Pres11 - Mike McCarthy TRL System validation and evaluation

Pres11 - Mike McCarthy TRL System validation and evaluation

PISa WP6 – System Validation and
Evaluation
Mike McCarthy (TRL)
WP6 Aims
Validate system
function
• Track tests – relevant scenarios
Evaluate system
performance
• Performance of system actions (e.g.
braking)
• Some rider feedback
Recommendations
for system
PISa Final Workshop – TNO, Helmond
• Improvements based on testing
03/02/2010
2
PISa systems
Malaguti Spidermax
500cc
• Distance Support
System (DS)
• Active Braking (AB)
• Enhanced Braking
(EB)/Active
Suspension
PISa Final Workshop – TNO, Helmond
TVS Apache 160cc
• Combined Braking
(CB)/Semi-active
suspension
03/02/2010
3
Distance Support System Validation
•
Two experiments
1) Simulator experiment
2) Pilot track test
•
Procedure:
–
Car-following task with and without the DS system
PISa Final Workshop – TNO, Helmond
03/02/2010
4
Without DSS
TTC
1. Simulator Experiment Results
With DSS
Throttle position
TTC
THW
THW
PISa Final Workshop – TNO, Helmond
Throttle position
03/02/2010
5
2.Track Test
PISa Final Workshop – TNO, Helmond
03/02/2010
6
-No significant differences
-5 subjects
-Detection of other objects apart from lead vehicle
Results: Performance - Time Headway
THW STD
0,75
0,70
STD THW [s]
0,65
0,60
0,55
0,50
0,45
0,40
0,35
DSS
No DSS
THWSTD
High THW = large distance
PISa Final Workshop – TNO, Helmond
03/02/2010
7
DSS Validation
•
Simulator experiment
–
•
DSS algorithm gave very good results increased
car-following performance & decreased control effort
Pilot track test (only 5 subjects)
–
–
DSS was considered useful
DSS should be improved: obstacle detection
PISa Final Workshop – TNO, Helmond
03/02/2010
8
PISa systems
Malaguti Spidermax
500cc
• Distance Support
System (DSS)
• Active Braking
(AB)
• Enhanced Braking
(EB)/Active
Suspension
PISa Final Workshop – TNO, Helmond
TVS Apache 160cc
• Combined Braking
(CB)/Semi-active
suspension
03/02/2010
9
Active Braking - Static object
Test Speed
(km/h)
AB
Trigger
setting
=3
35
45
55
PISa Final Workshop – TNO, Helmond
AB
Trigger
setting
=5
AB
Trigger
setting
=7
AB
Trigger
setting
=9
03/02/2010
10
Crossing scenario
Test
Object
PISa Final Workshop – TNO, Helmond
Test Speed
(km/h)
AB
Trigger
setting
=3
35
45
55
AB
Trigger
setting
=5
AB
Trigger
setting
=7
AB
Trigger
setting
=9
03/02/2010
11
Active Braking - Results
•
•
Reliability of AB activation 56%-91%
AB level 3m/s2 appropriate for track setting
PISa Final Workshop – TNO, Helmond
03/02/2010
12
PISa systems
Malaguti Spidermax
500cc
• Distance Support
System (DSS)
• Active Braking (AB)
• Enhanced Braking
(EB)/Active
Suspension
PISa Final Workshop – TNO, Helmond
TVS Apache 160cc
• Combined Braking
(CB)/Semi-active
suspension
03/02/2010
13
Enhanced Braking (EB) testing
PISa Final Workshop – TNO, Helmond
03/02/2010
14
Enhanced Braking
•
EB off (baseline) and EB on
Suspension
setting
Test Speed (km/h)
25
30
35
40
45
55
Off
Medium
Maximum
PISa Final Workshop – TNO, Helmond
03/02/2010
15
Enhanced Braking - Results
12.00
10.00
Mean stopping distance (m)
8.00
EB off
6.00
EB on
4.00
EB off = rider applied front and rear brake
EB on = rider applied rear brake only
2.00
0.00
20
25
30
35
40
45
Test speed (km/h)
PISa Final Workshop – TNO, Helmond
03/02/2010
16
Enhanced Braking - Results
Mean straight line stopping distance (m)
Test
Speed
(km/h)
EB off
Medium
EB off
Max
EB on
Normal
EB on
Medium
EB on
Max
25
-1.21
-0.54
0.10
-0.58
-0.48
35
-1.50
-0.83
0.49
0.03
-0.45
-1.92
-1.57
-0.52
-0.45
-0.78
-2.36
-3.12
-1.43
-1.78
-0.71
-1.75
-1.52
-0.34
-0.69
-0.61
45
55
Mean
EB off
Normal
Baseline
•
PISa Final Workshop – TNO, Helmond
03/02/2010
17
PISa systems
Malaguti Spidermax
500cc
• Distance Support
System (DSS)
• Active Braking (AB)
• Enhanced Braking
(EB)/Active
Suspension
PISa Final Workshop – TNO, Helmond
TVS Apache 160cc
• Combined
Braking
(CB)/Semi-active
suspension
03/02/2010
18
Combined Braking
•
•
•
Straight line braking test
CB off (baseline) and CB on
Two test riders, 10 tests per condition
Suspension
setting
Test Speed (km/h)
25
35
45
55
Off
On
PISa Final Workshop – TNO, Helmond
03/02/2010
19
Combined Braking - Results
Stopping distance (m) for range of test speeds with and without CB
40
35
Stopping Distance (m)
30
25
20
CBS off
CBS on
15
10
5
0
0
10
20
30
40
50
60
Test speed (km/h)
PISa Final Workshop – TNO, Helmond
03/02/2010
20
Combined Braking - Results
•
Results for “Rider B”
Test Speed
(km/h)
Improvement in mean
stopping distance with CBS
and Semi-active suspension
(m)
Improvement in
stopping distance with
CBS and Semi-active
suspension (%)
25
2.69m
29.16%
35
2.60m
17.65%
45
6.06m
23.35%
55
7.03m
19.41%
Mean
4.60m
22.39%
PISa Final Workshop – TNO, Helmond
03/02/2010
21
Conclusions
–
PISa system tested -“development systems”
•
•
–
Active Braking
•
•
–
3m/s2 level was appropriate for test conditions
AB trigger successful - e.g. at 45 km/h, triggered at 20.67m – 5.48m
(TTC 1.61s-0.44s) depending on AB trigger setting
Enhanced Braking
•
–
Recommendations made and further updates required
Tests for a range of riders and in more complex environments
Effective – system made performance comparable to test rider
applying both front and rear brakes
Combined Braking
•
•
•
Improvement (P<0.001) in mean stopping distance
Mean 18.5% improvement over speed range tested
Rider dependent effects noted (Rider A=14.6%, Rider B=22.4%)
PISa Final Workshop – TNO, Helmond
03/02/2010
22
Thank you for
your Attention!
PISa Final Workshop – TNO, Helmond
03/02/2010
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