656}, abstract = {The development of new technologies like advanced driver assistance systems or automated driving requires a flexible simulation environment of sufficient complexity. In general this flexibility is not provided by commercial software packages. This paper presents a three-dimensional and nonlinear hand-made model for heavy commercial vehicles including tractor and trailer as well as tractor and semitrailer combinations that can be used in different simulation environments, as well as in real-time applications. As typical for trucks, the torsional flexibility of the frame and a suspended driver's cabin are taken into account. The design kinematics makes it possible to handle different and quite complex axle suspensions very efficiently. Appropriate force elements are used to model various couplings between tractor and trailer or tractor and semitrailer, respectively. The virtual test truck environment (VTT) coded in ANSI C is extremely portable and can easily be embedded in commercial simulation packages like MATLAB/Simulink. It includes the TMeasy tyre model and offers flexible interfaces to third-party software tools.}, language = {en} } @article{Rill, author = {Rill, Georg}, title = {Sophisticated but quite simple contact calculation for handling tire models}, series = {Multibody system dynamics}, volume = {45}, journal = {Multibody system dynamics}, number = {2}, publisher = {Springer Nature}, organization = {SPRINGER}, doi = {10.1007/s11044-018-9629-4}, pages = {131 -- 153}, abstract = {Handling tire models like Pacejka (Tire and Vehicle Dynamics, 3rd edn., Elsevier, Amsterdam, 2012) or TMeasy (Rill in Proc. of the XV Int. Symp. on Dynamic Problems of Mechanics, Buzios, RJ, Brazil, 2013) consider the contact patch as one coherent plane. As a consequence, the irregularities of a rough road profile must be approximated by an appropriate local road plane that serves as an effective road plane in order to calculate the geometric contact point and the corresponding contact velocities. The Pacejka/SWIFT tire model employs a road enveloping model that generates the effective height and slope by elliptical cams. TMeasy just uses four representative road points for that purpose. In addition, TMeasy replaces the geometric contact point by the static contact point and shifts it finally to the dynamic contact point that represents the point where the contact forces are applied. In doing so, a rather sophisticated but still simple contact calculation is possible. Simulations obtained with a virtual tire test rig and fully nonlinear three-dimensional multibody system models of a motor-scooter and a passenger car demonstrate the potential of this contact approach.}, language = {en} } @incollection{ArrietaCastroRillWeber, author = {Arrieta Castro, Abel and Rill, Georg and Weber, Hans I.}, title = {Development of a Robust Integrated Control System to Improve the Stability of Road Vehicles}, series = {Multibody Mechatronic Systems}, volume = {54}, booktitle = {Multibody Mechatronic Systems}, editor = {Carvalho, Jo{\~a}o Carlos Mendes and Martins, Daniel and Simoni, Roberto and Simas, Henrique}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-67566-4}, doi = {10.1007/978-3-319-67567-1_48}, pages = {506 -- 516}, abstract = {Nowadays, new technologies are pushing the road vehicle limits further. Promising applications, e.g., self-driving cars, require a suitable control system that can maintain the vehicle's stability in critical scenarios. In most of current cars, the control systems actuates independently, meaning there is not a coordination or data sharing between them. This approach can produce a conflict between these standalone controllers and thus, no improvements on the vehicle's stability are achieved or even a worse scenario can be generated. In order to overcome these problems, an integrated approach is developed in this work. This integration, defined in this work as Integrated Control (IC), is done by an intelligence coordination of all standalone controllers inside the vehicle, i.e., Anti-Lock Braking System (ABS), Electronic Stability Program (ESP) and Four-Wheel Steering System (4WS). The ABS model was built using Fuzzy logic, for which only three rules were necessary to get a good performance. To design the ESP and the 4WS, the simple handling vehicle model was used as a reference behavior. The IC was designed using the hierarchical approach with two layers, i.e., the upper and lower layer. The upper one, observes the side slip angle and depends of its value the upper layer triggers the ESP or the 4WS. Finally, in order to prove the improvements of the IC system over the non-integrated approach, a full-size vehicle model was used to perform simulation in run-off-road and μ-split scenarios.