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October 1st 2018
12th International Motorcycle Conference
WHY AUTOMATIZATION IS THE FUTUREOF MOTORCYCLE SAFETY.
FROM AUTOMATIZATION TO ASSISTANCE –INTERVENE BEFORE A CRITICAL SITUATION.
STEFAN HANS, BMW MOTORRAD
MARKUS KÖBE, TECHNISCHE UNIVERSITÄT DRESDEN
MOTIVATION – WHY IS MOTORCYCLE SAFETY SO IMPORTANT?
Between 1990 and 2017…
… car-related fatalities
decreased by
77%
… motorcycle-related
fatalities decreased by
45%0
1000
2000
3000
4000
5000
6000
7000
8000
1990 1995 2000 2005 2010 2015
Roa
d Tr
affic
Fat
alit
ies
Year
car occupants
motorcyclists
Figure 1: Car occupants and motorcycle rider fatalities in Germany from 1990 to 2017. (Source: DESTATIS)
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 2
DEVELOPMENT OF DRIVER-/RIDER-ASSISTANT-SYSTEMS.C
om
ple
xity
1970 1980 1990 2000 2010
environment perception
active
reactive
proactive
2020
*) research topic
1978 Anti-Lock Braking System
1995 Dynamic Stability Control
2000 Adaptive Cruise Control
1988 Anti-Lock Braking System
1987 Dynamic Traction Control
2015 Traffic Jam Assistant
1997 Cornering Brake Control
2006 Automatic Stability Control
2009 Dynamic Traction Control
2007 Emergency Brake Assist
2014 ABS Pro
passenger car
motorcycle
2015 Side-View-Assist
2021 Fully Autonomous Driving*
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 3
PROJECT OVERVIEW.
TrackMoto
Human command signals
Engine torque Brake pressure Steering angle
Measurements on the test track
– Prototype equipped with sensors and actuator
– Measurements of test rides
Theory
– Motorcycle dynamics model
– Simulation results
Validation
Fully-automated test ride(without rider)
Human Machine Interface
– Need and acceptance of assistance
– Kinesthetic feedback
– Intuitive systems
Rider
Increasing motorcycle safety by active interventions in the vehicle dynamics!
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 4
COMPONENTS OF THE PROTOTYPE.
Electronic control unit
GPS + IMU
Steering torque sensors
Display
Steering actuator
Training wheels
Active side standAutomated clutch
Roll angle sensor
Automated gearbox
Slide 5Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference
CASCADED MULTILEVEL APPROACH.
• What‘s the best route from A to B?
• Controller: Dynamic programmingNavigation
• What‘s the best trajectory around the obstacle?
• Controller: Model-Predictive ControlGuidance
• What steering angle do we need to stabilizethe roll dynamics?
• Controller: Sliding-Mode ControlStabilization
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 6
MODEL-PREDICTIVE-CONTROL.
Predicting the future trajectory by minimizing:
Distance to the centerline
Roll angle & roll rate
Longitudinal jerk
…
k k+1 k+2 k+3 k+N
past future reference
prediction
command signal
receding horizon
Human-like behavior
(i.e. cutting curves)
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 7
SIMPLIFIED DYNAMIC MODEL OF THE MOTORCYCLE.
Trade-off: accuracy computational cost
Assumptions:
Point-mass
Tire width neglected
Wheels roll without slip
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 8
GUIDANCE LEVEL: WHAT‘S THE BEST TRAJECTORY AROUND THE OBSTACLE?
?
System with knowledge
about the motorcycle
dynamics
Decide whether a situation
will become dangerous
or not
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 9
RESULTS.
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 11
Slide 1212th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Motivation
“As dispensable as 40 degrees fever.”„So entbehrlich wie 40 Grad Fieber.“
"But there is no more fun driving a Töff. I prefer to stay THE BOSS of my bike myself."„Da bleibt aber kein Spaß mehr drauf, ein Töff zu fahren. Ich bleibe lieber selbst DER BOSS meines Bikes.“
"Bullshit. Keep your fingers off the motorcycles. (...) I do not want a system that puts me in an inclined position on the brakes because it scared itself."„Schwachsinn. Lasst die Finger von den Motorrädern. (…) Ich will kein System, dass mir in der Schräglage in die Bremse greift, weil es sich erschrocken hat.“
"Things that do not need the world.That's a variant of it."
