PISa WP6 – System Validation and Evaluation - … Workshop Helmond The...PISa systems Malaguti...

PISa WP6 – System Validation and EvaluationEvaluation

Mike McCarthy (TRL)

WP6 Aims

• Track tests – relevant scenariosValidate system

function

03/02/2010PISa Final Workshop – TNO, Helmond 2

• Performance of system actions (e.g. braking)

• Some rider feedback

Evaluate system performance

• Improvements based on testingRecommendations

for system

PISa systems

Malaguti Spidermax500cc

• Distance Support

TVS Apache 160cc

• Combined Braking • Distance Support System (DS)

• Active Braking (AB)

• Enhanced Braking (EB)/Active Suspension

• Combined Braking (CB)/Semi-active suspension

03/02/2010 3PISa Final Workshop – TNO, Helmond

Distance Support System Validation

• Two experiments

1) Simulator experiment

2) Pilot track test

• Procedure:

– Car-following task with and without the DS system

4PISa Final Workshop – TNO, Helmond 03/02/2010

1. Simulator Experiment Results

TTC

Without DSS

5

THW

THW

TTC

Throttle position

Throttle position

With DSS

PISa Final Workshop – TNO, Helmond 03/02/2010

2.Track Test

6PISa Final Workshop – TNO, Helmond 03/02/2010

THW STD

0,60

0,65

0,70

0,75

ST

D T

HW

[s]

Results: Performance - Time Headway

-No significant differences-5 subjects-Detection of other objects apart from lead vehicle

DSS No DSS

THWSTD

0,35

0,40

0,45

0,50

0,55

ST

D T

HW

[s]

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 was considered useful

– DSS should be improved: obstacle detection

PISa Final Workshop – TNO, Helmond 03/02/2010 8

PISa systems



TVS Apache 160cc

• Combined Braking • Distance Support System (DSS)





Active Braking - Static object

03/02/2010 10

Test Speed

(km/h)

AB

Trigger

setting

=3

AB

Trigger

setting

=5

AB

Trigger

setting

=7

AB

Trigger

setting

=9

35 ��

45 ��

55 ��

PISa Final Workshop – TNO, Helmond

Crossing scenario

Test Speed

(km/h)AB

Trigger

setting=3

AB Trigger

setting=5

AB Trigger

setting=7

AB Trigger

setting=9

Test

Object

03/02/2010 11

35 ��

45 ��

55 ��


Active Braking - Results• Reliability of AB activation 56%-91%

• AB level 3m/s2 appropriate for track setting


PISa systems



TVS Apache 160cc

• Combined Braking • Distance Support System (DSS)





Enhanced Braking (EB) testing


Enhanced Braking

Suspension

setting Test Speed (km/h)

25 30 35 40 45 55

Off ��

• EB off (baseline) and EB on

03/02/2010 15

Medium ��

Maximum ��


Enhanced Braking - Results

8.00

10.00

12.00


0.00

2.00

4.00

6.00

20 25 30 35 40 45

Me

an

sto

pp

ing

dis

tan

ce (

m)

Test speed (km/h)

EB off

EB on

EB off = rider applied front and rear brake

EB on = rider applied rear brake only

Enhanced Braking - Results

Test Speed

(km/h)

EB off

Normal

EB off

Medium

EB off

Max

EB on

Normal

EB on

Medium

EB on

Max

• Mean straight line stopping distance (m)


25

Baselin

e

-1.21 -0.54 0.10 -0.58 -0.48

35 -1.50 -0.83 0.49 0.03 -0.45

45 -1.92 -1.57 -0.52 -0.45 -0.78

55 -2.36 -3.12 -1.43 -1.78 -0.71

Mean -1.75 -1.52 -0.34 -0.69 -0.61

PISa systems



TVS Apache 160cc

• Combined • Distance Support System (DSS)





Combined Braking

Suspension Test Speed (km/h)

• Straight line braking test

• CB off (baseline) and CB on

• Two test riders, 10 tests per condition

03/02/2010 19

Suspension

setting Test Speed (km/h)

25 35 45 55

Off ��

On ��


Combined Braking - Results

25

30

35

40

Sto

pp

ing

Dis

tan

ce (

m)

Stopping distance (m) for range of test speeds with and without CB


0

5

10

15

20

0 10 20 30 40 50 60

Sto

pp

ing

Dis

tan

ce (

m)

Test speed (km/h)

CBS off

CBS on

Combined Braking - Results

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 (%)

• Results for “Rider B”


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%

Conclusions– PISa system tested -“development systems”

• Recommendations made and further updates required

• Tests for a range of riders and in more complex environments

– 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(TTC 1.61s-0.44s) depending on AB trigger setting

– Enhanced Braking

• 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%)



Thank you for

your Attention!

PISa WP6 – System Validation and Evaluation - … Workshop Helmond The...PISa systems Malaguti...

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