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EVE Report Summary

Project ID: 645736
Funded under: H2020-EU.1.3.3.


Reporting period: 2015-01-01 to 2016-12-31

Summary of the context and overall objectives of the project

Development of information technologies and mechatronic systems as well as an increased demand on environment-acceptable and safe intelligent technologies has a profound impact on ground vehicle engineering in general. This impact results in both an increasing degree of automation of systems employed in ground vehicles and emerging new concepts like integrated chassis control (ICC). The integrated active chassis systems undertake the function of controlling the vehicle motion to enhance safety, eco-friendliness, performance, comfort etc. Application areas of ICC relate not only to the traditional transportation sector of passenger cars and commercial vehicles but also to the agricultural, mining, construction and forestry machinery. In spite of existing engineering solutions for integrated chassis control, relevant examples are mainly subjected to the concept, high price segment or electric vehicles. In addition, wide intersectoral networking with an international dimension is missing here and this can be considered as a tangible barrier for rapid development and market implementation of integrated active chassis systems. Thus, there is a strong demand for the consolidated research and innovation actions for ICC technologies and the project EVE is contributing with novel engineering to address this problem.

The EVE project activities are being concentrated around integration of active brake, suspension and tyre pressure control as one of promising solutions for simultaneous improvement of safety, energy-efficiency and driving comfort of ground vehicles. This complex task is being solved in the project trough a set of research, innovation and technological objectives covering development of (i) advanced vehicle models for real-time control applications, (ii) designing of integrated chassis controller with simultaneous improvements in safety, energy efficiency and driving comfort of ground vehicles, and (iii) conceptual development and practical realization of remote distributed test technology allowing cooperative experiments on stationary and mobile test rigs.

The research and innovation activities of the EVE project are being realized by way of the professional development of the participating staff through intersectoral and international collaboration and secondments to unique research environments exploring cutting-edge knowledge and technologies in ground vehicle and control systems engineering.

Work performed from the beginning of the project to the end of the period covered by the report and main results achieved so far

The works performed during the reporting period can be summarized as follows.

(i) Tyre and vehicle modelling and testing. The consortium carried out intensive experimental activities at different test hosts and using different testing and measurement technique to collect data and parametrize several tyre models of interest. The following models are developed for two specific tyre types installed on the sport utility vehicles (235/55 R 19 and 235/85 R 16): (i) Pacejka model 2002; (ii) FTire model; (iii) Virginia Tech tyre model; (iv) Dugoff model. A set of models of the EVE vehicle demonstrator with real-time capability is developed in different software environments (MATLAB / Simulink, dSPACE ASM, VI-Grade + MSC.Adams). These models are used on various project stages for such purposes as the low-level and high-level controller design as well as hardware-in-the-loop tests. The real-time models of automotive subsystems are developed in the MATLAB / Simulink for decoupled brake system, semi-active suspension and dynamic tyre pressure control.

(ii) Integrated chassis control. For the reporting period, the architecture of integrated chassis controller is developed. The software realization of the integrated chassis controller is investigated using real-time simulation and hardware-in-the-loop tests for different vehicle braking manoeuvres. These works confirmed effect in robustness, safety and driving comfort at braking. The consortium also developed and validated methods for rejection of disturbances caused by the brake hysteresis and fade as well as by the hysteresis in suspension elements. The disturbance rejection methods are embedded into the architecture of the wheel slip and vertical dynamics controllers.

(iii) Vehicle systems and testing. The consortium advanced the decoupled brake system with original controller and installed it on the vehicle demonstrator. The hardware components of the dynamic tyre pressure control system are also assembled and installed on the vehicle demonstrator for the final experiments. The hardware components of the suspension are manufactured and tested on the test rig before the final installation on the vehicle demonstrator. In addition, the concept of the remote distributed test technology is proposed and realized now in the form of several X-in-the-loop (XIL) architectures connecting test rigs from different domains as dynamometers and HIL setup.

Progress beyond the state of the art and expected potential impact (including the socio-economic impact and the wider societal implications of the project so far)

For the reporting period, the EVE consortium produced a set of research and innovation outcomes providing progress vs. state-of-the-art technologies. These outcomes include in particular:
- Novel methods of continuous wheel slip control using sliding mode control technique with their practical implementation for decoupled electro-hydraulic brake system;
- Full scale demonstrator of dynamic tyre pressure control system for a sport utility vehicle with off-road driving capability;
- Prototype of XIL technology for real-time connection of test rigs from different physical domains.

On the European level, the project EVE is making manifold impact through:
- Contribution to the European Road Safety Charter and the European Green Vehicle Initiative by the development of new automotive technologies related to the improvement of vehicle safety, efficiency and comfort;
- Reinforcement of innovation regions, for instance, by bringing new competences to Thuringian, Picardy, Aragonese and Flemish innovation clusters in mobility technologies;
- Closer cooperation and establishment of new strong contacts and reliable ties between academic and non-academic sectors in Europe, South Africa and the USA in the field of safe and energy-efficient vehicles.

All these results were made possible thanks to successful transfer of knowledge and joint development and experimental activities of participating staff from Germany, South Africa, Spain, Belgium, the Netherlands, Sweden, France, UK and USA. During the reporting period, 27 researchers participated directly in the secondments and they were actively cooperated with many professionals at secondment hosts. Participating staff received personal benefits from intersectoral, international, and interdisciplinary cooperation and can efficiently use now the gained skills both in running activities and for initiation of further innovation projects.

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