}, language = {en} } @inproceedings{HacklHirschbergLexetal., author = {Hackl, Andreas and Hirschberg, Wolfgang and Lex, Cornelia and Rill, Georg}, title = {Tyre Dynamics: Model Validation and Parameter Identification}, series = {Proceedings of the European Automotive Congress EAEC-ESFA 2015}, volume = {45}, booktitle = {Proceedings of the European Automotive Congress EAEC-ESFA 2015}, editor = {Andreescu, Cristian and Clenci, Adrian}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-27275-7}, doi = {10.1007/978-3-319-27276-4_20}, pages = {219 -- 232}, abstract = {The present paper deals with the experimental validation of tyre dynamics approaches as it is widely applied in tyre models for vehicle dynamics and handling. Firstly it gives a brief derivation of two modelling principles regarding the deflection velocity in the considered direction of the tyre's deformation. This is than followed by a brief description of the performed measurement procedure. From the measurements, a set of model parameters of the considered tyre, depending on different manoeuvre speeds and frequencies, is identified, where no particular fitting parameters for the tyre dynamics are needed. Based on these model parameters, the related dynamic simulations are carried out. The comparisons show that the applied first-order model describes the behaviour quite well within a certain operation range, whereas the second-order approach cannot deliver better results in spite of the longer computational time. However, for investigations within an enlarged frequency range of the steer input and at high slip angles, a more detailed model is recommended.}, language = {en} } @inproceedings{DessortChucholowskiRill, author = {Dessort, Ronnie and Chucholowski, Cornelius and Rill, Georg}, title = {Parametrical approach for modeling of tire forces and torques in TMeasy 5}, series = {Proceedings of the 16. Internationales Stuttgarter Symposium Automobil- und Motorentechnik}, booktitle = {Proceedings of the 16. Internationales Stuttgarter Symposium Automobil- und Motorentechnik}, editor = {Bargende, Michael and Reuss, Hans-Christian and Wiedemann, Jochen}, publisher = {Springer}, address = {Wiesbaden}, isbn = {978-3-658-13254-5}, pages = {435 -- 449}, abstract = {For the dynamic simulation of on-road vehicles, the model-element "tire/road" is of special importance, according to its influence on the achievable results. Sufficient description of the interaction between tire and road is one of the most challenging tasks of vehicle modeling. Two groups of tire models can be classified: handling models and structural or high-frequency models. Usually, various assumptions are made in modeling vehicles as multibody systems. Therefore, in the interest of balanced modeling, the precision of the complete vehicle model should stand in reasonable relation to the performance of the applied tire model. Handling tire models are characterized by a useful compromise between user friendliness, model complexity, and efficiency in computation time on the one hand, and precision in representation on the other hand. The present paper describes the general approach of the semi-physical tire model TMeasy for vehicle dynamics and handling simulation and its enhancement for bore torque simulation in Version TMeasy 5. A parameter fitting process realized by TESIS DYNAware and the validation of real tire behavior by simulation with DYNA4 is presented. Even with first guess parameters, the TMeasy tire model behaves in a realistic and plausible manner. Parameter estimation is intuitive and datasets from previous model versions can be easily migrated. After parameter fitting, the simulation results correlate well with both the tire test rig and full vehicle measurements. The enhancement of a three-dimensional slip calculation in the latest version does not modify the model behavior for high slip conditions, but improves the results not only for highly dynamic situations but also for low speed maneuvers such as parking.}, language = {en} } @inproceedings{DessortChucholowskiRill, author = {Dessort, Ronnie and Chucholowski, Cornelius and Rill, Georg}, title = {Parametrical approach for modeling of tire forces and torques in TMeasy 5}, series = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik, Bd. 1}, booktitle = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik, Bd. 1}, editor = {Bargende, Michael and Reuss, Hans-Christian and Wiedemann, Jochen}, publisher = {Springer}, address = {Wiesbaden}, isbn = {978-3-658-13254-5}, doi = {10.1007/978-3-658-13255-2_31}, pages = {435 -- 449}, abstract = {For the dynamic simulation of on-road vehicles, the model-element "tire/road" is of special importance, according to its influence on the achievable results. Sufficient description of the interaction between tire and road is one of the most challenging tasks of vehicle modeling. Two groups of tire models can be classified: handling models and structural or high-frequency models. Usually, various assumptions are made in modeling vehicles as multibody systems. Therefore, in the interest of balanced modeling, the precision of the complete vehicle model should stand in reasonable relation to the performance of the applied tire model. Handling tire models are characterized by a useful compromise between user friendliness, model complexity, and efficiency in computation time on the one hand, and precision in representation on the other hand.}, language = {en} } @inproceedings{HacklHirschbergLexetal., author = {Hackl, Andreas and Hirschberg, Wolfgang and Lex, Cornelia and Rill, Georg}, title = {Parameterization Process of the Maxwell Model to Describe the Transient Force Behavior of a Tire}, series = {WCX 17: SAE World Congress Experience 2017}, booktitle = {WCX 17: SAE World Congress Experience 2017}, publisher = {SAE}, doi = {10.4271/2017-01-1505}, abstract = {The present technical article deals with the modeling of dynamic tire forces, which are relevant during interactions of safety relevant Advanced Driver Assistance Systems (ADAS). Special attention has been paid on simple but effective tire modeling of semi-physical type. In previous investigations, experimental validation showed that the well-known first-order Kelvin-Voigt model, described by a spring and damper element, describes good