Journal Menu
Archive
Last Edition

HARDWARE-IN-THE-LOOP TESTING OF VEHICLE’S ELECTRONIC STABILITY CONTROL SYSTEM

Authors:

Eugeny Toropov1

Anton Tumasov

Andrey Vashurin

Danila Butin

Evgeniy Stepanov1

1Nizhniy Novgorod State Technical University, Russian Federation

Received: 17 March 2023
Revised: 25 May 2023
Accepted: 15 June 2023
Published: 30 June 2023

Abstract:

Conducting laboratory and field testing is a classic approach to the development and certification of vehicles and their automotive components. These processes are costly and time-consuming. The serial installation of mechatronic systems in the car forced software and electronic systems engineers to master a new approach to testing and development – “physical” simulation (Hardware-in-the-loop). The aim of the research in this article is to develop, implement and validate a “physical” simulation method for evaluating the performance of Electronic Stability Control (ESC) systems. In this research, an ESC HIL-testbench, a mathematical model of the vehicle curvilinear movement in Adams Car, and a method for converting it into a Simulink-model, that allows generating a C-code, were developed and implemented. To assess the adequacy and correctness of the “physical” simulation, full-scale dynamic manoeuvres were carried out on the object of research – the Gazelle Next vehicle with ESC-system “Bosch ESP 9.1”. In this article, the results of road tests and simulations, as well as an assessment of their convergence, are presented in tabular and graphical forms. The maximum discrepancy was 19% with the maximum allowable one up to 25% in accordance with the standard ISO 19635.

Keywords:

C-code, ESC system, field-testing, hardware-in-the-loop testing, HIL-testbench, Simulink

References:

[1] I.E. Kravchenko, E.S. Evdonin, Modern methods of testing and debugging software for automotive controllers using feedback systems (HIL-systems). Journal of Automotive Engineers, 5, 2015: 23-29.
[2] M. Galvani, History and future of driver assistance. IEEE Instrumentation & Measurement Magazine, 22(1), 2019: 11-16. https://doi.org/10.1109/MIM.2019.8633345
[3] A. Aksjonov, K. Augsburg, V. Vodovozov, Design and simulation of the robust ABS and ESP fuzzy logic controller on the complex braking manoeuvres. Applied Sciences, 6(12), 2016: 382.
https://doi.org/10.3390/app6120382
[4] T. Hwang, J. Roh, K. Park, J. Hwang, K. Hoon Lee, K. Lee, S-J. Lee , Y-J. Kim, Development of HILS systems for active brake control systems. SICE-ICASE International Joint Conference, 18-21 October 2006, Bexco, Busan, South Korea, pp.4404-4408. https://doi.org/10.1109/SICE.2006.314663
[5] F. Heidemann, HIL test systems in the automotive industry. CAN Newsletter, 4, 2019:31-33.
[6] V.G. Mikhailov, Passing data from simulink to control objects via CAN-bus. Car Road Infrastructure, 2(24), 2020: 2-18.
[7] S.V. Kondakov, O.O. Pavlovskaya, A.R. Ishbulatov, Development of a stand for semi-natural simulation of the motion control system of a tracked vehicle with hydrostatic transmission. Bulletin of the South Ural State University, 1(20), 2020: 5-14. https://doi.org/10.14529/engin200101
[8] I. Kulikov, HIL technology as a tool for creating automotive multi-drive power units. Proceedings of MSTU “MAMI”, 3 (21), 2014: 27-34.
[9] V.G. Dygalo, A.V. Keller, A.M. Zavatskiy, HIL models formation principle in the design of automated vehicle braking system. IOP Conference Series: Materials Science and Engineering, 819, 2020: 012040. https://doi.org/10.1088/1757-899X/819/1/012040
[10] H. Chen, S. Chang, A. Fan, Model-based control of electromagnetic valve actuators for engine speed control. International Journal of Automotive Technology, 20(1), 2019: 127-135.
https://doi.org/10.1007/s12239-019-0012-0
[11] Y. Lian, S. Liu, Z. Sun, K. Liu, Z. Nie, C. Tian, A braking force distribution strategy for four-in-wheel-motor-driven electric vehicles on roads with different friction coefficients. International Journal of Automotive Technology, 22(4), 2021: 1057-1073. https://doi.org/10.1007/s12239-021-0095-2
[12] V.A. Lyashev, O.V. Chutko, Technologies for the development of real-time control systems and hardware-software modelling, their application in the Russian industry, Advanced information technologies, automation tools and systems and their implementation in Russian enterprises AITA-2011, 04–08 April 2011. Institute for Control Problems of Russian Academy of Sciences, Moscow, Russian Federation, pp.43-46.
[13] J. Yong, F. Gao, N. Ding, Y. He, Design and validation of an electro-hydraulic brake system using hardware-in-the-loop real-time simulation. International Journal of Automotive Technology, 18(4), 2017: 603-612. https://doi.org/10.1007/s12239-017-0060-2
[14] Regulation No 13 of the Economic Commission for Europe of the United Nations (UN/ECE) — Uniform provisions concerning the approval of vehicles of categories M, N and O with regard to braking [2016/194]. ECE – United Nations, 2016.
[15] Regulation No 140 of the Economic Commission for Europe of the United Nations (UN/ECE) — Uniform provisions concerning the approval of passenger cars with regard to Electronic Stability Control (ESC) Systems [2018/1592]. ECE – United Nations, 2018.
[16] H. Liu, ESP Algorithms study cornering light vehicle lateral deviation and yaw joint control, 5th International Conference on Education, Management, Information and Medicine (EMIM), 2015, pp. 1465-1469. https://doi.org/10.2991/emim-15.2015.284
[17] O. Öttgen, M. Hille, Hardware-in-the-Loop for quality assurance of an active automotive safety system. Advances in Computational Multibody Systems, 2, 2005: 25-44. https://doi.org/10.1007/1-4020-3393-1_2
[18] F. Qin, Y. Lin, D. Lu, Hardware-in-the-loop simulation of high-speed maglev transportation five-segment propulsion system based on Dspace. Transportation Systems and Technology, 4(2), 2018: 62-72. https://doi.org/10.17816/transsyst20184262-72
[19] Yu. M. Zakharik, A. M. Zakharik, D. V. Tretyak, HIL-technology for the design of disc brake mechanisms. A Truck, 10, 2010: 30-37.
[20] A.A. Aly, Hardware-in-the-loop of simulations for a hydraulic antilock brake system. International Journal of Intelligent Systems and Applications, 5(2), 2013: 91-95. https://doi.org/10.5815/ijisa.2013.02.11
[21] J. Nibert, M.E. Herniter, Z. Chambers, Model- Based System Design for MIL, SIL, and HIL. World Electric Vehicle Journal, 5(4), 2012: 1121-1130. https://doi.org/10.3390/wevj5041121
[22] P.C. Nissimagoudar, V. Mane, H.M. Gireesha, N.C. Iyer, Hardware-in-the-loop (HIL) simulation technique for an automotive electronics course. Procedia Computer Science, 172, 2020: 1047-1052.
https://doi.org/10.1016/j.procs.2020.05.153
[23] K-H. Dietsche, K. Reif, Automotive handbook, 11th ed. Robert Bosch GmbH, Karlsruhe, 2022.
[24] P. S. Rogov, A. V. Tumasov, D. V. Soloviev, A. A. Vasiliev, Research and analysis of methods for determining the axial moments of inertia of light commercial vehicles. Journal of Automotive Engineers, 106(5), 2017: 28-33.
[25] H.B. Pacejka, Tire and vehicle dynamics. Elsevier, 2006.
[26] E.I. Toropov, A.S. Vashurin, D.A. Butin, E.V. Stepanov, Experimental research of dynamic parameters of a tire for HIL-testing of vehicle active safety systems. Mechanics of Machines, Mechanisms and Materials, 1(62), 2023: 39-46. https://doi.org/10.46864/1995-0470-2023-1-62-39-46
[27] GOST 31507-2012. Road vehicles. Handling and stability. Technical requirements. Test methods. Standartinform, Russian Federation, 2013.
[28] ISO 3888-2:2011. Passenger cars – Test track for a severe lane-change manoeuvre – Part 2: Obstacle avoidance. The International Organization for Standardization, 2011.
[29] ISO 3888-1:2018. Passenger cars – Test track for a severe lane-change manoeuvre – Part 1: Double lane-change. The International Organization for Standardization, 2018.
[30] Global Technical Regulation No.8., Electronic stability control systems. ECE – United Nations, 2011.
[31] Laboratory Test Procedure for Dynamic Rollover: The Fishhook Manoeuvre Test Procedure : New Car Assessment Program (NCAP). National Highway Traffic Safety Administration, Washington, USA, 2013.
[32] V.G. Kryaskov, A.S. Vashurin, A.V. Tumasov, A.V. Vasiliev, Designing of Outriggers for the Needs of the Vehicles Stability Testing. Applied Mechanics and Materials, 875, 2018: 71-76.
https://doi.org/10.4028/www.scientific.net/AMM.875.71
[33] ISO 19365: 2016, Passenger cars – Validation of vehicle dynamic simulation – Sine with dwell stability control testing. The International Organization for Standardization, 2016.

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)

Volume 8
Number 4
December 2023

Last Edition

Volume 8
Number 2
June2023

How to Cite

E. Toropov, A. Tumasov, A. Vashurin, D. Butin, E. Stepanov,  Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters, 8(2), 2023: 70–79.
https://doi.org/10.18485/aeletters.2023.8.2.4

More Citation Formats

Toropov, E., Tumasov, A., Vashurin, A., Butin, D., & Stepanov, E. (2023). Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters8(2), 70–79. https://doi.org/10.18485/aeletters.2023.8.2.4

Eugeny Toropov, et al. “Hardware-In-The-Loop Testing of Vehicle’s Electronic Stability Control System.“ Applied Engineering Letters, vol. 8, no. 2, pp. 70–79, https://doi.org/10.18485/aeletters.2023.8.2.4. 

Eugeny Toropov, Anton Tumasov, Andrey Vashurin, Danila Butin, and Evgeniy Stepanov. 2023. “Hardware-In-The-Loop Testing of Vehicle’s Electronic Stability Control System.” Applied Engineering Letters 8 (2): 70–79. https://doi.org/10.18485/aeletters.2023.8.2.4.

Toropov, E., Tumasov, A., Vashurin, A., Butin, D., and  Stepanov, E. (2023). Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters,  8(2), pp.70–79. doi: 10.18485/aeletters.2023.8.2.4.