Showing papers by "Jeroen Ploeg published in 2002"
17 Jun 2002
TL;DR: The Vehicle Hardware-In-the-Loop (HIL) simulator for a faster and more efficient development and testing of full scale intelligent vehicles and transport systems and a proposal for a dedicated test facility is discussed.
Abstract: The application of driver support systems and automated (intelligent) transport systems is getting increasingly important because they have the potential to enhance the efficiency and safety of today's road transport without expanding the traffic infrastructure considerably. The high safety and reliability demands of these complex systems make their development and testing of these products an expensive and time-consuming process. This paper presents the Vehicle Hardware-In-the-Loop (HIL) simulator for a faster and more efficient development and testing of full scale intelligent vehicles and transport systems. Its technical feasibility and a proposal for a dedicated test facility are discussed. The technical feasibility has been confirmed on the basis of two functional demonstrators. The test results and experiences with these demonstrators are evaluated It has been identified that the so-called moving bases are crucial elements of the intelligent vehicle simulator. The development of this subsystem, i.e. a high performance AGV, is the first step in the realisation of a functional full scale intelligent vehicle simulator.
57 citations
17 Jun 2002
TL;DR: Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants and experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.
Abstract: Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and nonlinearities, the latter mainly arising from the tyre-road contact behaviour. The other important aspect is the application often rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close cooperation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.
34 citations