Simulation-aided Homologation of ESP Systems for NAFTA ... · Simulation-aided Homologation of ESP Systems for NAFTA Vans by ... • For NAFTA region: Mandatory introduction of ESP
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Simulation-aided Homologation of ESP Systems for NAFTA Vans by Software-in-the-Loop Simulation
Klaus Wüst, Daimler AG Albert Lutz, Robert Bosch GmbH
IPG Technology ConferenceEttlingen, 18.-19. September 2012
• In Europe:Mandatory introduction of ESP systems for passenger cars and for trucks or buses via ECE-R13 and ECE-R13H
• ECE-R13 and –R13H allow homologation by simulation –either by HiL test stands or by SiL simulation
• Type approval by simulation at Daimler Trucks since 2011 –Simulation tool EBSim (Simpack models with SiL codes)
• Various driving maneuvers without precise criteria for trucks, maneuver “sine with dwell” for passenger cars, includingpass/fail criteria
• For NAFTA region:Mandatory introduction of ESP systems for passenger carsvia FMVSS 126, maneuver “sine with dwell”, self-certification (no type approval by authorities)
• Step 3:Validation of steady state driving behavior
• Step 3:Validation of transient driving behavior
• Step 4:Validation of sine with dwell with ESC interventionsComparison Measurement with ESC / Simulationwith ESC / Simulation without ESC,Vehicle yaw velocity as a response to 200°steering wheel amplitude
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Yaw Velocity vs. Time
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The simulation covers a wide range of vehicle variants• Examples for the vehicle variety (Sprinter for NAFTA market):
• 2 GVW variants, 2 wheelbases, 2 heights, 2 versions of rear overhang, bus or goods transport, 4 suspension variants, 3 tire variants approx. 120 possible variations
• Additional: variation of loading conditions (laden/unladen, c.o.g position)
• Daimler and Bosch have successfully estab-lished an exchange platform for the simulation of van vehicle dynamics with active systems.
• The SiL platform is used for type approval investigations of ESP system as well as for investigations of a large amount of vehiclevariants and for robustness investigations.
• In future, this SiL process will also be used for other driver assistance systems, furthermoreimplementing additionally the tools IPG Test-Manager and QTronic TestWeaver.