PBS Sogol Kharrazi
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
PBS
Sogol Kharrazi
PBS in Sweden
PBS requirements• Is PBS a good approach?
• Swedish roads & weather
PBS assessment• Preferably simulation/equation based
• What is the required complexity of models
• There is a need for standard tire model(s)
PBS vs. Subjective Measures
• Driving simulator study with 55 truck drivers
• Each driver, drove a pair of vehicles, a conventional and a HCT vehicle
• There were three pairs of vehicles
• Tractor-Semi & Adouble
• Nordic & Truck-Bdouble
• Truck-CAT & Truck-Duo CAT
Heavy Vehicle Combination
1 Tractor-Semitrailer 40T/16.5m
2 Tractor-Semitrailer-Dolly-Semitrailer (Adouble) 80T/30m
3 Truck-Centre Axle Trailer 40T/19m
4 Truck-Centre Axle Trailer-Centre Axle Trailer 74T/28m
5 Truck-Dolly-Semitrailer (Nordic) 64T/25m
6 Truck-Dolly-Link Trailer-Semitrailer (Truck-Bdouble) 83T/32m
Results of Simulator Study
• The average ranking of the total driving experience realism was 5.2 out of 7.
• The last question: how difficult or easy is to drive the HCT vehicle in
comparison with the conventional vehicle?
(1: much easier up to 7:much more difficult)
• Tractor-Semi & Adouble 4.8 a bit more difficult
• Nordic & Truck-Bdouble 3.7 almost the same
• Truck-CAT & Truck-Duo CAT 4.9 a bit more difficult
• There is a strong correlation between drivers’ perceived performance of the
vehicles with the PBS measures investigated in the study
S. Kharrazi, B. Augusto and N. Fröjd, “Assessing dynamics of heavy vehicles in a driving simulator,” Journal of
Transportation Research Part F: Traffic Psychology and Behaviour, vol. 65, pp. 306-315, 2019.
Winter vs. Summer - Offtracking
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-2
0
2
4
6
8
10
12
offtracking on high friction [m]
off
trackin
g o
n low
friction [
m]
3m SLC 0.35Hz
mu=0.2
mu=0.25
mu=0.3
mu=0.35
Winter vs. Summer – Rearward Amplification
1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 30.5
1
1.5
2
2.5
3
3.5
4
4.5
5
5.5
Yaw rate rearward amplification on high friction
Yaw
rate
rearw
ard
am
plif
ication o
n low
friction
3m SLC 0.35Hz
mu=0.2
mu=0.25
mu=0.3
mu=0.35
Winter vs Summer – Low Speed Maneuvering
-0.5
0
0.5Offtracking snow-dry conditions
TK
12_C
T2
TK
12_C
T2_C
T2
TK
12_C
T3_C
T3
TK
12_D
Y2_LT
2_S
T3
TK
12_D
Y2_LT
3_S
T3
TK
12_D
Y2_S
T3
TK
12_F
T22
TK
12_F
T23
TK
13_C
T3
TK
13_D
Y2_LT
3_S
T3
TK
13_D
Y2_S
T3
TK
13_F
T23
TR
11_LT
2_S
T3
TR
11_S
T3
TR
11_S
T3_C
T2
TR
12_LT
2_LT
2_S
T3
TR
12_LT
2_S
T3
TR
12_LT
3_LT
3_S
T3
TR
12_LT
3_S
T3
TR
12_S
T3
TR
12_S
T3_C
T2
TR
12_S
T3_D
Y2_S
T3
90
180
270
360
PBS Assessment Tool
Transportstyrelsen lastbilskalkylator (truck calculator)• A web-based tool which uses vehicle registered information
• Support tool for vehicle manufacturers/drivers/hauliers
• https://lastbilskalkylator.azurewebsites.net/
Chalmers open tool• Modelica based
Model Complexity - Startability
Black OEM model, grey intermediate model, white simple expression
Model Complexity – High Speed Stability
Linear bicycle model vs. multi-body model
Standard tire model(s)
Measuring a selection of tires common in Nordic market• 7 different trailer/steer tires + 2 worn tires
• 2 different drive tires (new & worn)
• 2 different twin trailer tires (new & worn)
Different road surfaces• Asphalt (VTI)
• Ice (VTI)
• Snow (Oulu University)
PBS Project Publications
S. Kharrazi, B. Augusto and N. Fröjd, “Assessing dynamics of heavy vehicles in a driving simulator,” Journal of
Transportation Research Part F: Traffic Psychology and Behaviour, vol. 65, pp. 306-315, 2019.
V. Santahuhta, “Roll dynamics and tyre relaxation in heavy combination vehicle models for transient lateral manoeuvres”.
Chalmers Master thesis report, 2019.
M. M. Islam, N. Fröjd, S. Kharrazi and B. Jacobson, “How well a single-track linear model captures the lateral dynamics of
long combination vehicles,” Vehicle System Dynamics, vol. 57, no. 12, pp. 1874-1896, 2019.
F. Bruzelius, S. Kharrazi, “Low speed performance based standards for the Nordic countries,” Accepted for publication in
International Journal of Heavy Vehicle Systems.
S. Kharrazi, “Performance based standards project in Sweden,” in proceedings of the 15th International Symposium on
Heavy Vehicle Transport Technology, Rotterdam, Netherlands, 2018.
Sandberg, U., Kharrazi, S. and Mioduszewski, P., “Comparison of noise emission of HCT and classic vehicle combinations
for timber transportation in Sweden”. Submitted to the International Symposium on Heavy Vehicle Transport Technology
(HVTT15), Rotterdam, The Netherlands, 2018.
S. Kharrazi, F. Bruzelius and U. Sandberg, “Performance based standards for high capacity transports in Sweden-FIFFI
project 2013-03881-Final report,” VTI, report 948A, 2017.
B. Jacobson, P. Sundström, S. Kharrazi, N. Fröjd and M. Islam, “An open assessment tool for performance based standards
of long combination vehicles”. Chalmers research report, 2017.
PBS Project Publications
K. Kashampur, “Assessment tool for performance of high capacity combination vehicles including envelopes for A-double
vehicles”. Chalmers Master thesis report, 2017.
S. Kharrazi, “Performance of High Capacity Vehicles, Winter Versus Summer,” in proceedings of the 14th International
Symposium on Heavy Vehicle Transport Technology, Rotorua, New Zealand, 2016.
F. Bruzelius, S. Kharrazi and E. Pettersson, “Model and road surface sensitivity of longitudinal Performance based
standards,” in proceedings of the 14th International Symposium on Heavy Vehicle Transport Technology, Rotorua, New
Zealand, 2016.
S. Kharrazi, R. Karlsson, J. Sandin and J. Aurell, “Performance based standards for high capacity transports in Sweden:
FIFFI project 2013-03881: Report 1: Review of existing regulations and literature,” VTI, report 859A, 2015.
S. Kharrazi, J. Aurell, M. S. Kati, B. Jacobson, N. Fröjd and T. Asp, “Towards performance based standards in Sweden,”
in proceedings of the 13th International Symposium on Heavy Vehicle Transport Technology, San Luis, Argentina, 2014.
Related Documents
