The works performed 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. The real-time models of automotive subsystems are developed for decoupled brake system, semi-active suspension and dynamic tyre pressure control. During the second reporting period, the created real-time models were used in the experiments on the HIL test setup. In addition, the models are extra validated by the results of the field trials with the EVE vehicle demonstrator.
(ii) Integrated chassis control. For the final project stage, the consortium developed and implemented the state estimators for suspension and wheel slip control as well as disturbance rejection methods on the hardware systems. All the proposed analytical tools were investigated using various test setups as four-poster test rig and field trials. The robustness and real-time applicability of the tools is confirmed. During the final reporting period, the integrated controller is realized on the vehicle demonstrator to manage joint operation of the semi-active suspension, the brake system with the wheel slip control, and the tyre pressure control system. The improvement of driving safety and comfort is investigated and confirmed by the results of laboratory and field tests of the demonstrator. A patent application disclosing approach and implementation of the EVE integrated chassis controller is prepared and submitted to the patent authority.
(iii) Vehicle systems and testing. During the second reporting period, the concept of the remote distributed test technology in the form of several X-in-the-loop (XIL) architectures connecting test rigs from different domains is extended for driving simulator studies. In addition, the real-time experiments between simultaneously operating test hosts are performed through connection of master/slave processors situated in Germany, the Netherlands, South Africa and USA. The feasibility of the distributed test technology is demonstrated both for open-loop and closed-loop controllable vehicle manoeuvres with operating anti-lock braking system.
(iv) Networking activities. An extensive experience sharing has been carried out in various practical areas dedicated to modern test technologies. This experience sharing concerned the operation and experimental procedures on four-poster full vehicle vibration test setup, tyre measurement trailers, rolling road dynamometer, hardware-in-the-loop brake test rig. Extra attention is dedicated to the transfer of knowledge in field tests on instrumented vehicles in on-road and off-road conditions. Intensive dissemination activities of the EVE community has been realized through Technical Committee “Motion Control” of IEEE Industrial Electronics Society, the International Society for Terrain-Vehicle Systems, the ResearchGate web-network. In addition to the consortium-wide actions, each EVE participating organizations demonstrated and used the project results in running bilateral activities with collaborators from academic and industrial sectors.