„Dinge, die die Welt nicht braucht. Das ist eine Variante davon.“
"If these things come, I give my driver's license off voluntarily.“„Wenn die Dinger kommen, geb‘ ich meinen Schein freiwillig ab.“
Slide 1312th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Research Question
? ?
Slide 1412th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Traffic Accidents of Powered-Two Wheelers
1.
Slide 1512th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Accident Research
Scenarios
24 %
Loss of ControlTurning Off
19 % 25 %
Turning InCrossing
19 %
LongtidudinalTraffic
Slide 1612th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Accident Research
Loss of Control
Speed 114 kph
Radius 78 m
Needed Angle 53°
Slide 1712th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Accident Research
Loss of Control
Emergency Braking withABS-Intervention
Putting up of Motorcycle
Speed 114 kph
Radius 78 m
Needed Angle 53°
Slide 1812th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Accident Research
Loss of Control
Slide 1912th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Slide 2012th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Identification of Assistance Functions
2.
Slide 2112th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Motorcycle Rider
Rider Types
Slide 2212th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
NAVIGATION
GUIDANCE
STABILIZATION
Gas
Ste
er
Brake
Tertiary:Setting
Ambience
Rid
er T
asks
Secondary:Setting Operation
Points
DangerNormal Driving
Scenarios
Warning
Switching Gears, domes, operating the turn signal, switching lights
Radio settings, temperature control, telephony, infotainment
Primary:Vehicle Guidance
Slide 2312th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Tertiary:Setting
Ambience
Rid
er T
asks
Secondary:Setting Operation
Points
DangerNormal Driving
Scenarios
Warning
Primary:Vehicle Guidance
AssistanceFunctions
Slide 2412th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
DangerNormal Driving
Critical Situation
Warning
PlanningSpeed
Stabilization
Curvature for speed too high
Steering torque to the ideal line or for greater curvature
Driving on Curves
Steering torque to the ideal line
PlanningCurvature
Speed for curvature too high
Reduction of drive torque / braking intervention on the rear wheel for cornering yaw moment
Driving on Curves
Limiting the speed
Curve Braking
Compensation of the steering torque
Driving /w cruise control
Limiting the speed
Prim
ary R
ider T
ask
Slide 2512th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Implementation of Assistance Systems
3.
Slide 2612th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Vehicle Dynamics Model
Roll Angle Speed Controller
Model Predictive Controller
Getz, N. H.: Dynamic inversion of nonlinear maps with applications to nonlinear control and robotics. Ph. D. thesis, University of California at Berkeley, 1995Hans, S., Krehel, M., Köbe, M., Prokop, G.: A Cascaded Model-Predictive Approach To Motorcycle Safety, AVEC, Munich, 2016
Observer
Slide 2712th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Slide 2812th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Steering torque to the ideal line or for greater curvature
DGPS,Road Data
Handlebar Motor
6-DOF-Sensor,Speed,Handlebar Angle
Projection on trackcoordinates
Kinematic controller(Lyponov stability)
Tracking
PID-Controller
target curvature /target roll angle
Rolling angle difference tohandlebar angle
Steering Torque
Slide 2912th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Slide 3012th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
StabilityControl
ttPONR
Point ofno return
tcritical (III)
CooperativeIntelligentTransport Systems
tcritical (I)
!InterventingARAS
tcritical (II)
I
II
III
Slide 3112th International Motorcycle Conference Intervene before a critical situation – Markus Köbe
Thank you very much!
Please feel free to ask questions.
Dipl.-Ing. Markus Köbe
Tel.: +49 (0) 351/463-43105
Email: [email protected]
Technische Universität Dresden
Lehrstuhl Kraftfahrzeugtechnik
George-Bähr-Straße 1c
01069 Dresden
Dipl.-Ing. Stefan Hans
Tel.: +49 -89-382-12575
Email: [email protected]
BMW Motorrad
Motorradsicherheit
Hufelandstraße 20
80939 München