suitability around fixed operation points, but is limited for a wide working range. When aiming to run vehicle dynamics models within a frequency band of excitation up to 8 Hz, these models deliver remarkable deviations from measured tire characteristics. To overcome this limitation, a nonlinear Maxwell spring-damper element was introduced which is qualified to model the dynamic hardening of the elastomer materials of the tire. However, the advantage of a more realistic description of the transient behavior leads to a more complex parametrization process. Therefore, in the proposed article attention is paid to describe the identification process including defined maneuvers to parameterize the tire model, where the accuracy of the parameter strongly depends on the quality of the available input data from measurement. In order to study this important aspect of parameterization, the reference data from simulation of the full physical tire model FTire is applied like a "virtual measurement" of specified testing maneuvers. The procedure of simulation by means of the enhanced first order dynamics model is implemented by the semi-physical tire model TMeasy. Finally, the improvements of the extended model are discussed and an outlook for future work is given.}, language = {en} } @inproceedings{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {A Novel Approach for Parametrization of Suspension Kinematics}, series = {Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2019), August 12-16, 2019, Gothenburg, Sweden}, booktitle = {Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2019), August 12-16, 2019, Gothenburg, Sweden}, editor = {Klomp, Matthijs and Bruzelius, Fredrik and Nielsen, Jens and Hillemyr, Angela}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-38076-2}, doi = {10.1007/978-3-030-38077-9_210}, pages = {1848 -- 1857}, abstract = {n the automotive industry, simulations are needed to analyse the dynamics of vehicles and also of its main components and subsystems, e.g. tires, brakes and suspension systems. These simulations are required for an early-stage development and in consequence, they must deliver realistic results. Suspension systems plays a key role in comfort and safety of road vehicles. They usually consist of rigid links and force elements that are arranged with a specific topology. In addition, some of their functionalities are to carry the weight of the car and the passengers, and maintain a correct wheel alignment. In simulations involving suspension systems, lookup-tables are frequently used. They are obtained from a Kinematic and Compliance (KnC) test and then standardized for a specific vehicle simulation software. Nonetheless, lookup-tables require a reasonable number of characteristic points. Additionally, derivatives, interpolation, and extrapolation are not necessarily smooth. This produces results that depend on the interpolation technique and may be inaccurate. In this paper, a novel method called "design kinematics" is proposed. This method can describe the kinematic properties of almost any type of suspension systems. Comparisons with an analytic calculation and a KnC measurement shown that the design kinematics is able to represent the kinematic and compliance properties of suspension systems extremely well and very efficiently.}, language = {en} } @inproceedings{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {The Influence of Axle Kinematics on Vehicle Dynamics}, series = {Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK)}, volume = {71}, booktitle = {Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK)}, editor = {Kecskem{\´e}thy, Andr{\´e}s and Geu Flores, Francisco and Carrera, Eliodoro and Elias, Dante A.}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-16422-5}, doi = {10.1007/978-3-030-16423-2_2}, pages = {23 -- 31}, abstract = {The automotive industry employs many different kinds of axle suspension systems at modern passenger cars. Important criteria are costs, space requirements, kinematic properties, and compliance attributes. This paper illustrates that in particular the kinematic properties of a suspension system have a significant influence on the dynamics of vehicles. As a consequence, the kinematics of a suspension system must be modeled very precisely and nonlinear. Typical kinematical features of a suspension system are discussed by analyzing the most common double wishbone axle suspension system. The influence of the axle kinematics on vehicle dynamics is finally demonstrated by simulation results generated with a fully nonlinear and three-dimensional multibody vehicle model.}, language = {en} } @incollection{Rill, author = {Rill, Georg}, title = {Multibody Systems and Simulation Techniques}, series = {Vehicle Dynamics of Modern Passenger Cars}, booktitle = {Vehicle Dynamics of Modern Passenger Cars}, editor = {Lugner, Peter}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-319-79007-7}, doi = {10.1007/978-3-319-79008-4_6}, pages = {309 -- 375}, abstract = {This part begins with an introduction to Multibody Systems (MBS). It presents the elements of MBS and discusses different modeling aspects. Then, different methods to generate the equations of motion are presented. Solvers for ordinary differential equations (ODE) as well as differential algebraic equations (DAE) are discussed. Finally, techniques for "online" and "offline" simulations including real-time applications are presented like necessary for car development. Special examples show the connection between simulation and test results.}, language = {en} } @book{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {Road Vehicle Dynamics}, publisher = {CRC Press}, address = {Boca Raton, Fla.}, isbn = {9780429244476}, doi = {10.1201/9780429244476}, abstract = {Road Vehicle Dynamics: Fundamentals and Modeling with MATLAB®, Second Edition combines coverage of vehicle dynamics concepts with MATLAB v9.4 programming routines and results, along with examples and numerous chapter exercises. Improved and updated, the revised text offers new coverage of active safety systems, rear wheel steering, race car suspension systems, airsprings, four-wheel drive, mechatronics, and other topics. Based on the lead author's extensive lectures, classes, and research activities, this unique text provides readers with insights into the computer-based modeling of automobiles and other ground vehicles. Instructor resources, including problem solutions, are available from the publisher.}, subject = {Fahrdynamik}, language = {en} } @article{Rill2017, author = {Rill, Georg}, title = {Reducing the cornering resistance by torque vectoring (X International Conference on Structural Dynamics, EURODYN 2017)}, series = {Procedia Engineering}, volume = {199}, journal = {Procedia Engineering}, publisher = {Elsevier}, doi = {10.1016/j.proeng.2017.09.393}, pages = {3284 -- 3289}, year = {2017}, abstract = {Usually, torque vectoring is used to reduce a significant understeer behavior at high speed cornering. Thus, providing larger vehicles with a sportive touch. Even on typical front wheel driven cars torque vectoring control is available now. Torque vectoring is nearly a standard on electric driven vehicles. Complex control and optimization strategies are applied to improve the maneuverability in particular or to enhance the driving behavior and reduce the energy consumption in addition. This paper shows, that a quite simple strategy will enhance the maneuverability and simultaneously reduce the cornering resistance in sharp bends. At first, a case study with a fully non-linear and three-dimensional vehicle model is performed. It turned out that a full drive torque shift to the outer wheels improves the maneuverability and reduces the cornering resistance in addition. This results are verified by an optimization performed with a simpler four-wheeled handling model. Here, the front steering angles and the driving torques at each of the four wheels are considered as free parameters. Minimizing the cornering resistance by taking the equations of motion for the four-wheeled handling model as constraints will deliver an optimal set of parameters then.}, language = {en} } @inproceedings{ArrietaCastroChavesRilletal., author = {Arrieta Castro, Abel and Chaves, Rafael B. and Rill, Georg and Weber, Hans I.}, title = {Use of Integrated Control to Enhance the Safety of Vehicles in Run-Off-Road Scenarios}, series = {Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics}, booktitle = {Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics}, editor = {Fleury, Agenor de T. and Rade, Domingos A. and Kurka, R. G.}, edition = {1. Auflage}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-91217-2}, issn = {2195-4356}, doi = {10.1007/978-3-319-91217-2_30}, pages = {431 -- 443}, abstract = {In this work, an integrated vehicle control system (IC) is tested in run-off-road scenarios. The integrated approach was employed in order to coordinate vehicle control systems, i.e. the Anti-Lock Brake System (ABS), Four-wheel Steering (4WS) and the Electronic Stability Program (ESP). To perform a run-off-road maneuver, a fuzzy virtual test driver was designed. By receiving the lateral position of an obstacle and the vehicle's relative yaw angle, the virtual test driver is capable of following a reference trajectory. Furthermore, to test the performance of the standalone controllers, i.e. ABS, ESP and 4WS, individual maneuvers are performed using a multibody vehicle model. The vehicle without any coordination between the control systems is used as reference. For the simulation results, it is concluded that the IC improves the vehicle stability and maneuverability in comparison with the non-integrated approach.}, language = {en} } @inproceedings{Rill, author = {Rill, Georg}, title = {TMeasy 6.0-A handling tire model that incorporates the first two belt eigenmodes}, series = {Proceedings of the XI International Conference on Structural Dynamics (EURODYN 2020): Athens, Greece, 23.11.2020 - 26.11.2020}, booktitle = {Proceedings of the XI International Conference on Structural Dynamics (EURODYN 2020): Athens, Greece, 23.11.2020 - 26.11.2020}, publisher = {EASD Procedia}, doi = {10.47964/1120.9054.18673}, pages = {676 -- 689}, abstract = {TMeasy 6.0, an extension to the standard TMeasy tire model of version 5.3, takes the relevant first two rigid body eigenmodes of the belt into consideration. These modes represent the in plane longitudinal and rotational movements of the belt relative to the rim. The dynamics of the longitudinal force is of higher order then and reproduces the tire wheel vibrations, required for indirect tire-pressure monitoring systems (iTPMS), sufficiently well. A tailored implicit solver, which takes the stiff coupling between the longitudinal force and the belt motions into account, still provides real-time performance in addition. Simulation examples show that a rigid body vehicle model equipped with TMeasy 6.0 makes it possible to investigate second generation indirect tire-pressure monitoring systems.}, language = {en} }